CN109998423A - Pa sweeper is dragged from washing - Google Patents

Abstract

Drag pa sweeper from washing, including body, yoke, yoke, mechanical arm, floor sweeper, drag pa, drag pa cleaning device, wipe pa cleaning device, rubbish tipping mechanism, apparatus for correcting, twin shaft seat mechanism.Yoke is mounted on the door frame slideway in front of body.Dragging pa cleaning device includes dragging pa service sink, dehydration device, toilet seat.Floor sweeper is controlled by host can climb on the ground from the following supporting plate of body, sweep the floor in the following short space of sofa, sales counter.Yoke lifts chair, stool, and the clamping jaw of mechanical arm front end picks up shoes, basket, and floor sweeper is facilitated to sweep following floor.Toilet seat can drag para to come out dirty below from floor sweeper, take to after dragging cleaning in pa service sink, being dehydrated again completely dragging pa reeve floor sweeper following, make to mop floor and more clean.The wiping pa wiped on pa seat can wipe tables and chairs, tea table, platen.It wipes pa seat and dirty wiping pa is taken to cleaning, dehydration in wiping pa service sink.Yoke, clamping jaw cooperation can outwell the rubbish in floor sweeper in dustbin.A tractor serves several purposes.

Description

Pa sweeper is dragged from washing

Technical field

The invention belongs to environmental protection machineries, especially wash certainly and drag pa sweeper.

Background technique

Existing sweeping robot can sweep the floor automatically, dust suction, mop floor, automatic charging, and can plan route of sweeping the floor automatically, Had and is much used in the family.But the shortcomings that existing sweeping robot, is: 1, desk around be placed with it is more chair or In the case of stool, there are many chair, the socle of stool, and concentrate on occupy-place on floor and form many obstacles, cause machine of sweeping the floor People is difficult to enter in these socles group and sweep the floor, and has just figured in and also has been difficult to out.2, the following pa that drags of sweeping robot is one piece The big relatively thin blanket pa of palm, drags a little while just dirty, the more drags the more dirty later.Although user removes cleaning daily and once drags pa, Rubbish in a daily sweeping robot dustbin, but office staff is too busy to do it sometimes, or has gone on business, several days Just return, rubbish is caused to fill up, drags pa dirtier.

Summary of the invention

It it is an object of the invention to overcome existing sweeping robot, devises to clean automatically and drags pa, fall automatically Rubbish, lifts chair, stool automatically, and automatic table cleaning, chair, washing certainly for table top drag pa sweeper, hereinafter referred to as sweeper.

Drag pa sweeper the present invention is implemented as follows: washing certainly, including body, yoke, yoke, mechanical arm, floor sweeper, Pa is dragged, pa cleaning device is dragged, wipes pa cleaning device, rubbish tipping mechanism, apparatus for correcting, twin shaft seat mechanism.Both sides in front of body Door frame slideway is installed.Yoke is mounted on door frame slideway.Yoke includes clip slot seat, sideslip road, sideslip set, door frame cunning Set, clip slot seat translating device, motor.Sideslip set both ends are connected with door frame sliding sleeve, and door frame sliding sleeve is mounted on door frame slideway.Clip slot Seat is fixed on sideslip and puts on, and a sideslip set is respectively installed at the both ends in sideslip road.Yoke includes principal arm and telescopic arm, principal arm rear end hinge It is connected in the lower end in clip slot seat, principal arm can be rotated upwardly and downwardly under motor effect with around hinge axis, and telescopic arm is mounted in principal arm.Machine Turntable, upper frame are installed in the top shell of body, are fitted with rudder between upper frame and the mechanical arm connected, between every two-stage mechanical arm Machine.Twin shaft seat mechanism includes flat axle bed, vertical shaft seat, clamping jaw, wipes pa seat, clamping jaw seat, wipes pa.Pa is wiped to be connected on wiping pa seat；It is vertical It is equipped in axle bed and wipes pa motor and vertical rotating shaft electric motor, the vertical shaft in vertical shaft seat connect with clamping jaw seat, is equipped on clamping jaw seat Clamping jaw, the wiping pa axis in vertical shaft seat are connect with pa seat is wiped；The flat turn axis front end of flat axle bed is connect with vertical shaft seat side, after flat axle bed End is connect with a steering engine with most end level-one mechanical arm.Floor sweeper is an independent entirety, sweep the floor, dust suction, mopping function It is identical as the sweeping robot that family uses with configuration aspects.A window is outputed on the shell of top cover of floor sweeper, is installed in window There is tegillum shell.Floor sweeper both sides are symmetrically offered to face and rotating hole.Floor sweeper by wash certainly drag pa sweeper main engine remote control carry out Operation.When floor sweeper operation, floor sweeper leaves the following supporting plate of body；Supporting plate is climbed up when floor sweeper not operation to park.Drag pa Pa item is connected on pa plate, and it is following that pa plate is mounted on floor sweeper rear.Dragging pa cleaning device includes dragging pa service sink, dehydration dress It sets, toilet seat, vertical sliding block, cover for seat, smooth road, translation balladeur train, translation motor, shiftable gear, translating rack, lifting motor, liter Gear, rack gear drop.Toilet seat includes seat shell, transfer gear, transfer rack gear, transfer motor, transfer slide, transfer sliding block, transfer Frame hangs tag, the electromagnet that hangs tag, slider plate slideway.It is equipped with and hangs tag on the platen below transfer frame front in toilet seat, it can be with Floor sweeper it is following drag para to go out, and draw in the following slider plate slideway of toilet seat.Wiping pa cleaning device includes that wiping pa is clear Wash pool, service sink mobile device.Rubbish tipping mechanism includes preceding guider, bolt axle, yoke, clamping jaw.Two yokes it is flexible The bolt axle tiped rubbish is installed on opposite side in front of arm.The apparatus for correcting of floor sweeper is installed above supporting plate.Yoke fork When lifting chair, principal arm is upwards collected through, and telescopic arm is taken in principal arm, and for body close to chair, principal arm, which drops to, keeps telescopic arm front end low Horizontality is dropped in the following, principal arm rotates down in sitting board of chair both sides, telescopic arm stretches out, and yoke slowly increases lift upwards Chair is played, subsequent floor sweeper is swept the floor in the following space of chair from being climbed on floor on supporting plate.When pa is dragged in cleaning, floor sweeper is being held in the palm Rear guider is drawn close on plate, is corrected device correction, and toilet seat falls from floor sweeper rear, docks, and pa is dragged in floor sweeper lower section Pa plate pull out, draw in the slider plate slideway below toilet seat, toilet seat rises, translates, dropping to and drag in pa service sink It is cleaned, after dehydration device is dehydrated, toilet seat translates again, declines and dock with floor sweeper, sweeps the floor dragging the pa plate of pa to inject Device is below in corresponding slideway.When cleaning and wiping pa, wipes pa service sink and be moved to the external side of machine shell, wiping pa seat is put into wiping by mechanical arm In pa service sink, it is i.e. de- to a direction quick rotation to wipe pa motor for wiping pa motor left-right rotation cleaning and wiping pa in vertical shaft seat Water.Clip slot seat translating device includes screw rod, nut, motor；The each sideslip installed on sideslip road puts on one nut of each connection, Two nuts are all screwed on a screw rod, the screw thread on screw rod both sides left-hand thread each other；Screw rod one end connects a motor, and motor connects It connects on the door frame sliding sleeve on both sides.Each clip slot seat lower end is connected and fixed a sole piece.When tipping rubbish, preceding guider is put down Ground, floor sweeper enter between two yokes, draw close preceding guider, two yoke relative movements to set distance, two telescopic arms Two root cutting pin shafts of front end inject the rotating hole among floor sweeper shell both sides；Mechanical arm drives the clamping jaw of twin shaft seat mechanism to make to sweep It is downward that ground device turns to shell of top cover；Mechanical arm lifts floor sweeper, is placed on above dustbin；Tegillum shell on shell of top cover is opened, rubbish Rubbish pours into dustbin.Filtered water tank, foul water tank, water pump, related water pipe and corresponding electromagnetic switch are provided on body.Transfer Motor is connected on transfer frame, is shifted the transfer gear connected on motor and is engaged with the transfer rack gear being connected in seat shell；Transfer Frame both sides are equipped with transfer sliding block, and transfer sliding block is mounted in the transfer slide being connected in seat shell with bracket.Cover for seat side connects It is connected to translation balladeur train, side is equipped with lifting motor and lifting gear above cover for seat, is equipped with translation motor on the side of cover for seat And shiftable gear, the shiftable gear are engaged with the translating rack being mounted on body inner housing.Vertical sliding block is mounted in cover for seat, Toilet seat top is connect with vertical sliding block lower end.Supporting plate rear is equipped with rear guider, peace among the sideslip road of lower section before body Equipped with preceding guider.The telescopic arm of mechanical arm is stretched out and is taken in using motor, gear, rack structure.Drag pa cleaning device and wiping Pa cleaning device is referred to as cleaning device.

The present invention has the advantages that the application is multi-purpose machine, solve that existing sweeping robot can not accomplish is asked Topic.1, sweeper is provided with the automatic cleaning mechanism for dragging pa and wiping pa, para can be dragged to go out to clean dirty below floor sweeper automatically It inserts again afterwards, overcomes existing one talent of sweeping robot and wash and once drag pa, one is dragged pa to mop floor the disadvantage for the more dragging the more dirty.2, Yoke can raise chair, the stool on desk periphery, and floor sweeper is facilitated to be swept the floor below in chair, stool, dust suction, mopped floor.3, machine Shoes, basket etc can be picked up raising by the clamping jaw of tool arm front end, and floor sweeper is facilitated to sweep the floor below.Overcome existing sweep the floor Robot is difficult to sweep the shortcomings that chair, stool, shoes, basket following floor.3, it is provided with and wipes pa cleaning device, sweeper can be automatic Tables and chairs are wiped, wipe sales counter, windowsill, artificial board etc table top, and can automatic cleaning and wiping pa.4, the yoke of sweeper, clamping jaw, machinery Arm cooperates, and can outwell the rubbish in floor sweeper dustbin automatically, overcome user and come sometimes not due to going to work, going on business And the phenomenon that tipping rubbish.

Detailed description of the invention

Fig. 1 is to wash to drag pa sweeper overall structure figure certainly.

Fig. 2 is yoke structure chart.

Fig. 3 is that sweeper lifts chair and sweeps following floor figure.

Fig. 4 is that sweeper lifts stool, low stool sweeps following floor figure.

Fig. 5 is that floor sweeper sweeps the following short space floor situation map of sofa, bed, sales counter etc.

Fig. 6 is that the clamping jaw of sweeper picks up portable objects and sweeps following floor figure.

Fig. 7 is twin shaft seat mechanism structure chart.

Fig. 8 is to drag pa structure and installation diagram.

Fig. 9 is cleaning device structure chart.

Figure 10 is to wipe pa cleaning process figure.

Figure 11 is to clean holder structure and exchange with floor sweeper to drag pa situation map.

Figure 12 is tegillum shell on floor sweeper and supports face, rotating hole structure chart.

Figure 13 is that apparatus for correcting structure and floor sweeper with toilet seat dock situation map.

Figure 14 is that sweeper is tiped rubbish situation map.

Figure 15 is that sweeper wipes table, chair situation map.

In attached drawing: wiping pa 1, wipe pa seat 2, vertical shaft seat 3, flat axle bed 4, steering engine 5, clamping jaw 6, three-level arm 7, two telescopic arms 8, electricity Machine gear 9, second level arm 10, body 11, a telescopic arm 12, level-one arm 13, upper frame 14, turntable 15, motor reel 16, drawstring 17, Detector 18, screw rod 19, door frame slideway 20, nut 21, sideslip road 22, door frame sliding sleeve 23, sideslip cover 24, telescopic arm 25, principal arm 26, rear pivot pin 27, drawstring motor 28, clip slot seat 29, lead screw motor 30, sole piece 31, receive arm motor 32, vertical sliding block 33, cover for seat 34, Translating rack 35, toilet seat 36, drag pa 37, supporting plate 38, dehydration device 39, drag pa service sink 40, floor sweeper 41, wheel 42, after Guider 43, wipes pa service sink 45, cushion block 46, cavity 47, directive wheel 48, reel 49, pivot pin 50, pot shell 51, bullet at smooth road 44 Spring 52, the chair back 53, seat board 54, socle 55, desktop 56, surrounding edge 57, floor 58, sofa 59, shoes 60, dustbin 61, flat turn Axis 62, vertical shaft 64, wipes pa axis 65, concave area 66, pa item 67, slider plate 68, Anti-release clamp electromagnet 69, mouth hanging at clamping jaw seat 63 70, Anti-release clamp seat board 71, shell of top cover 72, pa plate 73, anticreep mouth 74, back-off side 75, body shell 76, rear coverboard 77, stir and wash stalk 78, ripple convex block 79, bracket 80, side coverboard 81, translation motor 82, preceding coverboard 83, shiftable gear 84, sliding sleeve shell 85, pressure roller 86, Saddle 87, pa panel seat plate 89, seat shell 90, lifting gear 91, rack gear 92, lifting motor 93, translation balladeur train 94, is fixed roller 88 Tube head 95, water inlet 96, discharge outlet 97, water level 98, mobile water pipe 99, the electromagnet 100 that hangs tag, transfer frame 101, seat shell foreboard 102, motor 103, transfer gear 104, transfer rack gear 105, transfer slide 106, seat shell back plate 107, slider plate slideway are shifted 108, shift electric machine support 109, transfer sliding block 110, platen 111, the 112, Anti-release clamp 113 that hangs tag, notch 114, wall surface 115, on Mouth 116, upper circle shell 118, lower circle shell 119, supports face 120, foundation ring shell 121, tegillum shell 122, folder main track 123, rotation at lower mouth 117 Hole 124, lid shell motor 125, lid shell motor gear 126, lid columella 127, bevel gear 128, inclined-plane 129, dustbin 130, axle bed Frame 131, clamp arm 132, collet 133, shaft 134, screwed pipe screw rod 135, screwed pipe motor 136, bow-shaped support 137, screwed pipe 138, slot Oralia 139, link arm block 140, axle bed 141, thick stick block 142, connecting rod block 143, sliding slot mouth 144, axial line 145, slide-bar 146, screwed pipe Motor gear 147, screwed pipe gear 148, translator reel 149, hinge 150, handle 151, preceding guider 152, bolt axle 153.

Specific embodiment

It is to wash to drag pa sweeper overall structure figure certainly in Fig. 1.Pa sweeper is dragged from washing, including body 11, yoke, fork Arm, floor sweeper 41, drags pa 37, drags pa cleaning device, wipe pa cleaning device, is rubbish tipping mechanism, apparatus for correcting, double mechanical arm Axle bed mechanism.It is equipped in body 11 and drags pa cleaning device and wipe pa cleaning device, such as 11 shell Cut-away section of body, in body Smooth road 44 is installed, pa service sink 45 is wiped, drags pa service sink 40, toilet seat 36.Drag pa and wipe pa cleaning device Fig. 9 ~ It is described in Figure 11.Turntable 15 is installed above body.It is connected between 13 right end of level-one arm and turntable 15 with steering engine 5 and upper frame 14. Level-one arm 13 can rotate upwardly and downwardly and horizontally rotate around right end.One telescopic arm 12 is installed in 13 shell of level-one arm.One telescopic arm 12 front ends be connected in turn steering engine 5, second level arm 10, two telescopic arms 8, steering engine 5, three-level arm 7, steering engine 5, flat axle bed 4, vertical shaft seat 3, It wipes pa seat 2, wipe pa 1.Level-one arm and a telescopic arm, second level arm and two telescopic arms, three-level arm are referred to as mechanical arm.Flat axle bed 4, vertical shaft Seat 3, clamping jaw 6 wipe pa seat 2, wipe pa 1, clamping jaw seat general designation twin shaft seat mechanism.Clamping jaw seat and clamping jaw 6 are installed above vertical shaft seat 3, Lower section, which is equipped with, wipes pa seat 2.Steering engine is that existing robot is mounted between two section mechanical arms and can accurately control two section mechanical arms The prior art of mutual rotational angle.Mechanical arms at different levels are all rectangular tubes, can be made of metal material or highstrenghtpiston.One The gear being all separately installed on motor and motor shaft on grade arm 13 and 10 front shell of second level arm, this structure are hereinafter referred to as electric Machine gear 9.The rack gear of recessed side is installed, i.e., in one side of one telescopic arm 12 and the corresponding motor gear 9 of two telescopic arms 8 Rack gear does not influence one, two telescopic arms and stretches out and take in I and II arm housing.On I and II arm housing where said gear Open up jagged, gear enters notch and is engaged with rack.Motor positive and inverse can accurately control one, two telescopic arm extended lengths. Clamping jaw 6 can be used to press from both sides portable objects.Wipe seat board and sales counter platform that pa 1 is used to wipe desktop and chair under the control of mechanical arm Face.

Supporting plate 38 is provided with below body 11.Inclined-plane is provided on the right of supporting plate.The supporting plate left side is provided with rear guider on side 43.Guider 43 is identical as the charger structure effect of existing sweeping robot afterwards, not only for being oriented to but also filling for floor sweeper 41 Electricity.In Fig. 1, floor sweeper 41 is climbed up supporting plate from inclined-plane on the right of supporting plate and is parked.It is to be equipped with and show before body on the right of body There is the similar yoke mechanism of fork truck yoke.Yoke mechanism by principal arm 26, telescopic arm 25, clip slot seat 29, sole piece 31, sideslip road 22, Sideslip set 24, screw rod 19, nut 21, lead screw motor 30, drawstring motor 28, receives the composition of arm motor 32 at door frame sliding sleeve 23.Principal arm and Telescopic arm forms yoke.Clip slot seat, sideslip set, door frame sliding sleeve, clip slot seat translating device, drawstring motor, receives arm motor at sideslip road Form yoke.Screw rod, nut, lead screw motor form clip slot seat translating device.26 rear end of principal arm is hinged at folder with rear pivot pin 27 Lower section in the notch of groove seat 29.Clip slot seat 29 is connected with sole piece 31 below.Back segment is just kept off by sole piece 31 below two principal arms in figure Firmly, principal arm 26 is made to be in horizontality.Telescopic arm 25 is mounted in principal arm shell.Principal arm, telescopic arm are all square casings.Clip slot The seat back side links together with sideslip set 24.Two sideslips cover 24 sets of both ends on a sideslip road 22.The two of sideslip road 22 Head is respectively connected with a door frame sliding sleeve 23.Both sides are respectively equipped with a door frame slideway 20 before body.The connection of sideslip road both sides Door frame sliding sleeve is respectively fitted on door frame slideway.The upper surface of each sideslip set 24 is fitted with a nut 21.In two nuts 21 A piece screw rod 19 is installed, screw rod one end is equipped with a lead screw motor 30, and lead screw motor 30 is mounted in figure the right in front of body Door frame sliding sleeve 23 on.The screw thread of screw rod is divided into left and right hand thread from centre.The forward and reverse of lead screw motor can make two masters Arm is separated to both sides and is drawn close with to centre.Front is equipped with motor-driven reel, hereinafter referred to as motor reel 16 on body top, It is connected in the middle part of 17 lower end of drawstring and sideslip road 22 on reel, can control the upper and lower of yoke mechanism, be the lifting dress of yoke It sets.Body is equipped with four wheels 42 below.Each wheel is mating to be equipped with driving and transfer.Four wheels are 4 points It is concyclic, body pivot stud can be made, as existing sweeping robot pivot stud is the same, pivot stud is the prior art, this In no longer describe.

It is yoke structure chart in Fig. 2.Yoke includes principal arm, telescopic arm.Principal arm 26 and telescopic arm 25 are all rectangular hollow shells Body.Telescopic arm is mounted in principal arm.A compressed spring 52 is mounted in the cavity and telescopic arm back segment cavity 47 of principal arm.Principal arm The rear pivot pin 27 of rear end, that is, right end is hinged at 29 lower section of clip slot seat.Principal arm rear end is fixed together with rear pivot pin, Bu Nengxiang Mutually rotation.It is most of that top left figure has splitted clip slot seat front.Part is not cut away on clip slot seat it can be seen that being mounted with a receipts Arm motor 32.Arm motor shaft is received to link together across clip slot seat with rear pivot pin 27.Top the right is mounted with one in clip slot seat 29 A reel 49.17 upper end of drawstring is connect with reel 49.It is worn around the directive wheel 48 of principal arm rear position installation on the upper side drawstring lower end It crosses in the middle part of spring steel wire coil and is connected in the baffle wall of telescopic arm rear cavity 47.Drawstring motor 28 is mounted on clip slot seat outer surface On, drawstring motor shaft passes through clip slot seat and connect with reel, mark as shown in figure 1, because being cut away in Fig. 2, does not see.Drawstring electricity Machine reversion makes drawstring that telescopic arm be drawn to retreat into principal arm by reel.Loosen even if drawstring motor rotates forward drawstring, spring is It pushes telescopic arm and stretches out principal arm shell.Sole piece 31 is connected with clip slot seat.Top right figure is the perspective view at principal arm rear, in figure It can be seen that the pivot pin 50 of directive wheel 48 is mounted in the upper left prong of rear pivot pin 27.Following figure left figure is that reel 49 drives drawstring The case where drawing telescopic arm to retreat compressed spring 52.Following figure right figure is to receive the right-hand rotation of arm motor to pack up upwards principal arm and telescopic arm rotation The case where.Front end is provided with one piece of cushion block 46 above telescopic arm.Cushion block is concordant with principal arm top shell.Receive arm motor and drawstring electricity The speed changer of machine all uses worm and wormwheel speed changer, can be self-locking.

It is that sweeper lifts chair and sweeps following floor figure in Fig. 3.In A figure, the body left side is cut away, and mechanical arm is not drawn into. The yoke of sweeper is upwards collected through, and telescopic arm is taken in principal arm.In front of body behind face chair, close to chair.Principal arm decline Make telescopic arm front end lower than below sitting board of chair 54.The control system of sweeper is according to the detector 18 installed on clip slot seat side Detection information control lead screw motor 30 adjust two yokes lateral distance, make two yokes both sides below sitting board of chair 54 Close to 55 medial surface position of socle.Receiving arm motor rotates down principal arm forward, as shown in the dotted line in figure below chair.B figure In, principal arm, which has been pivotally lowered into, to be leaned against on the following sole piece 31 of clip slot seat, at horizontality.Drawstring motor loosens drawstring, and two Root telescopic arm stretches out.The drawstring on motor reel in the lifting device of yoke draws sideslip road slowly increase yoke.Two Yoke rests against the following both sides of sitting board of chair 54, as C is as shown in the figure.At this moment, it if yoke continues to rise certain altitude, that is, lifts Chair certain altitude.

It is that a dining table periphery is all placed into chair situation in D figure.Since more socles 55 chair are close below dining table Collection places occupy-place, forms very big obstacle to floor sweeper.Floor sweeper is difficult into, has entered also to be difficult out.Sweeper is just chair Son one is lifted one to be exited below desk, and the temporary space of the not no obstacle of desk lower section appearance one is made.Then sweeper is distant Control floor sweeper is climbed down from the supporting plate 38 of 11 lower section of body onto floor, is swept the floor, dust suction, is mopped floor in temporary space.It is in figure Sweeper is just lifting a chair according to the above method, and floor sweeper climbs down supporting plate the case where chair sweeps the floor plate below.Be in figure for Narration is convenient, sweeper is lifted a chair describes as an example.In practical operation, sweeper is the chair desk periphery Son all lifts are opened, and floor sweeper sweeps desk again below will be conveniently.After desk is following and desk periphery is all swept the floor, sweeper is i.e. chair Original position is lifted back in order.It is the diagram that sweeper lifts chair from chair side in E figure.Yoke injects chair from chair side Between sub two socles, chair is lifted, is swept the floor by the above process.For single one chair, it can lift, sweep the floor in this way Device swashes from supporting plate gets off to sweep the following floor of chair, and subsequent floor sweeper climbs up supporting plate again.It is because sometimes that extendible, which is made, in yoke Chair peripheral space is too narrow, grows long yoke if taken again in front of sweeper, often close chair in stays.

It is that sweeper lifts stool, low stool sweeps following floor figure in Fig. 4.In upper figure, 54 surrounding of plastic bench seat board connects Socle 55 is connected with below the surrounding edge 57 connect.According to the above method, principal arm decline, rotation is fallen sweeper forwards, and telescopic arm is stretched It is following that it is inserted in stool out.Two yokes, which slowly rise, leans against stool surrounding edge 57 below, lifts stool setting height.Floor sweeper is in stool Sub- lower section is swept the floor plate.In the following figure, the sweeper left side is cut away.The sweeper fork lift low stool period of the day from 11 p.m. to 1 a.m, principal arm first drop to horizontality, Again to space between just short and small two socles of stool.Two telescopic arms stretch out, and 57 lower section of surrounding edge are inserted into, such as following figure middle graph institute Show, two yokes slowly rise certain altitude and lift taboret.Floor sweeper sweeps following floor, as institute is schemed on the right in the following figure Show.

It is that floor sweeper sweeps the following short space floor situation map of sofa, bed, sales counter etc in Fig. 5.Only to sweep sofa in figure 59 following citings, which are chatted, to be told.Sweeper yoke is packed up upwards, and walking climbs down supporting plate 38 to 59 side of sofa, remote control floor sweeper 41, such as In figure shown in dotted line.Floor sweeper enters the following space of sofa 59 and sweeps the floor plate 58.Floor sweeper can be planned automatically below in sofa It sweeps the floor route, as existing sweeping robot.It sweeps the floor end, floor sweeper climbs up supporting plate again.

It is that the clamping jaw of sweeper picks up portable objects and sweeps following floor figure in Fig. 6.In upper figure, sweeper yoke pack up to On.The vertical shaft seat rotation of mechanical arm front end makes clamping jaw 6 downward.Shoes 60 are leather shoes in figure.Clamping jaw 6 is clipped in two shoes and leans on On the side suitable for reading held together, two shoes are lifted setting height to folder.Floor sweeper 41 is sweeping underlying floor.One is only depicted in figure Double shoes citings are illustrated.Many double shoes are often continuously put in the area Zhong Fangxie, family, and floor sweeper successively picks up every double shoes Son is successively placed on another position, i.e., the interim area Fang Xie.Remote control floor sweeper is gone the area Yuan Fangxie is all inswept once, and floor sweeper is It is moved to and awaits orders on one side.Then, clamping jaw successively again picks up shoes and puts back to the area Yuan Fangxie.Remote control floor sweeper is having vacated again Temporarily shoes zone position is put to sweep the floor again one time.

It is that sweeper clamping jaw picks up dustbin 61 and sweeps following floor figure in the following figure.Clamping jaw 6 is clipped in dustbin one side suitable for reading On mouth circle coverboard, lift 61 setting height of dustbin, floor sweeper is sweeping lower floor.A domestic garbage can is only drawn in figure to make For for example, dress thing in family is few, lighter basket, bucket, open cabinet etc can be picked up with clamping jaw Sweep lower floor.

It is twin shaft seat mechanism structure chart in Fig. 7.Twin shaft seat mechanism includes flat axle bed 4, vertical shaft seat 3, clamping jaw seat 63, clamping jaw 6, it wipes pa seat 2, wipe pa 1.One motor and speed changer are installed, the output shaft of speed changer is flat turn axis 62 in flat axle bed 4.Figure In, 7 lower end of three-level arm is connect with steering engine 5.Flat axle bed left end is connect with steering engine, the flat turn axis 62 and vertical shaft seat 3 of flat axle bed right end Left side connection.Lower section is mounted with that a wiping pa motor and speed changer, the output shaft of speed changer are to wipe pa axis 65 in vertical shaft seat 3.It wipes 65 lower end of pa axis is connect with pa seat 2 is wiped.Top is mounted with a clamping jaw motor and speed changer, the output of speed changer in vertical shaft seat 3 Axis is vertical shaft 64, and vertical shaft upper end is connect with clamping jaw seat 63.Clamping jaw 6 is installed on clamping jaw seat 63.Clamping jaw leading portion is cased with slightly There is the rubber sleeve of softness.The opening of clamping jaw and to close up be the prior art, no longer describes.Detector 18 is installed on clamping jaw seat.It wipes Pa seat 2 is connected with below wipes pa 1.Wiping pa 1 is the thick blanket shape being made by fiber.

It is to drag pa structure and installation diagram in Fig. 8.Upper figure is the installation site for dragging pa on floor sweeper.Intermediate circular diagram is The top view of upper figure.Lower section A figure is the D of middle graph to figure, and B figure is pa plate, pa bar structure chart, and C figure is the right view of B figure.It is existing Sweeping robot have it is rectangular also have a circle, floor sweeper may be made as rectangular or round, be described by taking circle as an example below.It sweeps The sweeping the floor of ground device, dust suction, mopping function and structure, and walking, turn to, charging and can by functions such as remote controls, all with Present sweeping robot is identical, no longer describes.Pa is dragged to be mounted on floor sweeper rear following.Floor sweeper shell rear is made directly Face, that is, rear has cut off one piece of toxoplasm on floor sweeper circle shell.Floor sweeper back shell opened up below one it is recessed Time zone 66.In the B figure of lower section, upper and lower of the slider plate 68 in figure is all connected with pa plate 73, and the pa item 67 of pa is dragged to be connected to pa On plate 73.Pa item is also the blanket that fiber is made into.C figure is the right view of B figure, and slider plate right offers anticreep mouth 74 and mouth hanging 70.Slider plate both sides are provided with bayonet shape sliding block.In A figure, floor sweeper rear is also equipped with corresponding bayonet shape sliding slot below, sliding Block plate injects in sliding slot.Clear to show, A figure only shows concave area, specifically describes behind internal structure.It is right in middle graph Side, dotted line position be exactly slider plate 68 inject sliding slot, Cut-away section can see concave area be one be open to the right it is rectangular V notch v.It is provided with Anti-release clamp seat board 71 in concave area, Anti-release clamp electromagnet 69, Anti-release clamp electricity are mounted on Anti-release clamp seat board 71 Anti-release clamp is connected on the iron core of magnet.The notch being open to the right, the slider plate of bottom of the gap are offered on the right of Anti-release clamp seat board On be provided with mouth hanging 70.Anti-release clamp electromagnet, Anti-release clamp, hang tag, notch will specifically describe in Figure 11 below.

It is cleaning device structure chart in Fig. 9.Upper figure is entire cleaning device side view.Centre is the top view of upper figure.Under Figure be upper figure D to and lower section enlarged drawing.Two smooth roads 44 are installed on the forward and backward body shell 76 of body and one flat Move rack gear 35.Translating rack 35 is lower than two smooth roads between two smooth roads 44.Upper left side is to wipe pa cleaning dress in figure It sets.Wipe pa cleaning device include wipe pa service sink 45, translation balladeur train 94, shiftable gear 84, translation motor 82, translating rack 35, Smooth road 44, into and arrange mobile water pipe.Dragging pa cleaning device includes dragging pa service sink 40, dehydration device, toilet seat 36, vertical sliding block 33, cover for seat 34, smooth road 44, translation balladeur train 94, translation motor 82, shiftable gear 84, translating rack 35, lifting motor 93, liter Gear 91, rack gear 92 drop.It wipes pa cleaning device and pa cleaning device is dragged to share two smooth roads and a translating rack.It is clear to wipe pa Cleaning device and pa cleaning device is dragged to have identical translation balladeur train 94, translation motor 82, shiftable gear 84.The right, is dragged in upper figure Cover for seat 34 in pa cleaning device is connect with translation balladeur train 94.Cover for seat right side is equipped with translation motor 82.Vertical sliding block 33 is pacified In cover for seat 34.Vertical sliding block lower end is connect with 36 top of toilet seat.The wiping pa cleaning of the wiping pa cleaning device on the left side in upper figure 45 lower right of pond is connect with translation balladeur train 94, is translated and is equipped with translation motor 82 on balladeur train 94.Left and right two translation motors 82 Shiftable gear 84 is all connected on output shaft, two shiftable gears 84 are all engaged with translating rack 35.Translate the both sides of balladeur train all Sliding sleeve shell 85 is installed, 85 sets of sliding sleeve shell on smooth road.Wiping pa service sink is circular shell, and quartet connection has coverboard, specifically It is described in Figure 10.It is described further below to drag pa cleaning device.Vertical sliding block section is rectangle.In vertical 33 right side of sliding block Rack gear 92 is installed, rack gear 92 is lower than right side, does not influence vertical sliding block and slides above and below in cover for seat.On 34 right of cover for seat Lifting motor 93 is installed, lifting gear 91 is installed on lifting motor axis.Rack gear 92 on lifting gear 91 and vertical sliding block 33 Engagement.The positive and negative rotation of lifting motor 93 can accurately control vertical sliding block and toilet seat lifting.Pa cleaning device is dragged in right in figure 82 positive and negative rotation of translation motor can accurately control the left and right translation of cover for seat, vertical sliding block and toilet seat.Drag pa service sink and wiping pa clear Wash pool is made of stainless steel.Drag pa cleaning bottom of pond portion that ripple convex block 79 is installed.Drag pa service sink 40 that connection is installed with bracket 80 On body shell.Filtered water tank, foul water tank, water pump, related water pipe and corresponding electromagnetic switch are installed in body, do not drawn in figure Out.Dehydration device is made of pressure roller 86, saddle 87, roller 88.Saddle 87 is mounted on the oblique coverboard that pa service sink right end is dragged in figure On.As above, in, shown in the following figure, a pressure roller 86 is installed with pivot pin 50 in top between two block blocks 87.One root long roller, 88 both ends Axis be mounted in the axis hole below two block blocks.Pressure roller is parallel with roller.The distance between pressure roller and roller can use screw rod Nut holder structure is adjusted, this is the prior art generally used, is not drawn into figure.Cleaning drags the pa process to be: first with floor sweeper It carries out that pa is dragged to exchange.Under translation motor and lifting motor control, toilet seat first translates vertical sliding block, drops to support below body It is docked above plate with floor sweeper rear, extracts the pa plate below floor sweeper out, drawn in below toilet seat in corresponding slideway.Toilet seat Setting height is risen to again, is moved left to face and is dragged pa service sink 40, in figure as above shown in the dotted line of close translating rack, toilet seat It lowers into and drags in pa service sink.The discharge outlet below pa service sink is dragged to close, water inlet opens water inlet to setting water level, closes Water inlet, even if control system translation motor with certain speed positive and negative rotation set angle, moves to right toilet seat with certain speed, is left Move, drag ripple convex block 79 below pa service sink stir gear effect under, keep cleaning effect more preferable.It stirs after washing setting time, opens Discharge outlet draining.Control system lifts toilet seat to setting height.Toilet seat from the pressure roller 86 and roller 88 of dehydration device it Between slowly move through, dragged in figure as above pa dotted line pass through dehydration device.Pressure roller 86 is pressed on the pa panel seat plate 89 at toilet seat both ends It rolls, roller 88, which rotates to squeeze, drags the pa item 67 of pa to be dehydrated, and here it is dehydrations shown in the following figure.The water squeezed out by Pa service sink is dragged in oblique coverboard importing.After toilet seat moves to right, and rise, move to left, falling in and dragged in pa service sink again, carrying out Second of cleaning.Cleaning, dehydration are same as described above.

It is to wipe pa cleaning process figure in Figure 10.It is to wipe pa service sink to draw in the intracorporal location drawing of machine in A figure.B figure is cleaning It releases to the external cleaning and wiping pa figure of machine shell in pond.It is the enlarged drawing of cleaning positions in B figure in C figure.D figure is the E of A figure to amplification Figure.Wiping pa service sink 45 is circular shell, such as D figure and C figure.The circular shell left side is connected with rear coverboard 77, before the right is connected with Coverboard 83, upper and lower side are connected with side coverboard 81, as shown in D figure.It wipes the circular shell suitable for reading of pa service sink 45 and back-off side is made 75, such as C figure Cut-away section.It wipes and offers water inlet 96 and discharge outlet 97 on the right of pa service sink.Pa service sink bottom surface is wiped to be provided with It stirs and washes stalk 78.It wipes pa service sink bottom right side and is connected with translation balladeur train 94, translate installation and motor installation of the balladeur train on smooth road Such as the narration in Fig. 9.It wipes and has opened up a window on the body shell 76 on the pa service sink left side.Pa service sink is wiped in translation motor Under the action of 82, window can be passed through and be moved to the left to 76 outside of body shell, can be moved right within body shell 76, When moving right in place, rear coverboard 77 is just concordant with body shell, is equivalent to that turn off window the same.In D figure, pa service sink is wiped A mobile water pipe 99 all is connected to fixed tube head 95 in the discharge outlet 97 on the upper and lower side of water inlet 96 on the right.Mobile water pipe 99 other ends are fixed on the bracket of body shell in the fixed tube head 95 in the top of D figure, immovable.The fixation of D figure top Tube head 95 is connected separately with water inlet pipe and drainpipe.When wiping pa service sink and being moved to the left to the external side of machine shell, mobile water pipe 99 lower sections can accordingly be swung to the left side, as shown in phantom in FIG..Mobile water pipe is hose, there is certain anti-pressure ability.Cleaning Wiping pa process is: wiping pa service sink in machine shell body.Mechanical arm is mobile twin shaft seat mechanism, turns to the position as shown in the figure A. It wipes pa service sink and is moved to the external side of machine shell.Wiping pa seat face is wiped pa service sink center suitable for reading by mechanical arm, drops to setting Highly.Then, drainpipe is closed, and water inlet pipe is opened, and water inlet water level 98 closes water inlet pipe in place.Then, lower section in vertical shaft seat 3 Wiping pa motor turn left and right to make to wipe pa and turn left and right to be stirred with setting speed and wash stalk 78 and stir and wash, as schemed shown in C.It stirs and washes setting After time, that is, drain.Subsequent control system improves wiping pa seat a bit, leaves to stir and washes stalk 78.Pa motor is then wiped to a side To quick rotation, make to wipe pa dehydration.Wiping pa service sink back-off side 75 suitable for reading can be blocked to wipe and penetrate in pa rotation because of centrifugal force Water droplet on to circular shell inner edge moves up.After the completion of cleaning, wipes the raising of pa seat and leave.It wipes pa service sink and moves right to body In shell, rear coverboard blocks the window on body shell.Control panel is provided on body, drag pa and wipe pa wash number with Water consumption, scavenging period and dewatering time are set by operator.

It is to clean holder structure and exchange with floor sweeper to drag pa situation map in Figure 11.Toilet seat includes seat shell 90, transfer gear 104, shift rack gear 105, transfer motor 103, transfer slide 106, transfer sliding block 110, transfer frame 101, hang tag 112, hang tag electricity Magnet 100, slider plate slideway 108.Upper figure is that toilet seat is longitudinally schemed, and intermediate left figure is the A-A cross-sectional view of upper figure, and intermediate right figure is For the D of upper figure to figure, lower section left figure is the enlarged drawing of the perspective view on the upper figure left side, and lower section right figure is the position M amplification profile and handle The case where slider plate 68 is drawn after pulling out figure.The upper longitudinally mounted one block of transfer rack gear 105 in top in the seat shell 90 of toilet seat, The transfer gear being engaged with 104 has been installed below in transfer rack gear.Transfer gear 104 is mounted on the defeated of transfer motor 103 On shaft.Transfer motor 103 is fixed on transfer frame 101 with transfer electric machine support 109.Frame 101 is shifted under transfer gear 104 Side.The both sides of transfer frame 101 are connected with transfer sliding block 110, and transfer sliding block 110 is mounted in the transfer slide 106 on both sides.Transfer Slideway 106 is mounted on the bracket 80 between seat shell foreboard 102 and seat shell back plate 107.Since transfer rack gear 105 is fixed , when transfer motor positive and inverse is dynamic, transfer gear 104 will be moved forward and backward on transfer rack gear, and mobilization motor 103 It is moved forward and backward in transfer slide with mobilization frame 101.

The upper figure left side is to exchange to drag pa structure between toilet seat and floor sweeper.The left side is under the concave area of floor sweeper rear lower section The cutaway view in face.The left figure narration of the following figure is compareed simultaneously.There are Anti-release clamp seat board 71, Anti-release clamp among concave area tripartite wall surface 115 Seat board 71 is exactly the slider plate slideway of the floor sweeper back lower place below.In the perspective view on the lower section left side, the pa item 67 of pa is dragged to be connected to Pa plate 73 is following.The slider plate 68 of 73 top of pa plate connection injects below floor sweeper in corresponding slider plate slideway.Concave area Bottom plate, that is, Anti-release clamp seat board 71 is equipped with Anti-release clamp electromagnet 69 above.111 the right of platen connects with the transfer frame 101 in toilet seat It connects.A rectangular notch is opened on the right of Anti-release clamp seat board 71, the left plate face of platen 111 is put in notch, and platen is under There is certain interval between the slider plate 68 on side.The step block thicker than left is made in platen right.Step block left side is by keeping off in cunning On block plate 68.Platen 111 is mounted with the electromagnet 100 that hangs tag in left above.In upper figure, on the following platen 111 of the electromagnet that hangs tag Offer the guiding square hole for the electromagnet core underthrust that hangs tag.68 face platen square hole position of slider plate offers mouth hanging 70.It hangs tag 112 to be connected to the electromagnet core that hangs tag following.Hang tag in figure 112 have already passed through platen square hole inject slider plate on mouth hanging 70 In.It is following that Anti-release clamp 113 is connected to 69 iron core of Anti-release clamp electromagnet.Anti-release clamp 113 is just being inserted in the side opened up on Anti-release clamp seat board In shape pilot hole.The Anti-release clamp 113 in 74 face top pilot hole of anticreep mouth opened up in slider plate.Anti-release clamp electromagnet and extension When card electromagnet is powered, Anti-release clamp, hanging tag lifts, and when power-off, Anti-release clamp, hanging tag is fallen.

When pa is dragged in exchange, to pull out and drag pa below floor sweeper.On supporting plate, the electromagnet that hangs tag energization handle hangs tag floor sweeper It improves.Toilet seat decline moves to left, and left is docked with floor sweeper, drawn close.The electromagnet 100 that hangs tag power-off, hangs tag and 112 puts down reeve In mouth hanging 70 in the corresponding slider plate in lower section.At this moment, Anti-release clamp electromagnet is powered, and Anti-release clamp is above mentioned and exits anticreep mouth 74, As shown above.Then, the right into figure of the transfer electrical power mobilization frame in toilet seat is mobile, then with transfer frame phase Platen also move to right.It hangs tag and 112 just slider plate 68 is pulled out in corresponding slideway below the floor sweeper, and draw in cleaning simultaneously In the identical slideway in seat lower section.Toilet seat uplink is moved to drag in pa service sink and clean, after dehydration, and as described above, then under Drop is docked with floor sweeper right.At this moment, anticreep mouth is exited in the raising of Anti-release clamp 74.Transfer motor mobilization frame in toilet seat 101 are moved to the left, and the left side just pushes away slider plate and is moved to the left below platen.Then slider plate 68 is just from the slider plate below toilet seat It pulls out and is injected below floor sweeper in identical slideway, for another example shown in the upper figure left side in slideway.Subsequent Anti-release clamp electromagnet power-off, prevents Off card injects in anticreep mouth.Hang tag electromagnet energization simultaneously, lifts to hang tag and exits mouth hanging.Toilet seat moves to right set distance, above mentions. Pa exchange is dragged to complete.

It is to drag the sliding block on 68 both sides of slider plate of pa top and 108 mouthfuls of slider plate slideway below floor sweeper in following figure right figure To the profile before timing insertion.Depicted in figure the slider plate left side to the slider plate chute inlet below floor sweeper Upper lower seamed edge all has biggish angle, if suitable for reading 116 and lower mouth 117 of slider plate slideway 108 are inclined-planes.It is inserted into and schemes convenient for sliding block Middle pair of slider plate slideway 108.There is appropriate slightly larger gap between slideway and sliding block shown in figure.

D is situation immediately ahead of toilet seat into figure.Slider plate slideway 108, slider plate slideway 108 are provided with below toilet seat It is identical as the slider plate slideway structure that the floor sweeper that front describes is following.Lower section is provided with one and biggish lacks among seat shell foreboard Mouth 114.It shifts to be equipped with to hang tag on the platen 111 that connects below of frame in notch and electromagnet 100 and hang tag on electromagnet core Connection hangs tag 112.Pa panel seat plate 89 is connected with below 90 both sides of seat shell.Transfer motor and the electromagnet that hangs tag have wader It sets, can impregnate and leakproof in water.

In Figure 12, it is tegillum shell on floor sweeper and supports face, rotating hole structure chart.Upper figure is main view, and main view is following It is top view, is D to figure on the right of top view, following A figure is the M enlarged drawing of top view, and B figure is the N enlarged drawing of top view, C figure It is the tegillum shell rotational structure figure of dustbin top.

It is the tegillum shell 122 above dustbin 130 in upper figure, among the shell of top cover 72 above floor sweeper.Floor sweeper is approximate In a cylindrical body, around there are upper circle shell 118, lower circle shell 119, foundation ring shell 121.Shell 121 both sides in foundation ring are offered to 120 He of face Rotating hole 124.Floor sweeper rear has cut one piece of toxoplasm, and lower section has one to face directly in rear, that is, figure.The sweeping the floor of floor sweeper, Dust suction, mopping function and structure are identical as existing sweeping robot.Floor sweeper only increases on original sweeping robot To face 120, rotating hole 124, tegillum shell 122, tegillum shell 122 rotating device.The both sides of foundation ring shell 121 are set to face 120, Two, every side, is symmetrical arranged totally by four.It is recessed and is made and floor sweeper front and back central symmetry to the side shell that face is floor sweeper The smooth facet that line is parallel to each other.Two of same side support face in the same plane i.e. on folder main track 123, two sides It is parallel to each other to face.Two column shaped rotating holes are symmetrically arranged at foundation ring shell both sides middle position, as shown in N enlarged drawing.It sweeps the floor 130 position of dustbin of device is still located at existing sweeping robot same position.The tegillum shell 122 an of dustbin is separately provided. In top view and C figure, 127 right end of lid columella is fixedly connected with one 90 degree of bevel gear 128.Bevel gear lower section and lid shell motor Gear 126 engages.Lid shell motor gear 126 is mounted on 125 axis of lid shell motor.It is left that lid shell motor 125 is mounted on dustbin 130 Lower position.The dustbin both ends back lower place of existing sweeping robot just has position to install lid shell motor.When under tegillum cap When, 128 top right-hand side of bevel gear is concordant with lid columella horizontal center line on 127 the right of lid columella.The last one following tooth of bevel gear It is inserted in above lid shell motor gear 126 between intermediate two teeth, such as the bevel gear dotted line position in C figure.Open tegillum shell 122 When, the control system of floor sweeper makes the energization reversion of lid shell motor, and then bevel gear rotates clockwise.When bevel gear rotates clockwise When being inserted in above following lid shell motor gear between two teeth to a tooth bottom, lid shell motor has a power failure.At this moment, tegillum shell has been It is opened to such as figure solid line position.Bevel gear upper left side turns to the lid columella left side at horizontality, such as the solid line of bevel gear in figure Position.Under lid when small cap, lid shell motor gear is rotated clockwise, bevel gear counterclockwise, process and opening tegillum shell phase Instead.A rectangular window is outputed in face tegillum shell position on the shell of top cover 72 of floor sweeper.When under tegillum cap, shell of top cover can To open and cover down.Four side suitable for reading of dustbin 130 have one it is softer withhold band, be buckled in when under tegillum cap withhold taken it is slow Punching and sealing function, under normal circumstances, shell of top cover is seldom opened, and tegillum shell is that often a rubbish will be opened once.

It is that apparatus for correcting structure and floor sweeper with toilet seat dock situation map in Figure 13.In Figure 13, A figure is apparatus for correcting Overall diagram, B figure are apparatus for correcting process charts.C figure is running part enlarged drawing in A figure.D figure is the M enlarged drawing of B figure.E figure It is floor sweeper and toilet seat docking scheme.Apparatus for correcting includes running part, clamp arm 132, shaft 134, axle bed frame 131, thick stick block 142, collet 133.Running part is as shown in C figure.The frame block that piece 137 both ends of bow-shaped support are turned back outside is respectively connected with one below A notch plate 139.Notch plate 139 by totally three blocks of plates are connected and form a notch shape with both sides above, notch be open to Under.Notch top plate is connect with bow-shaped support 137.Identical sliding slot mouth 144 is offered on the plate of two blocks of notch both sides.Arch branch The left and right both sides transition location of frame is respectively connected with an axle bed 141 below, and a screwed pipe 138 is mounted in two axle beds 141. Outer tube of 138 both ends of screwed pipe between two axle beds 141 is more slightly larger than that section in reeve axle bed, alters screwed pipe 138 from controlling It is dynamic.Both ends in screwed pipe are respectively mounted with a screwed pipe screw rod 135, and flat-shaped plane is made in screwed pipe screw rod external end head both sides, flat-shaped flat Pin hole is drilled on face.Flat-shaped plane both sides respectively accompany one piece of connecting rod block 143.143 both ends of connecting rod block offer pin hole.Screwed pipe Screw rod 135 is put into notch plate 139, is passed through from the sliding slot mouth 144 on notch plate one side with slide-bar 146, and one piece of connecting rod block is passed through 143, the flat-shaped plane of screwed pipe screw rod, another piece of connecting rod block, stretch out from the sliding slot mouth of notch plate opposite side, the pivot pin of fixed slide-bar Head is just hinged together two pieces of connecting rod blocks and screwed pipe screw rod, and can be oriented in sliding slot mouth.In C figure, left side notch plate 139 that positive pieces have been cut away.Axis hole is offered above clamp arm 132, a shaft 134 passes through each the two of 38 top both sides of supporting plate Root clamp arm axis hole, and it is rigidly fixed to one with axis hole, it cannot mutually be rotated between clamp arm and shaft.Close to screwed pipe screw rod in figure Two clamp arm 132 above be connected with thick stick block 142, thick stick block upper end is hinged together with pivot pin 50 and two pieces of both sides connecting rod block. Link arm block 140 is connected between two clamp arm in same shaft.Bow-shaped support left is connected with a screwed pipe motor below 136, screwed pipe motor gear 147 is installed on screwed pipe motor shaft.Screwed pipe gear 148 is installed on screwed pipe.Screwed pipe gear and screwed pipe Motor gear engagement.The internal screw thread at screwed pipe both ends left-hand thread each other.The positive and negative rotation of screwed pipe motor can push away the screwed pipe screw rod at both ends It is displaced outwardly simultaneously, the screwed pipe screw rod at both ends can also be drawn to move inward and relatively moved.In supporting plate front i.e. A figure on the side of lower section Rear guider 43 is installed.Shaft 134 is mounted in axle bed frame 131, and axle bed frame 131 is connected on the shell of body both sides.Arch Bracket 137 is linked together with bracket and body shell 76.It is that apparatus for correcting corrects floor sweeper situation just on supporting plate in B figure. Rear guider is climbed up on supporting plate 38 before the sweeper in Fig. 1 and drawn close to the guiding that floor sweeper has been subjected to rear guider, It is parked among supporting plate.The dotted line position that the clamp arm 132 on both sides is arranged to both sides in the B figure of Figure 13 is to get out of the way floor sweeper and holding in the palm Walking reserves the channel on both sides on plate, keeps channel more wider.After floor sweeper proceeds to position on supporting plate, control system is given Screwed pipe electrical power, screwed pipe motor drive the rotation of screwed pipe motor gear, make the clamp arm on both sides simultaneously to supporting plate central rotational one Set angle.The collet 133 of clamp arm lower end be simultaneously against floor sweeper both sides it is following support face 120.It position to face 120 and puts Big figure is referring to the M enlarged drawing below Figure 12.The D of comparative diagram 13 schemes simultaneously, and each seamed edge is all chamfered on collet.Because of the folder on both sides Header structure is identical, and when manufacture is installed, the line of every two collet front end faces in side is all tight at a distance from the middle line of supporting plate front and back Lattice are equal, and parallel to each other.The face of supporting on floor sweeper both sides is also parallel to each other.When correction, regardless of floor sweeper which direction to the left and right Deflection can all be pressed from both sides just by collet.At this moment the slider plate slideway in floor sweeper and slider plate are all parallel with supporting plate.

It is the side view after floor sweeper is corrected by clamp arm in E figure.Supporting plate rear is dotted line position of the toilet seat 36 from top Drop to highly to dock with floor sweeper rear in figure and draw close, the slider plate slideway in toilet seat and the slider plate slideway in floor sweeper In same plane, and entrance is being to just, toilet seat dock by method that is shown in Figure 11 and describing and floor sweeper and Pa is dragged to exchange, it can to drag pa to draw in toilet seat below floor sweeper dirty；It can also be dragging pa from toilet seat after cleaning It pulls out and injects below floor sweeper in corresponding slideway.

It is that sweeper is tiped rubbish situation map in Figure 14.It is bolt axle and preceding guider installation site feelings in the A figure of Figure 14 Condition；It is that the yoke of sweeper clamps floor sweeper figure in B figure；C figure is that clamping jaw is placed below floor sweeper and schemes；D figure is that clamping jaw rotation is swept Ground device figure；E figure is that the rubbish in the dustbin of floor sweeper pours dustbin situation map into；F figure is preceding deflector portion amplification in A figure Figure.

In A figure, front is respectively mounted with one section of bolt axle on medial surface between the telescopic arm 25 in two principal arms 26 of lower section 153.6 millimeters of bolt axial length or so.It is intermediate on the sideslip road of lower section to be connected to one piece of handle 151 with hinge 150.Handle end connects Guider 152 before being connected to.Drawstring lower end in the lifting device of yoke is connected on sideslip road and is mutually staggered with handle.Hinge Sideslip road 22 where 150 is mounted with motor and reel, hereinafter referred to as translator reel 149 above, on translator reel 149 Drawstring is connect with handle 151, handle and preceding guider 152 can be upwards collected through and be put down.Institute is close when handle is upwards collected through Sideslip road on be mounted with spring leaf, as long as tense drawstring one loosen, handle i.e. pushed by spring leaf, handle is put immediately Under fall between two yokes on intermediate floor.In B figure, the principal arm of lower section drops to setting height, and telescopic arm is withdrawn.Two Principal arm is mobile in place to both sides.Preceding guider 152, which is put down, to land.Floor sweeper goes to two telescopic arms in preceding guider guidance downlink Preceding guider is simultaneously drawn close in centre.Then, two telescopic arms are simultaneously to the mobile set distance in floor sweeper both sides, before the telescopic arm of both sides Bolt axle 153 on the inside of end injects in the rotating hole 124 on floor sweeper both sides.Bolt axle front end and bolt axle circumference and rotating hole Between have certain interval.Rotating hole 124 is as shown in Figure 12.There is chamfering inclined-plane in rotating hole opening front.Bolt axle front end There is chamfering inclined-plane.Before leaning against before floor sweeper on guider, substantially intermediate range, deviation is little, even if having bigger inclined Difference will also be pressed from both sides just, and the collet of apparatus for correcting supports just the same to face as also mentioned previously.Bolt axle smoothly injects rotating hole very much In.In C figure, the telescopic arm of lower section two is clipped in the both sides of floor sweeper, and two telescopic arms forward extend out a bit immediately, preceding guider quilt Drawstring is upwards collected through.Telescopic arm increases set distance.Floor sweeper first half is more heavier than latter half.When floor sweeper both sides When rotating hole is lifted by bolt axle 153, floor sweeper is overturn forward, and rear ramps up an angle below.Then, twin shaft The rotation of clamping jaw 6 on seat mechanism is laid flat.Mechanical arm interoperations at different levels are put into clamping jaw below floor sweeper rear.In D figure, sweep the floor Device is raised to setting height by telescopic arm.Clamping jaw slowly rotates floor sweeper around bolt axle to the left upwards under mechanical arm effect.E In figure, sweeper is walked close to 61 side of dustbin.Floor sweeper is placed on dustbin middle upper part.Clamping jaw in D figure position after It is continuous that floor sweeper is pushed away to the left, and all kept off above floor sweeper against floor sweeper bottom surface, clamping jaw and wiping pa seat downwards.Floor sweeper bottom Upwardly, shell of top cover 72 is downward.Tegillum shell 122 on subsequent body control system remote control floor sweeper is opened, and rubbish is poured on rubbish In rubbish bucket 61.Flat 4 rear end of axle bed also suitably swings several times around connected steering engine, rotates floor sweeper suitably repeatedly around bolt axle Under several, fall into a little rubbish shake in dustbin in dustbin.Small cap is closed.Clamping jaw presses the reversed of above-mentioned movement again It is upward that operation handlebar floor sweeper is turned to shell of top cover.Two yokes decline floor sweeper to put down immediately to land, and unclamps.Floor sweeper i.e. from It opens.F figure is guider link construction enlarged drawing before A schemes, such as narration related in A figure.

It is that sweeper wipes table, chair situation map in Figure 15.Upper figure is to wipe desktop figure, and the following figure is to wipe sitting board of chair figure.Upper figure In, the wiping pa 1 on pa seat 2 is wiped on the desktop 56 of desk, and the mobile pa seat of wiping of one, two, three arm interoperation is being wiped Desktop 56.15 or so reciprocating rotation certain angle of turntable moves back and forth wiping pa.Inspection is installed in the lower aspect of flat axle bed 4 Device 18 is surveyed, corner location and the middle position of desktop are detected, to change turntable reciprocating rotation angle.

The following figure is the seat board situation map for wiping chair.It is following that the following chair of dining table is generally placed on dining table, can use yoke Chair is carried away to come, then wipes sitting board of chair 54.Sweeper can also wipe tea table, sales counter, hearth, windowsill etc table top.

Autostop is the prior art in terms of existing automatic control after each motor rotate in place.What all requirements accurately controlled Motor uses servo motor.Mechanical arm at different levels, steering engine, flat axle bed, vertical shaft seat, electrical appliance on clamping jaw seat connection, with The respective lines connection of existing robot arm is identical, no longer describes.Vertical shaft, the rotational angle of flat turn axis are smaller, only turn Dynamic 180 degree.Body when not in use, automatically walk to specified diamond.Mechanical arm, which is collapsed, is placed in vacant direction close to body.Machine Body can use wireless charging mode.Power receiving coil is installed on body, specified diamond is equipped with wireless charger, and existing Some electric cars as the wireless charging of mobile phone.On body and battery is fitted on floor sweeper.Floor sweeper is just It charges on rear guider on supporting plate, it is identical as existing sweeping robot charging pilework.Floor sweeper is exchanged with toilet seat When pa being dragged to lean against on rear guider, control system disconnects charging circuit.Body and floor sweeper have identification of lines, sweep the floor The function of route planning, and the function of mutually radio contact.It is all on sweeper to need self-locking motor that use worm screw snail Wheel speed.

In addition to the technical characteristic described in the specification, remaining technical characteristic is technology known to those skilled in the art.

Claims (10)

1. dragging pa sweeper from washing, it is characterised in that:

(1), wash certainly and drag pa sweeper, including body, yoke, yoke, mechanical arm, floor sweeper, drag pa, drag pa cleaning device, Wipe pa cleaning device, rubbish tipping mechanism, apparatus for correcting, twin shaft seat mechanism；

(2), both sides are equipped with door frame slideway in front of body；

(3), yoke is mounted on door frame slideway；

(4), yoke includes clip slot seat, sideslip road, sideslip set, door frame sliding sleeve, clip slot seat translating device, motor；

(5), sideslip set both ends are connected with door frame sliding sleeve, and door frame sliding sleeve is mounted on door frame slideway；

(6), clip slot seat is fixed on sideslip and puts on, and a sideslip set is respectively installed at the both ends in sideslip road；

(7), yoke includes principal arm and telescopic arm, and principal arm rear end is hinged at the lower end in clip slot seat, and principal arm can under motor effect It is rotated upwardly and downwardly with around hinge axis, telescopic arm is mounted in principal arm；

(8), turntable, upper frame are installed, between upper frame and the mechanical arm connected, between every two-stage mechanical arm in the top shell of body It is fitted with steering engine；

(9), twin shaft seat mechanism includes flat axle bed, vertical shaft seat, clamping jaw, wipes pa seat, clamping jaw seat, wipes pa；

(10), pa is wiped to be connected on wiping pa seat；It is equipped in vertical shaft seat and wipes pa motor and vertical rotating shaft electric motor, vertical turn in vertical shaft seat Axis is connect with clamping jaw seat, and clamping jaw is equipped on clamping jaw seat, and the wiping pa axis in vertical shaft seat is connect with pa seat is wiped；The flat turn axis of flat axle bed Front end is connect with vertical shaft seat side, and flat axle bed rear end is connect with a steering engine with most end level-one mechanical arm；

(11), floor sweeper is an independent entirety, sweep the floor, dust suction, mopping function and configuration aspects are swept with what family used Floor-washing robot is identical；

(12), a window is outputed on the shell of top cover of floor sweeper, and tegillum shell is installed in window；

(13), floor sweeper both sides are symmetrically offered to face and rotating hole；

(14), floor sweeper by wash certainly drag pa sweeper main engine remote control carry out operation；

(15), when floor sweeper operation, floor sweeper leaves the following supporting plate of body；Supporting plate is climbed up when floor sweeper not operation to park；

(16), the pa item of pa is dragged to be connected on pa plate, it is following that pa plate is mounted on floor sweeper rear；

(17), dragging pa cleaning device includes that pa service sink, dehydration device, toilet seat, vertical sliding block, cover for seat, smooth road, translation is dragged to slide Frame, translation motor, shiftable gear, translating rack, lifting motor, lifting gear, rack gear；

(18), toilet seat include seat shell, transfer gear, transfer rack gear, transfer motor, transfer slide, transfer sliding block, transfer frame, It hangs tag, the electromagnet that hangs tag, slider plate slideway；

(19), be equipped with and hang tag on the platen below the transfer frame front in toilet seat, can floor sweeper it is following drag para Out, it and draws in the following slider plate slideway of toilet seat；

(20), wiping pa cleaning device includes wiping pa service sink, service sink mobile device；

(21), rubbish tipping mechanism includes preceding guider, bolt axle, yoke, clamping jaw；

(22), the bolt axle tiped rubbish is installed on side opposite in front of the telescopic arm of two yokes；

(23), the apparatus for correcting of floor sweeper is installed above supporting plate；

(24), when yoke fork lift chair, principal arm is upwards collected through, and telescopic arm is taken in principal arm, and body drops to close to chair, principal arm So that telescopic arm front end in the following, principal arm rotates down is dropped to horizontality lower than sitting board of chair both sides, telescopic arm stretches out, yoke to On slowly increase and lift chair, subsequent floor sweeper is swept the floor in the following space of chair from being climbed on floor on supporting plate；

(25), cleaning is when dragging pa, guider after floor sweeper is drawn close on supporting plate, is corrected device correction, and toilet seat is from floor sweeper Rear falls, docks, and dragging the pa plate of pa to pull out below floor sweeper, draws in the slider plate slideway below toilet seat, cleans Seat rises, translates, dropping to drag and be cleaned in pa service sink, and after dehydration device is dehydrated, toilet seat is translated again, declines and swept The pa plate for dragging pa is injected floor sweeper below in corresponding slideway by the docking of ground device；

(26), it when cleaning and wiping pa, wipes pa service sink and is moved to the external side of machine shell, mechanical arm puts wiping pa seat into and wipes pa service sink In, the wiping pa motor left-right rotation cleaning and wiping pa in vertical shaft seat is wiped pa motor and is dehydrated to a direction quick rotation.

2. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: clip slot seat translating device includes screw rod, spiral shell Female, motor；The each sideslip installed on sideslip road puts on one nut of each connection, and two nuts are all screwed on a screw rod, silk The screw thread on bar both sides left-hand thread each other；Screw rod one end connects a motor, and motor is connected on the door frame sliding sleeve on both sides.

3. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: each clip slot seat lower end is connected and fixed one Sole piece.

4. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: when tipping rubbish, preceding guider, which is put down, to land, Floor sweeper enters between two yokes, draws close preceding guider, two yoke relative movements to set distance, two telescopic arm front ends Two root cutting pin shafts inject floor sweeper shell both sides among rotating hole；Mechanical arm drives the clamping jaw of twin shaft seat mechanism to make floor sweeper It is downward to turn to shell of top cover；Mechanical arm lifts floor sweeper, is placed on above dustbin；Tegillum shell on shell of top cover is opened, and rubbish is It pours into dustbin.

5. according to claim 1 drag pa sweeper from washing, it is characterised in that: be provided on body filtered water tank, foul water tank, Water pump, related water pipe and corresponding electromagnetic switch.

6. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: transfer motor is connected on transfer frame, is turned The transfer gear connected on motor is moved to engage with the transfer rack gear being connected in seat shell；Transfer frame both sides are equipped with transfer sliding block, Transfer sliding block is mounted in the transfer slide being connected in seat shell with bracket.

7. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: cover for seat side is connected with translation balladeur train, seat Set top side side is equipped with lifting motor and lifting gear, and translation motor and shiftable gear are equipped on the side of cover for seat, described Shiftable gear is engaged with the translating rack being mounted on body inner housing.

8. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: vertical sliding block is mounted in cover for seat, toilet seat Top is connect with vertical sliding block lower end.

9. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: supporting plate rear is equipped with rear guider, machine Preceding guider is installed among the sideslip road of lower section before body.

10. according to claim 1 wash certainly drags pa sweeper, it is characterised in that: the telescopic arm of mechanical arm is stretched out and taken in Using motor, gear, rack structure.