CN112471981B - Multifunctional household cleaning robot for toilet - Google Patents
Multifunctional household cleaning robot for toilet Download PDFInfo
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- CN112471981B CN112471981B CN202011331473.1A CN202011331473A CN112471981B CN 112471981 B CN112471981 B CN 112471981B CN 202011331473 A CN202011331473 A CN 202011331473A CN 112471981 B CN112471981 B CN 112471981B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 110
- 230000007246 mechanism Effects 0.000 claims abstract description 129
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 238000005406 washing Methods 0.000 claims abstract description 20
- 238000010521 absorption reaction Methods 0.000 claims abstract description 12
- 230000018044 dehydration Effects 0.000 claims abstract description 12
- 238000006297 dehydration reaction Methods 0.000 claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 34
- 238000011010 flushing procedure Methods 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 12
- 230000000903 blocking effect Effects 0.000 claims description 9
- 238000005192 partition Methods 0.000 claims description 8
- 230000001680 brushing effect Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 2
- 229920000742 Cotton Polymers 0.000 description 6
- 230000009471 action Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000001035 drying Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K17/00—Other equipment, e.g. separate apparatus for deodorising, disinfecting or cleaning devices without flushing for toilet bowls, seats or covers; Holders for toilet brushes
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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
- A47L11/40—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
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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
- A47L11/40—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
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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
- A47L11/40—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Water Supply & Treatment (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Sanitary Device For Flush Toilet (AREA)
Abstract
The invention discloses a multifunctional household toilet cleaning robot; the cleaning robot comprises a rack, a ground cleaning mechanism, a floor drain cleaning mechanism, a closestool cleaning mechanism and a controller; the ground cleaning mechanism comprises a dehydration transmission mechanism arranged on the frame and a water absorption cleaning head arranged on the dehydration transmission mechanism; the floor drain cleaning mechanism comprises a station switching mechanism arranged on the rack, a cover taking mechanism and a cleaning mechanism arranged on the station switching mechanism; the closestool cleaning mechanism comprises an extension mechanical arm arranged on the rack and a washing mechanism arranged on the extension mechanical arm; the controller is arranged on the rack and is respectively and electrically connected with the ground cleaning mechanism, the floor drain cleaning mechanism and the closestool cleaning mechanism; the multifunctional toilet bowl is complete in function and can solve the common problems of slippery floor, floor drain blockage and dirty inner wall of the toilet bowl in the toilet.
Description
Technical Field
The invention belongs to the technical field of intelligent home furnishing, and particularly relates to a multifunctional household toilet cleaning robot.
Background
The intelligent household product changes the life style and living environment of people, assists users to manage time more effectively, saves energy consumption, enriches the contents of mental life such as knowledge and emotion of people, and leads the life of people to be changed completely with new innovation such as computer technology and information technology. The intelligent home is a product which meets the development requirements of the modern society, improves the life quality and the work efficiency of people and embodies humanization.
The household toilet integrates a toilet, a washroom and a bath basin into a whole and is independent from a building, the problems of slippery ground, floor drain blockage and dirty inner wall of a closestool often occur in the use process of the toilet, and most of the existing intelligent household service robots can only independently solve the problems; therefore, a robot which has multiple functions and can comprehensively solve the problems of the toilet is lacked in the prior art.
Disclosure of Invention
The invention aims to provide a functional household toilet cleaning robot aiming at the defects in the prior art, which has complete functions and can solve the common problems of wet and slippery floor, floor drain blockage and dirty inner wall of a closestool in a toilet.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-functional domestic toilet cleaning robot comprising:
a frame;
the ground cleaning mechanism comprises a dehydration transmission mechanism arranged on the frame and a water absorption cleaning head arranged on the dehydration transmission mechanism;
the floor drain cleaning mechanism comprises a station switching mechanism arranged on the rack, a cover taking mechanism and a cleaning mechanism which are arranged on the station switching mechanism;
the closestool cleaning mechanism comprises an extension mechanical arm arranged on the rack and a washing mechanism arranged on the extension mechanical arm; and
and the controller is arranged on the rack and is respectively and electrically connected with the ground cleaning mechanism, the floor drain cleaning mechanism and the closestool cleaning mechanism.
Further, the station switching mechanism includes:
the first connecting frame is fixed on the rack and is in a suspension shape;
the driving plate is hinged at the lower end of the first connecting frame;
the grooved wheel is hinged on the first connecting frame and matched with the driving plate; and
and the first motor is arranged on the first connecting frame and is in transmission connection with the drive plate, and a speed reducer is arranged between the first motor and the drive plate.
Further, the mechanism of taking the lid includes:
the second connecting frame is arranged on the grooved wheel;
the cover opener comprises a cylindrical shell which is vertically arranged, a second motor arranged in the cylindrical shell and a cover opening claw arranged at the bottom end of the cylindrical shell, wherein the second motor is connected with the cover opening claw; and
and the first lifting adjusting mechanism comprises a third motor arranged on the second connecting frame, a transmission screw matched with the cylindrical shell in a threaded manner and connected with the third motor, and a guide rod arranged on the second connecting frame and in sliding fit with the cylindrical shell.
The cover opening claw comprises a connecting cylinder, claw bodies which are hinged to one end of the connecting cylinder and are uniformly distributed in the circumferential direction, and a sliding sleeve which is sleeved on the connecting cylinder and is connected with the claw bodies through a connecting rod; the other end of the connecting cylinder is connected with the transmission rod, and a spiral protrusion matched with the sliding sleeve is arranged in the cylindrical shell.
Further, the cleaning mechanism includes:
the third connecting frame is arranged on the grooved wheel;
the second lifting adjusting mechanism comprises a second electric push rod arranged on the third connecting frame, a fourth motor arranged at the end part of the first electric push rod and a cleaning brush arranged on the output end of the fourth motor; and
the flushing mechanism comprises a splash guard sleeved on the output shaft of the fourth motor, a spray nozzle arranged in the splash guard, a water pump connected with the spray nozzle through a hose and a water tank arranged on the rack; the water pump is arranged in the water tank.
Further, the stretching mechanical arm comprises a transverse moving transmission mechanism and a longitudinal transmission mechanism; the transverse moving transmission mechanism comprises a guide frame arranged on the rack, a first screw rod arranged on the guide frame, a first screw seat matched with the first screw rod, and a fifth motor arranged on the guide frame and connected with the first screw rod; the longitudinal transmission mechanism comprises a fourth connecting frame and a second electric push rod arranged on the fourth connecting frame, the fourth connecting frame is connected with the first nut seat, and the second electric push rod is longitudinally arranged.
Further, the washing mechanism includes:
the transmission disc comprises a sixth motor arranged at the end part of the second electric push rod, a blocking cover arranged on the shell of the sixth motor, a rotating chassis which is embedded in the blocking cover and can rotate circumferentially, a second screw rod arranged on the rotating chassis, a second screw base matched with the second screw rod, and a seventh motor which is arranged on the rotating chassis and connected with the second screw rod; the sixth motor is connected with the rotary chassis;
the washing and brushing arm comprises a crank arm and a brush head arranged at one end of the crank arm; the other end of the crank arm is hinged to the second nut seat through a bolt penetrating shaft, and a torsion spring is arranged between the crank arm and the second nut seat; and
and the flushing ring is arranged on the shield and is connected with the water pump through a hose.
Furthermore, the dehydration transmission mechanism comprises a connecting seat arranged on the frame and a third electric push rod arranged on the connecting seat.
Furthermore, the water absorption cleaning head is a folded mop head, the fixed connecting end of the folded mop head is hinged to the rack through a connecting column, and the pulling end of the folded mop head is connected with a third electric push rod.
Further, the rack includes:
the walking base comprises a bottom plate, an eighth motor arranged on the bottom plate, an omnidirectional wheel arranged on the eighth motor and a fan arranged on the bottom plate; the eighth motor and the fan are electrically connected with the controller;
the support frame body comprises a support rod frame arranged on the bottom plate and a plurality of partition plates arranged on the support rod frame at intervals in the longitudinal direction;
the frame is further provided with an image acquisition device, the image acquisition device comprises two first cameras arranged on the bottom plate and two second cameras arranged on the support rod frame, and the first cameras and the second cameras are electrically connected with the controller.
The invention has the beneficial effects that:
1. in the structural design, the ground dewatering and drying function, the floor drain cleaning function and the closestool inner wall cleaning function are integrated on the same equipment, and functional parts are reasonably distributed and improved to form the multifunctional intelligent household service robot; the multifunctional toilet has multiple functions, and can effectively solve the common problems of the household toilet;
2. in the structural design, the dewatering and drying functions can be realized through the dewatering transmission mechanism and the folded mop head in the ground cleaning mechanism, the dewatering transmission mechanism realizes the action of folding the mop head through the control of the third electric push rod, the folded mop head can be dewatered after being folded and can absorb water after being unfolded, the problem of wet and slippery ground is favorably solved, and meanwhile, the connecting column is matched with the structural design, so that the folded mop head can be separated from the ground in the bending process, and the effective dewatering function is realized;
3. in the structural design, the floor drain decontamination function can be realized by a cover taking mechanism and a cleaning mechanism which can switch stations, and the cover taking mechanism and the cleaning mechanism realize station switching through a geneva mechanism in a station switching mechanism; the cover taking mechanism can realize automatic grabbing and rotary taking out of the floor drain cover, the cleaning mechanism realizes floor drain cleaning through the comprehensive action of the cleaning brush and water spraying flushing, and the cleaning effect is better;
4. in the structural design, the cleaning function of the inner wall of the closestool can be cleaned through the rotation of the cleaning arm of the cleaning mechanism, and the flushing ring can be matched with the cleaning, so that more thorough cleaning is realized; the washing arm can not only realize the rotation action under the control of the transmission disc, but also realize the continuous change of the inclination angle of the washing arm under the matching of the inner wall of the closestool, thereby effectively realizing the cleaning of the inner wall of the closestool.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the floor cleaning mechanism shown in FIG. 1;
FIG. 3 is a schematic structural diagram of a station switching mechanism according to the present invention;
FIG. 4 is a schematic structural view of the cap removing mechanism according to the present invention;
FIG. 5 is a schematic view of the cleaning mechanism of the present invention;
FIG. 6 is a schematic view of the traverse actuator according to the present invention;
FIG. 7 is a schematic structural view of a longitudinal driving mechanism and a washing mechanism according to the present invention;
fig. 8 is a system control block diagram of the present invention.
Wherein: 1-a controller; 2-a bottom plate; 3-an eighth motor; 4-omni wheels; 5-a fan; 6-support bar frame; 7-a separator; 8-a first camera; 9-a second camera; 10-a connecting seat; 11-a third electric push rod; 12-folding the mop head in half; 13-connecting column; 14-a first connecting frame; 15-a dial; 16-sheave; 17-a first electric machine; 18-a second connecting frame; 19-a cylindrical housing; 20-a second motor; 21-a third motor; 22-a drive screw; 23-a guide bar; 24-a connector barrel; 25-a paw body; 26-a connecting rod; 27-a sliding sleeve; 28-a third link; 29-a first electric push rod; 30-a fourth motor; 31-cleaning the brush; 32-a splash guard; 33-a spray head; 34-a water pump; 35-a water tank; 36-a guide frame; 37-a first lead screw; 38-a first nut seat; 39-a fifth motor; 40-a fourth link; 41-a second electric push rod; 42-a sixth motor; 43-a shield; 44-a rotating chassis; 45-a second screw rod; 46-a second nut seat; 47-a seventh motor; 48-crank arm; 49-a brush head; 50-a flushing ring; 51-an electromagnetic directional valve; a 52-L shaped connecting frame; 53-annular boss; 54-helical protrusion.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings:
as shown in fig. 1 to 8, a multi-functional domestic toilet cleaning robot; the cleaning robot comprises a rack, a ground cleaning mechanism, a floor drain cleaning mechanism, a closestool cleaning mechanism and a controller; the frame provides a foundation support and a connecting and fixing function; the ground cleaning mechanism is mainly used for cleaning wet and slippery ground and absorbing water on the ground; the floor drain cleaning mechanism is used for washing a floor drain in a toilet, so that the cleanness of the toilet is ensured, and the blockage of the floor drain is prevented; the closestool cleaning mechanism is mainly used for cleaning the inner wall of the closestool and ensures the cleanness and sanitation of the closestool.
Wherein,
as shown in fig. 1, the frame mainly comprises a walking base and a supporting frame body, wherein the walking base is controlled by the controller 1 to walk; the walking base comprises a bottom plate 2, an eighth motor 3, an omnidirectional wheel 4 and a fan 5; the bottom plate 1 is circular; the eighth motors 3 are arranged on the bottom plate 2 and are uniformly distributed in the circumferential direction; the omnidirectional wheel 4 is connected with the eighth motor 3; two fans 5 can be arranged, and the fans 5 act on the ground to promote the drying of the ground; the eighth motor 3 and the fan 5 are both connected to the controller 1; the support frame body comprises a support rod frame 6 arranged on the bottom plate 2 and three partition plates 7 arranged on the support rod frame 6 at intervals in the longitudinal direction; in order to make the whole beautiful, the frame also comprises a shell which can be made into a cylinder shape and fixed on the bottom plate 2, and the shell is provided with a hole for the toilet cleaning mechanism to extend outwards.
In order to realize the accurate positioning of the floor drain cleaning mechanism on the position of the floor drain and the planning of a walking path, an image acquisition device is also arranged on the rack; the image acquisition device comprises two first cameras 8 arranged on the bottom plate 2 and a second camera 9 arranged on the support rod frame 6, and the first cameras 8 and the second camera 9 are connected into the controller 1.
As shown in fig. 2, the ground cleaning mechanism comprises a dehydration transmission mechanism arranged on the frame and a water absorption cleaning head arranged on the dehydration transmission mechanism; the dehydration drive mechanism is used for controlling the action of the water absorption cleaning head, and the water absorption cleaning head is used for adsorbing water on the ground. The dewatering transmission mechanism comprises a connecting seat 10 arranged on the bottom plate 2 and a third electric push rod 11 hinged on the connecting seat 10. The water absorption cleaning head adopts a folded mop head 12, the folded mop head 12 is composed of a water absorption cotton head and two fixing splints hinged with each other, the fixing splints are used for fixing the water absorption cotton head, the fixing splints are provided with bent columnar connecting ends, and the hinged part of the fixing splints is provided with a protrusion convenient to pull; the fixed connecting end of the doubling-up mop head 12 is hinged to the lower side of the bottom plate 2 through a connecting column 13, specifically, one end of the connecting column 13 is hinged to the lower side of the bottom plate 2, and the other end of the connecting column 13 is hinged to the bent columnar connecting end on the fixed clamping plate; the protrusion of the pulling end of the folded mop head 12 is connected with the third electric push rod 11, the folded mop head 12 can be driven to be folded in half under the contraction state of the third electric push rod 11 to realize the squeezing and dehydration of the absorbent cotton head, and the third electric push rod 11 is connected with the controller 1.
The floor drain cleaning mechanism comprises a station switching mechanism arranged on the rack, a cover taking mechanism and a cleaning mechanism arranged on the station switching mechanism; the station switching mechanism is used for realizing station switching of the cover taking mechanism and the cleaning mechanism; the cover taking mechanism is used for realizing the disassembly and the installation of the floor drain cover; the cleaning mechanism is used for cleaning the floor drain hole.
As shown in fig. 3, the station switching mechanism includes a first link frame 14, a dial 15, a sheave 16, and a first motor 17; the first connecting frame 14 is fixed at the lower side of the first clapboard 7 from bottom to top; the driving plate 15 and the grooved pulley 16 are hinged on the first connecting frame 14 and form a grooved pulley mechanism; the first motor 17 is fixed on the first connecting frame 14 and used for driving the driving plate 15 to rotate, a speed reducer is arranged between the first motor 17 and the driving plate 15, and the first motor 17 is connected to the controller 1; when the first motor 17 is controlled by the controller 1 to rotate forward and backward, the grooved wheel 16 can be driven to swing back and forth, and the cover taking mechanism and the cleaning mechanism arranged on the grooved wheel 16 realize station conversion.
As shown in fig. 4, the cap removing mechanism includes a second link 18, a cap opener, and a first elevation adjustment mechanism; second link 18 is fixed to sheave 16. The cap opener comprises a cylindrical shell 19 which is vertically arranged, a second motor 20 which is arranged in the cylindrical shell 19 and a cap opening claw which is arranged at the bottom end of the cylindrical shell 19, wherein the second motor 20 is connected with the cap opening claw. The first lifting adjusting mechanism comprises a third motor 21 arranged on the second connecting frame 18, a transmission screw 22 in threaded fit with the cylindrical shell 19 and connected with the third motor 21, and a guide rod 23 arranged on the second connecting frame 18 and in sliding fit with the cylindrical shell 19; the second motor 20 and the third motor 21 are connected to the controller 1. The uncovering claw comprises a connecting cylinder 24, claw bodies 25 which are hinged to one end of the connecting cylinder 24 and are uniformly distributed in the circumferential direction, and a sliding sleeve 27 which is sleeved on the connecting cylinder 24 and is connected with the claw bodies 25 through a connecting rod 26; the connecting rod 26 is hinged with the claw body 25 and the sliding sleeve 27; an annular boss 53 is arranged on the outer circumference of the sliding sleeve 27, threads are machined on the outer circumference of the annular boss 53, and the sliding sleeve 27 and the connecting cylinder 24 are matched in a similar spline sleeve and spline shaft matching mode and used for ensuring that the sliding sleeve 27 is circumferentially fixed and axially movable relative to the connecting cylinder 24; the other end of the connecting cylinder 24 is fixedly connected with an output shaft of the second motor 20, a spiral protrusion 54 matched with an annular boss 53 of the sliding sleeve 27 is arranged in the cylindrical shell 19, when the second motor 20 drives the cover opening claw to rotate, the annular boss 53 is matched with the spiral protrusion 54 through threads, so that the lifting movement of the sliding sleeve 27 relative to the connecting cylinder 24 can be controlled, the opening and closing amplitude control of the claw body 25 relative to the connecting cylinder 24 can be further controlled through the connecting rod 26, the effective grabbing of the floor drain cover through the claw body 25 is facilitated, and the mounting and the dismounting of the floor drain cover are facilitated; the claw body 25 can be made into a bent shape by adopting a spring piece, and the end part of the claw body 25 can be provided with a triangular protrusion for improving the grabbing stability.
As shown in fig. 5, the cleaning mechanism includes a third connecting frame 28, a second lifting adjustment mechanism and a flushing mechanism; a third link 28 is fixed to sheave 16. The second lifting adjusting mechanism comprises a first electric push rod 29 arranged on the third connecting frame 28, a fourth motor 30 arranged at the end part of the first electric push rod 29 and a cleaning brush 31 arranged at the output end of the fourth motor 30; the first electric push rod 29 and the fourth electric motor 30 are connected to the controller 1. The flushing mechanism comprises a splash guard 32 sleeved on an output shaft of the fourth motor 30, a spray nozzle 33 arranged in the splash guard 32, a water pump 34 connected with the spray nozzle 33 through a hose, and a water tank 35 arranged on the partition plate 7; the splash guard 32 is used for covering the floor drain, the splash guard 32 can be made of rubber materials and used for improving the sealing performance with the ground, and the splash guard 32 does not rotate after covering the ground; two spray heads 33 can be arranged, the outer wall of the splash guard 32 is provided with an annular pipe, the annular pipe is connected with the water tank through a hose, the spray heads 33 realize water supply through the annular pipe, and the annular pipe can play a certain shaping role on the splash guard 32 made of rubber; the water pump 34 is arranged in the water tank 35; the water pump 34 is connected to the controller 1.
The closestool cleaning mechanism comprises an extension mechanical arm arranged on the rack and a cleaning mechanism arranged on the extension mechanical arm; the stretching mechanical arm is used for controlling the washing mechanism to extend to a stop position relative to the frame; the washing mechanism is used for washing the inner wall of the closestool.
The stretching mechanical arm comprises a transverse moving transmission mechanism and a longitudinal transmission mechanism; as shown in fig. 6 and 7, the traverse transmission mechanism includes a guide frame 36 disposed on the upper side of the second partition 7 from bottom to top, a first screw 37 disposed on the guide frame 36, a first nut seat 38 engaged with the first screw 37, and a fifth motor 39 disposed on the guide frame 36 and connected to the first screw 37, the fifth motor 39 being connected to the controller 1; the longitudinal transmission mechanism comprises a fourth connecting frame 40 and a second electric push rod 41 arranged on the fourth connecting frame 40, the fourth connecting frame 40 is connected with the first nut seat 38 and is positioned below the second partition plate 7, guide grooves matched with the fourth connecting frame 40 to move are formed in the second partition plate 7 and the guide frame, the second electric push rod 41 is longitudinally arranged, and the second electric push rod 41 is connected into the controller 1.
As shown in FIG. 7, the washing mechanism includes a drive plate, a washing arm, and a rinse ring 50; the transmission disc comprises a sixth motor 42 arranged at the end part of the second electric push rod 41, a blocking cover 43 arranged on the shell of the sixth motor 42, a rotating chassis 44 which is embedded in the blocking cover 43 and can rotate circumferentially, a second screw rod 45 arranged on the rotating chassis 44, a second screw seat 46 matched with the second screw rod 45, and a seventh motor 47 arranged on the rotating chassis 44 and connected with the second screw rod 45; a four-claw-shaped connecting frame is arranged in the middle of the rotating chassis 44 and is away from the second nut seat 46 and connected with the sixth motor 42; the width direction of the size of the blocking cover 43 is matched with the width size of the port of the toilet bowl, and the length direction is smaller than the length size of the port of the toilet bowl; the sixth motor 42 and the seventh motor 47 are connected to the controller 1. The brushing arm comprises a crank arm 48 and a brush head 49 arranged at one end of the crank arm 48; the L-shaped connecting frame 52 is arranged on the second nut seat 46, the other end of the crank arm 48 is hinged to the L-shaped connecting frame 52 through a bolt penetrating shaft, and a torsion spring is arranged between the crank arm 48 and the L-shaped connecting frame 52, so that the crank arm 48 can elastically overturn in the vertical direction relative to the baffle cover 43, and when the second nut seat 46 is matched with the position of the rotating chassis 44 and the matching effect of the inner wall of the toilet bowl, the inner wall of the toilet bowl can be comprehensively cleaned. The flushing ring 50 is annular, the flushing ring 50 is arranged on the blocking cover 43, an atomizing nozzle is arranged on the flushing ring 50 and is connected with the water pump 34 through a hose, an electromagnetic directional valve 51 can be arranged at a water outlet of the water pump 34 and is used for being connected with the flushing ring 50 and the nozzle 33 respectively, and the electromagnetic directional valve 51 is connected into the controller 1.
As shown in fig. 8, the controller 1 is fixed on a partition 7 located at the top of the rack, and the controller 1 may include a PLC controller, a storage battery connected with the PLC controller, a control switch integrated on the controller 1 and connected with the PLC controller, and an image processor connected with the PLC controller; a singlechip can be used for replacing a PLC controller so as to simplify the equipment cost; the controller 1 is respectively electrically connected with the first motor 17, the second motor 20, the third motor 21, the fourth motor 30, the fifth motor 39, the sixth motor 42, the seventh motor 47, the eighth motor 3, the first electric push rod 29, the second electric push rod 41, the third electric push rod 11, the fan 5, the water pump 34 and the electromagnetic directional valve 51, and performs comprehensive control; the first camera 8 and the second camera 9 are connected with an image processor.
The working process and principle of the invention are as follows:
when the invention is used: the second camera 9 collects the environment of the toilet and sends the environment to the controller 1, and the controller 1 plans a walking route according to the collected image information; the controller 1 controls the omnidirectional wheel 4 to act through the eighth motor 3 and realizes walking according to a planned route.
When ground dewatering and drying are required: the controller 1 controls the third electric push rod 11 to act, a piston rod of the third electric push rod 11 extends outwards and enables the folded mop head 12 to be in a flattening state; when the folded mop head 12 is unfolded, the water-absorbing cotton head of the folded mop head 12 covers the ground, and at the moment, the cleaning robot can absorb water on the ground by using the folded mop head 12 when walking; in order to promote the ground to be quickly dried, the controller 1 can control the fan 5 to be started to promote the water evaporation of the ground so as to quickly dry the ground; after water is absorbed, the controller 1 controls the cleaning robot to walk to the floor drain, then controls the third electric push rod 11 to act again, the piston rod of the third electric push rod 11 contracts, the folding mop head 12 is folded, and water is squeezed into the floor drain, so that dehydration is realized; when the piston rod of the third electric push rod 11 is contracted, the connecting column 13 is also driven to turn over, and the connecting column 13 can drive the folded mop head 12 to integrally move upwards for a certain distance, so that the separation from the ground is realized, and the drainage of the absorbent cotton head is promoted; when the piston rod of the third electric push rod 11 extends outwards, the connecting column 13 can promote the water absorption cotton head to cover the ground.
When floor drain is required to be cleaned: the controller 1 controls the whole cleaning robot to walk to a floor drain, meanwhile, the controller 1 collects the specific position of the floor drain through the first camera 8 and controls the cleaning robot to walk to a proper position, at the moment, the claw body 25 corresponds to the position right above the floor drain, and the bottom plate 2 is provided with a hole for avoiding interference with the claw body 25 and the splash guard 32; the controller 1 firstly carries out cover taking operation; the controller 1 controls the action of a third motor 21, the third motor 21 can realize the lifting control of the cylindrical shell 19 through the threaded matching of a transmission screw 22 and the cylindrical shell 19, and a guide rod 23 can be used for the guide function of the cylindrical shell 19 and simultaneously restrain the circumferential rotation of the cylindrical shell 19; after the controller 1 controls the cylindrical shell 19 to move down to a proper position, the claw body 25 can extend into the hole of the floor drain cover; then the controller 1 controls the second motor 20 to act, and the second motor 20 acts by controlling the connecting cylinder 24, so that the rotation of the claw body 25 is realized; the annular boss 53 on the sliding sleeve 27 is in threaded fit with the spiral protrusion 54 of the cylindrical shell 19 in the rotation process of the claw body 25, the sliding sleeve 27 moves downwards, the claw body 25 is clasped by the sliding sleeve 27 through the connecting rod 26, and the grabbing capacity of the floor drain cover is enhanced; the connecting cylinder 24 rotates a certain angle under the control of the second motor 20, and then the third motor 21 is controlled to act to enable the claw body 25 to reset longitudinally, and at the moment, the floor drain cover is taken out. When floor drain cleaning is carried out, the controller 1 controls the first motor 17 to act, and the cleaning mechanism can move right above the floor drain under the matching of the driving plate 15 and the grooved wheel 16; the controller 1 controls the first electric push rod 29 to act, and the first electric push rod 29 drives the cleaning brush 31 to move downwards and penetrate into the floor drain; the controller 1 controls the fourth motor 30 to act, and the fourth motor 30 drives the cleaning brush 31 to rotate and clean the floor drain; meanwhile, after the cleaning brush 31 moves downwards to a proper position, the splash guard 32 covers the periphery of the floor drain in a pressing mode, so that sewage can be prevented from splashing; in order to clean the cleaning brush 31 and wash the floor drain, the controller 1 controls the water pump 34 to be started, controls the electromagnetic directional valve 51 to be switched to be communicated with the spray head 33, and controls the spray head 33 to spray water, so that the cleaning brush 31 is cleaned and the floor drain is washed. After the floor drain is cleaned, the controller 1 controls the cleaning brush 31 to reset longitudinally, and the controller 1 controls the first motor 17 to act and enables the claw body 25 to be transferred to the position right above the floor drain; then the control claw body 25 moves downwards to buckle the floor drain cover, and the control claw body 25 rotates to enable the floor drain cover to be screwed with the floor drain hole; the connecting cylinder 24 rotates reversely in the installation process of the floor drain cover, the sliding sleeve 27 moves upwards relative to the connecting cylinder 24, the connecting rod 26 expands the claw body 25, and at the moment, the claw body 25 is controlled to move upwards to automatically separate from the floor drain cover; the claw body 25 moves upward by a designated height to effect the reset.
When cleaning the inner wall of the toilet bowl: the cleaning robot walks to the position of the closestool; the controller 1 controls the fifth motor 39 to act, the fifth motor 39 drives the first screw rod 37 to rotate, and the first screw seat 38 realizes circumferential stopping under the matching of the fourth connecting frame 40 and the guide groove, so that the axial movement along the first screw rod 37 is realized; the first nut seat 38 simultaneously drives the fourth connecting frame 40 to move transversely, and the washing mechanism moves to the outer side of the frame body; the controller 1 controls the second electric push rod 41 to act, the second electric push rod 41 drives the transmission disc to move downwards for a certain distance, at the moment, the baffle cover 43 of the transmission disc covers the edge of the toilet body, and the washing arm is positioned in the toilet body; the controller 1 controls the seventh motor 47 to act, the seventh motor 47 drives the second screw rod 45 to rotate, and the second screw rod 45 enables the second screw seat 46 to drive the crank arm 48 to transversely move for a certain distance so that the brush head 49 contacts the inner wall of the toilet bowl; the controller 1 controls the sixth motor 42 to act, the sixth motor 42 drives the rotary chassis 44 to rotate relative to the blocking cover 43, and the rotary chassis 44 drives the crank arm 48 to rotate relative to the axial lead of the rotary chassis 44 in the rotating process, so that the brush head 49 can clean the inner wall of the toilet bowl; the hinged end of the crank arm 48 is controlled by the second nut seat 46 to continuously move towards the center of the rotating chassis 44, so that the included angle between the crank arm 48 and the rotating chassis 44 is increased, and the brush head 49 can move towards the deep part of the toilet bowl, thereby realizing the complete cleaning of the inner wall of the toilet bowl; in the process of cleaning the toilet by the brush head 49, the controller 1 can control the electromagnetic directional valve 51 to act, so that the water pump 34 is communicated with the flushing ring 50, and simultaneously, the water pump 34 is controlled to start, so that water in the water tank 35 can be sprayed to the inner wall of the toilet in an atomizing mode, and the cleaning of the inner wall of the toilet is promoted; the flushing ring 50 can also act on the inner wall of the toilet bowl in a spraying mode, and in order to increase the disinfection or cleaning effect, a proper medicament can be added into the water tank 35; after the cleaning of the inner wall of the toilet is finished, the controller 1 controls the crank arm 48 to transversely reset through the seventh motor 47, and because a torsion spring is arranged between the crank arm 48 and the rotating chassis 44, after the crank arm 48 transversely resets, the crank arm 48 automatically reduces an included angle between the crank arm 48 and the rotating chassis 44 under the action of the torsion spring; finally, the controller 1 resets the washing mechanism by extending the mechanical arm.
Claims (7)
1. A multi-functional domestic bathroom cleaning robot, characterized by, includes:
a frame;
the ground cleaning mechanism comprises a dehydration transmission mechanism arranged on the frame and a water absorption cleaning head arranged on the dehydration transmission mechanism;
the floor drain cleaning mechanism comprises a station switching mechanism arranged on the rack, a cover taking mechanism and a cleaning mechanism which are arranged on the station switching mechanism;
the station shifter mechanism includes:
the first connecting frame is fixed on the rack and is in a suspension shape;
the driving plate is hinged at the lower end of the first connecting frame;
the grooved wheel is hinged on the first connecting frame and matched with the driving plate;
the first motor is arranged on the first connecting frame and is in transmission connection with the drive plate, and a speed reducer is arranged between the first motor and the drive plate;
the cover taking mechanism comprises:
the second connecting frame is arranged on the grooved wheel;
the cover opener comprises a cylindrical shell which is vertically arranged, a second motor arranged in the cylindrical shell and a cover opening claw arranged at the bottom end of the cylindrical shell, wherein the second motor is connected with the cover opening claw; the cover opening claw comprises a connecting cylinder, a plurality of claw bodies which are hinged to one end of the connecting cylinder and are uniformly distributed in the circumferential direction, and a sliding sleeve which is sleeved on the connecting cylinder and is connected with the claw bodies through a connecting rod; the other end of the connecting cylinder is connected with the transmission screw rod, and a spiral protrusion matched with the sliding sleeve is arranged in the cylindrical shell;
the first lifting adjusting mechanism comprises a third motor arranged on the second connecting frame, a transmission screw rod in threaded fit with the cylindrical shell and connected with the third motor, and a guide rod arranged on the second connecting frame and in sliding fit with the cylindrical shell;
the closestool cleaning mechanism comprises an extension mechanical arm arranged on the rack and a washing mechanism arranged on the extension mechanical arm; and
and the controller is arranged on the rack and is respectively and electrically connected with the ground cleaning mechanism, the floor drain cleaning mechanism and the closestool cleaning mechanism.
2. A multi-functional domestic toilet cleaning robot according to claim 1, wherein said washing mechanism comprises:
the third connecting frame is arranged on the grooved wheel;
the second lifting adjusting mechanism comprises a first electric push rod arranged on the third connecting frame, a fourth motor arranged at the end part of the first electric push rod and a cleaning brush arranged on the output end of the fourth motor; and
the flushing mechanism comprises a splash guard sleeved on the output shaft of the fourth motor, a spray nozzle arranged in the splash guard, a water pump connected with the spray nozzle through a hose and a water tank arranged on the rack; the water pump is arranged in the water tank.
3. A multi-functional domestic toilet cleaning robot according to claim 1, wherein said extending robot arm comprises a traverse actuator and a longitudinal actuator; the transverse moving transmission mechanism comprises a guide frame arranged on the rack, a first screw rod arranged on the guide frame, a first screw seat matched with the first screw rod, and a fifth motor arranged on the guide frame and connected with the first screw rod; the longitudinal transmission mechanism comprises a fourth connecting frame and a second electric push rod arranged on the fourth connecting frame, the fourth connecting frame is connected with the first nut seat, and the second electric push rod is longitudinally arranged.
4. A multi-functional domestic toilet cleaning robot according to claim 2, wherein said washing mechanism comprises:
the transmission disc comprises a sixth motor arranged at the end part of the second electric push rod, a blocking cover arranged on the shell of the sixth motor, a rotating chassis which is embedded in the blocking cover and can rotate circumferentially, a second screw rod arranged on the rotating chassis, a second screw base matched with the second screw rod, and a seventh motor which is arranged on the rotating chassis and connected with the second screw rod; the sixth motor is connected with the rotary chassis;
the washing and brushing arm comprises a crank arm and a brush head arranged at one end of the crank arm; the other end of the crank arm is hinged to the second nut seat through a bolt penetrating shaft, and a torsion spring is arranged between the crank arm and the second nut seat; and
and the flushing ring is arranged on the shield and is connected with the water pump through a hose.
5. The robot for cleaning a multi-functional domestic toilet according to claim 1, wherein said dehydrating driving mechanism comprises a connecting base provided on the frame, a third electric push rod provided on the connecting base.
6. The multifunctional household toilet cleaning robot according to claim 5, wherein the water absorption cleaning head is a folded mop head, the fixed connecting end of the folded mop head is hinged to the rack through a connecting column, and the pulling end of the folded mop head is connected with a third electric push rod.
7. A multi-functional domestic toilet cleaning robot according to any one of claims 1 to 6, wherein said frame comprises:
the walking base comprises a bottom plate, an eighth motor arranged on the bottom plate, an omnidirectional wheel arranged on the eighth motor and a fan arranged on the bottom plate; the eighth motor and the fan are electrically connected with the controller;
the support frame body comprises a support rod frame arranged on the bottom plate and a plurality of partition plates arranged on the support rod frame at intervals in the longitudinal direction;
the frame is further provided with an image acquisition device, the image acquisition device comprises two first cameras arranged on the bottom plate and two second cameras arranged on the support rod frame, and the first cameras and the second cameras are electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331473.1A CN112471981B (en) | 2020-11-24 | 2020-11-24 | Multifunctional household cleaning robot for toilet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011331473.1A CN112471981B (en) | 2020-11-24 | 2020-11-24 | Multifunctional household cleaning robot for toilet |
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| CN112471981A CN112471981A (en) | 2021-03-12 |
| CN112471981B true CN112471981B (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011331473.1A Active CN112471981B (en) | 2020-11-24 | 2020-11-24 | Multifunctional household cleaning robot for toilet |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113679307B (en) * | 2021-08-25 | 2023-04-14 | 珠海恒诚科技有限公司 | Household swinging cleaning robot |
| CN114129084A (en) * | 2021-12-02 | 2022-03-04 | 上海景吾智能科技有限公司 | Working system and cooperative working method of double-mechanical-arm mobile robot for cleaning toilet |
| CN114293820A (en) * | 2021-12-31 | 2022-04-08 | 深圳市安杰信息科技有限公司 | Automatic clean bathroom system and intelligent bathroom |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010017428A (en) * | 2008-07-12 | 2010-01-28 | Nishi Nihon Kosoku Doro Maintenance Kansai Kk | Floor cleaning robot |
| CN203074576U (en) * | 2012-12-19 | 2013-07-24 | 南昌航空大学 | Multifunctional cleaning robot |
| CN107320022A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | Toilet intelligent cleaning robot |
| CN108784501A (en) * | 2018-08-28 | 2018-11-13 | 南京工业职业技术学院 | A kind of novel anti-splash toilet brush |
| CN210342210U (en) * | 2019-04-15 | 2020-04-17 | 胡日政 | Municipal drainage well belt cleaning device |
| CN110604511A (en) * | 2019-09-30 | 2019-12-24 | 杭州诺亚方舟网络科技有限公司 | Urinal cleaning system and self-cleaning toilet |
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