CN105942932A - Narrow gap wet mopping robot - Google Patents

Narrow gap wet mopping robot Download PDF

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Publication number
CN105942932A
CN105942932A CN201610529661.2A CN201610529661A CN105942932A CN 105942932 A CN105942932 A CN 105942932A CN 201610529661 A CN201610529661 A CN 201610529661A CN 105942932 A CN105942932 A CN 105942932A
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CN
China
Prior art keywords
robot
rag
cleaning
narrow slit
humidity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610529661.2A
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Chinese (zh)
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CN105942932B (en
Inventor
杨灵敏
王晶晶
朱宏伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maanshan Niuze Technology Service Co Ltd
Original Assignee
Lushan College of Guangxi University of Science and Technology
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Priority to CN201610529661.2A priority Critical patent/CN105942932B/en
Publication of CN105942932A publication Critical patent/CN105942932A/en
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Publication of CN105942932B publication Critical patent/CN105942932B/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28Floor-scrubbing machines, motor-driven
    • A47L11/284Floor-scrubbing machines, motor-driven having reciprocating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4002Installations of electric equipment
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4036Parts or details of the surface treating tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4083Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The invention provides a narrow gap wet mopping robot and relates to a domestic mopping robot. The narrow gap wet mopping robot comprises a robot body, a narrow gap wet mopping device, a robot movement driving device and a control device, wherein the narrow gap wet mopping device is connected with the robot body through a retractable device; the narrow gap wet mopping device comprises a shell body, a wet mopping device located in the shell body and a mopping driving device; the shell body is flat and the height of the shell body is smaller than or equal to 1cm; L-shaped openings are formed in the two sides of the shell body respectively; input ends of the wet mopping device and the mopping driving device are connected with an output end of the control device; the wet mopping device comprises scrubbing cloth, a washing and wetting mechanism and a moisture adjusting mechanism. The narrow gap wet mopping robot can enter a narrow gap to carry out wet mopping work and can be used for cleaning the narrow gap very well; the moisture of the scrubbing cloth can be self-adaptively adjusted according to the environment temperature, humidity and ground clean degree and cleaning work can be finished; and the narrow gap wet mopping robot can automatically go around obstacles, can move freely and flexibly, has the characteristics of high automation degree, low production cost and the like, and is easy to popularize and apply.

Description

Narrow slit Shi Tuo robot
Technical field
The present invention relates to a kind of domestic floor-mopping robot, particularly one narrow slit Shi Tuo robot.
Background technology
Development along with science and technology, robot miscellaneous has gradually come into common people family, domestic floor-mopping robot is one therein, this domestic floor-mopping robot can make people free from heavy cleaning housework, bring great convenience to people's life, but at the bottom of the table angle of family, bed, the position that is difficult to clear up such as narrow slit cannot be carried out well clearing up.Application publication number is that " floor-mopping robot of a kind of automatic cleaning rag " of CN104545709A is although also disclosing that a floor-mopping robot that can automatically clean rag, but still cannot overcome an above-mentioned difficult problem, and this robot is unsatisfactory to the control effect of rag humidity, it is impossible to be adaptively adjusted the humidity of rag according to ambient temperature, humidity, floor cleaning degree.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of narrow slit Shi Tuo robot, and the narrow slit existed to solve above-mentioned prior art is difficult to the weak point that cleaning, rag humid control effect are undesirable.
The technical scheme solving above-mentioned technical problem is: a kind of narrow slit Shi Tuo robot, including robot body, it is arranged on the robot motion's driving means bottom robot body, control device, the outfan controlling device is connected with robot motion's driving means, this robot also includes the wet dragging device of narrow slit, and the wet dragging device of this narrow slit is connected with robot body by retractor device;The wet dragging device of described narrow slit includes housing, the wet dragging device being positioned at housing, mop floor driving means, and described housing is flat, and the height of housing is less than or equal to 1cm, and the convenient position cleaning difficulty that is respectively provided on two sides with of housing carries out the wet L-type opening dragged;Described wet dragging device, the input of the driving means that mops floor are connected with the outfan controlling device respectively.
The further technical scheme of the present invention is: described wet dragging device include rag, clean soak mechanism, bracer is propped up in humidity regulation mechanism, rag transition;Described housing is provided with rag and drags opening, clean soak mechanism, humidity regulation mechanism, rag transition are propped up bracer and are separately mounted in housing, and clean soak mechanism, the input of humidity regulation mechanism is connected with the outfan controlling device respectively;Described rag by rag transition prop up block supports being each passed through clean soak mechanism, humidity regulation mechanism, rag drag opening and are coated on the bottom of housing.
The further technical scheme of the present invention is: described cleaning is soaked mechanism and included filtered water tank, cleaning case, rag actuator;Described rag actuator includes that rag drags steering wheel, rag drag strut, and rag drags the input of steering wheel and is connected with controlling device, and rag drags the outfan of steering wheel and is connected with rag drag strut, and rag drag strut is connected with rag.
The further technical scheme of the present invention is: described humidity regulation mechanism is located at the side of cleaning case, and this humidity regulation mechanism includes humidity regulation steering wheel, humidity regulation drive link, cam A, cam B, cam link, humidity regulating plate, guide pad, floor cleaning degree sensor, temperature sensor, humidity sensor;Described guide pad drags the height of opening at corresponding rag and is provided with horizontal for the rag opening through rag;Being additionally provided with vertical gathering sill in this guide pad, described humidity regulating plate is arranged in the gathering sill of rag overthe openings, and the inwall of the surrounding of humidity regulating plate and gathering sill is slidably matched;Described cam A, cam B are mounted opposite respectively in gathering sill;Described humidity regulation steering wheel is arranged on outside guide pad, the input of this humidity regulation steering wheel is connected with controlling device, the outfan of humidity regulation steering wheel is connected with humidity regulation drive link, humidity regulation drive link is connected through guide pad with cam A, cam A is connected with cam B by cam link, and cam A, cam B match with the two ends of humidity regulating plate respectively;Described floor cleaning degree sensor is arranged on the front end of housing, temperature sensor, humidity sensor are separately positioned on the L-type opening both sides sharp corner of housing forward end, and floor cleaning degree sensor, temperature sensor, the outfan of humidity sensor are connected with the input controlling device respectively.
The further technical scheme of the present invention is: the described driving means that mops floor includes Two axle drive steering wheel, drive shaft, driving wheel, described Two axle drive steering wheel is arranged on the middle part of housing, the two ends of Two axle drive steering wheel are connected with two driving wheels by drive shaft respectively, and the input of Two axle drive steering wheel is connected with the outfan controlling device.
The further technical scheme of the present invention is: described retractor device includes expansion link, cable, coiling electric motor, reel;One end of expansion link dragging device wet with narrow slit is connected, and the other end of expansion link is connected with robot body;One end of cable dragging device wet with narrow slit is connected, and the other end of cable is wound on reel, and reel is connected with the output shaft of coiling electric motor, and the input of coiling electric motor is connected with controlling device, and coiling electric motor, reel are separately mounted on robot body.
The further technical scheme of the present invention is: this robot also includes cleaning agency, and described clearing apparatus includes two cleaning agencies, can enter the screening glass of cleaning agency and clean motor by the bigger rubbish incidental of blockage size;Described screening glass is coaxially connected with cleaning agency;The described input cleaning motor is connected with controlling device, and the output shaft cleaning motor is connected with cleaning agency.
The further technical scheme of the present invention is: this robot also includes for clearing apparatus stays fines carry out the fines clearing apparatus of secondary cleaning, and the input of fines clearing apparatus is connected with controlling device;Described robot body is the elliptical shape that robot can be made to be more easy to by little space.
The further technical scheme of the present invention is: this robot also includes navigation detection device, and this navigation detection device is arranged on robot body, and navigation detection device includes detecting sensor, and the outfan of navigation detection device is connected with the input controlling device.
The further technical scheme of the present invention is: described robot motion's driving means includes forward-reverse driving means and lateral driver device, universal balance wheel;Described forward-reverse driving means is provided with forward-reverse driving wheel, forward-reverse drives motor, and forward-reverse driving wheel is arranged on forward-reverse and drives on the outfan of motor;Described lateral driver device be provided with laterally driven take turns, horizontal drive motor, laterally driven take turns on the output shaft being arranged on horizontal drive motor;Described forward-reverse drives motor, the input of horizontal drive motor is connected with control device respectively.
Owing to using said structure, the narrow slit Shi Tuo robot of the present invention compared with prior art, has the advantages that
1. narrow slit can be cleared up well:
The narrow slit Shi Tuo robot of the present invention, in addition to including robot body, robot motion's driving means, controlling device, also includes the wet dragging device of narrow slit, and the wet dragging device of this narrow slit is connected with robot body by retractor device;The wet dragging device of narrow slit includes housing, wet dragging device, mop floor driving means, and its middle shell is flat, the height of housing be less than or equal to 1cm, housing be respectively provided on two sides with L-type opening;Wet dragging device, the input of the driving means that mops floor are connected with the outfan controlling device respectively.Owing to housing design is become flat by the present invention, and the height of housing is designed as less than or equal to 1cm, at the bottom of the convenient bed to less space, narrow slit at the bottom of cabinet carry out wet dragging;Simultaneously it is respectively provided on two sides with L-type opening at housing, clean position difficult to table leg and chair legs etc. can be facilitated to carry out wet dragging.Therefore, the present invention can carry out wet dragging operation by the independent narrow slit that enters under the drive of the driving means that mops floor, and can clear up narrow slit well.
Additionally, robot body is also designed to elliptical shape by the present invention, it is possible to make robot more easily by small space.
2. can control the humidity that mops floor well:
Owing to robot includes the wet dragging device of narrow slit, the wet dragging device of this narrow slit includes housing, wet dragging device, mop floor driving means, and wet dragging device includes rag, cleans and soak mechanism, humidity regulation mechanism;Wherein humidity regulation mechanism includes again humidity regulation steering wheel, humidity regulation drive link, cam A, cam B, cam link, humidity regulating plate, guide pad;Guide pad drags the height of opening at corresponding rag and is provided with horizontal for the rag opening through rag;Being additionally provided with vertical gathering sill in this guide pad, humidity regulating plate is arranged in the gathering sill of rag overthe openings, and cam A, cam B are mounted opposite respectively in gathering sill;Humidity regulation steering wheel is connected with cam A by humidity regulation drive link, and cam A is connected with cam B by cam link, and cam A3, cam B match with the two ends of humidity regulating plate respectively.During use, humidity regulation steering wheel is rotated by humidity regulation drive link band moving cam A, cam B, and humidity regulating plate can be made to move up and down along the gathering sill of guide pad, thus the gap size of scalable rag opening, finally can control the humidity that mops floor well.
3. ambient temperature, humidity, floor cleaning degree can be adaptively adjusted the humidity of rag:
Owing to the humidity regulation mechanism of the present invention also includes floor cleaning degree sensor, temperature sensor, humidity sensor, wherein floor cleaning degree sensor is arranged on the front end of housing, temperature sensor, humidity sensor are separately positioned on the L-type opening both sides sharp corner of housing forward end, and this floor cleaning degree sensor, temperature sensor, the outfan of humidity sensor are connected with the input controlling device respectively.Therefore, the face cleannes sensor of the present invention, temperature sensor, humidity sensor can detect ambient temperature, humidity, floor cleaning degree automatically, and pass to control device by the data detected, control device and be automatically adjusted the humidity of rag according to the data detected.
4. can realize cleaning rag operation
Owing to robot includes the wet dragging device of narrow slit, the wet dragging device of this narrow slit includes housing, wet dragging device, mop floor driving means, and wet dragging device includes rag, cleans and soak mechanism, humidity regulation mechanism;Wherein clean and soak mechanism and include filtered water tank, cleaning case, rag actuator;Described rag actuator includes that rag drags steering wheel, rag drag strut, and rag drags the input of steering wheel and is connected with controlling device, and rag drags the outfan of steering wheel and is connected with rag drag strut, and rag drag strut is connected with rag.Drag rag by rag actuator and pass sequentially through cleaning case, filtered water tank, can complete clean and soak operation.
5. can carry out cleaning work
Owing to present invention additionally comprises cleaning agency, this clearing apparatus includes two cleaning agencies, screening glass and cleans motor;Two cleaning agencies, under the drive cleaning motor, can first carry out cleaning work before mopping floor, can enter cleaning agency with the rubbish incidental that blockage size is bigger by screening glass simultaneously, ensure that being smoothed out of cleaning work.
Additionally, robot also includes fines clearing apparatus, the fines that this device can be used for leaving clearing apparatus carries out secondary cleaning, it is ensured that being properly completed of cleaning work.
6. can automatically get around barrier
Navigation detection device is also included due to robot, navigation detection device is arranged on front end or the rear end of robot body, can complete vicinity environment detection and signal is issued control device, as run into barrier, control device to control robot and get around barrier and advance, it is to avoid directly knock barrier and damage robot.
7. freedom of motion, flexibly
The present invention is provided with robot motion's driving means bottom robot body, and this robot motion's driving means includes forward-reverse driving means and lateral driver device, universal balance wheel;Not only can realize the advance of robot, retrogressing and transverse movement by this robot motion's driving means, also can realize arbitrarily turning to, its motion ratio is relatively freely, flexibly.
8. automaticity is high
Owing to the present invention includes control device, this control device can automatically control the co-ordination of whole narrow slit Shi Tuo robot, including clean, clean wring out rag, mopping floor etc. a complete set of cleans the operation that mops floor, omnidistance all without manual operation, its automaticity is the highest.
9. volume is little
Present configuration volume is little, it is possible to arrive arbitrary corner, room, and convenient cleaning is wet drags operation.
Use the most easy to spread
The simple in construction of the present invention, production cost is low, and good looking appearance, easy to operate, it is easy to promote the use of.
Below, in conjunction with the accompanying drawings and embodiments the technical characteristic of the narrow slit Shi Tuo robot of the present invention is further described.
Accompanying drawing explanation
The front view of the narrow slit Shi Tuo robot of the present invention described in Fig. 1: embodiment one,
The upward view of Fig. 2: Fig. 1,
The perspective view (from overlooking direction) of the narrow slit Shi Tuo robot of the present invention described in Fig. 3: embodiment one,
The structural representation of the wet dragging device of narrow slit described in Fig. 4: embodiment one;
The partial structurtes enlarged diagram of humidity regulation mechanism described in Fig. 5: embodiment one;
Narrow slit Shi Tuo robot described in Fig. 6: embodiment one enters and carries out the wet perspective view dragging operation at the bottom of bed;
The front view of the narrow slit Shi Tuo robot of the present invention described in Fig. 7: embodiment two,
The upward view of Fig. 8: Fig. 7,
The perspective view (from overlooking direction) of the narrow slit Shi Tuo robot of the present invention described in Fig. 9: embodiment two,
The perspective view (from looking up direction) of the narrow slit Shi Tuo robot of the present invention described in Figure 10: embodiment two;
The front view of the narrow slit Shi Tuo robot of the present invention described in Figure 11: embodiment three,
The upward view of Figure 12: Figure 11,
The perspective view (from overlooking direction) of the narrow slit Shi Tuo robot of the present invention described in Figure 13: embodiment three,
The perspective view (from looking up direction) of the narrow slit Shi Tuo robot of the present invention described in Figure 14: embodiment three;
In above-mentioned accompanying drawing, being described as follows of each label:
1-robot body,
2-clearing apparatus,
21-cleaning agency, 22-screening glass, 23-cleans motor,
The wet dragging device of 3-narrow slit,
31-housing,
311-L type opening, 312-rag drags opening,
The wet dragging device of 32-,
321-rag,
322-cleans and soaks mechanism,
3221-filtered water tank, 3222-cleaning case, 3223-rag actuator,
32231-rag dragging steering wheel, 32232-rag drag strut,
323-humidity regulation mechanism,
3231-humidity regulation steering wheel, 3232-humidity regulation drive link, 3233-cam A, 3234-cam B,
3235-cam link, 3236-humidity regulating plate, 3237-guide pad, 32371-rag opening,
3238-floor cleaning degree sensor, 3239-temperature sensor, 3240-humidity sensor,
Bracer is propped up in 324-rag transition,
33-mops floor driving means,
331-Two axle drive steering wheel, 332-drive shaft, 333-driving wheel,
4-fines clearing apparatus,
5-navigation detection device,
6-robot motion's driving means,
61-forward-reverse driving means,
611-forward-reverse driving wheel, 612-forward-reverse drives motor,
62-lateral driver device,
621-is laterally driven to take turns, 622-horizontal drive motor,
63-universal balance is taken turns,
7-controls device,
8-retractor device,
81-expansion link, 82-cable, 83-coiling electric motor, 84-reel.
Detailed description of the invention
Embodiment one
Disclosed in Fig. 1 is a kind of narrow slit Shi Tuo robot, including robot body 1, the wet dragging device of narrow slit 3, robot motion's driving means 6, controls device 7;Wherein,
Described robot body 1 elliptical shape, makes robot more easily by narrow space to facilitate;
The wet dragging device of described narrow slit 3 includes housing 31, the wet dragging device 32 being positioned at housing 31, mop floor driving means 33, described housing 31 is flat butterfly-like, the height of housing is less than or equal to 1cm, and the convenient position cleaning difficulty that is respectively provided on two sides with of housing 31 carries out the wet L-type opening 311 dragged;Described wet dragging device 32, the input of the driving means that mops floor 33 are connected with the outfan controlling device 7 respectively, and the wet dragging device of narrow slit 3 is connected with robot body 1 by retractor device 8.
Described wet dragging device 32 include rag 321, clean soak mechanism 322, bracer 324 is propped up in humidity regulation mechanism 323, rag transition;Described housing 31 is provided with rag and drags opening 312, mechanism 322 is soaked in cleaning, humidity regulation mechanism 323, rag transition are propped up bracer 324 and be separately mounted in housing 31, and clean soak mechanism 322, the input of humidity regulation mechanism 323 is connected with the outfan controlling device 7 respectively;Described rag 321 by rag transition prop up bracer 324 support and be each passed through and clean soak mechanism 322, humidity regulation mechanism 323, rag drag opening 312 and are coated on the bottom of housing 31.
Described cleaning is soaked mechanism 322 and is included filtered water tank 3221, cleaning case 3222, rag actuator 3223;Described rag actuator 3223 includes that rag drags steering wheel 32231, rag drag strut 32232, rag drags the input of steering wheel 32231 and is connected with controlling device 7, rag drags the outfan of steering wheel 32231 and is connected with rag drag strut 32232, and rag drag strut 32232 is connected with rag 321.
Described humidity regulation mechanism 323 is located at the side of cleaning case 3222, and this humidity regulation mechanism 323 includes humidity regulation steering wheel 3231, humidity regulation drive link 3232, cam A3233, cam B3234, cam link 3235, humidity regulating plate 3236, guide pad 3237, floor cleaning degree sensor 3238, temperature sensor 3239, humidity sensor 3240;Described guide pad 3237 drags the height of opening 312 at corresponding rag and is provided with horizontal for the rag opening 32371 through rag;Being additionally provided with vertical gathering sill in this guide pad 3237, described humidity regulating plate 3236 is arranged in the gathering sill above rag opening 32371, and the inwall of the surrounding of humidity regulating plate 3236 and gathering sill is slidably matched;Described cam A3233, cam B3234 are mounted opposite respectively in gathering sill;Described humidity regulation steering wheel 3231 is arranged on outside guide pad 3237, the input of this humidity regulation steering wheel 3231 is connected with controlling device 7, the outfan of humidity regulation steering wheel 3231 is connected with humidity regulation drive link 3232, humidity regulation drive link 3232 is connected through guide pad 3237 with cam A3233, cam A3233 is connected with cam B3234 by cam link 3235, and cam A3233, cam B3234 match at two ends with humidity regulating plate 3236 respectively;Described floor cleaning degree sensor 3238 is arranged on the front end of housing 31, temperature sensor 3239, humidity sensor 3240 are separately positioned on the L-type opening 311 both sides sharp corner of housing 31 front end, and floor cleaning degree sensor, temperature sensor, the outfan of humidity sensor are connected with the input controlling device respectively.When ground cleannes sensor 3238 detect ground cleaner time, or when temperature sensor 3239 detect ambient temperature than relatively low, humidity sensor 3240 detect ambient humidity moister time, control device and transmit, according to these sensors, the data come and automatically reduce the humidity of rag;When ground cleannes sensor 3238 detect ground messy time, or when temperature sensor 3239 detect that ambient temperature is higher, humidity sensor 3240 detect ambient humidity relatively dry time, control device and transmit, according to these sensors, the data come and be automatically increased the humidity of rag.
The described driving means 33 that mops floor includes Two axle drive steering wheel 331, drive shaft 332, driving wheel 333, described Two axle drive steering wheel 331 is arranged on the middle part of housing 31, the two ends of Two axle drive steering wheel 331 are connected with two driving wheels 333 by drive shaft 332 respectively, and the input of Two axle drive steering wheel 331 is connected with the outfan controlling device 7.
Described retractor device 8 includes expansion link 81, cable 82, coiling electric motor 83, reel 84;One end of expansion link 81 dragging device wet with narrow slit 3 is connected, and the other end of expansion link 81 is connected with robot body 1;One end of cable 82 dragging device wet with narrow slit 3 is connected, the other end of cable 82 is wound on reel 84, reel 84 is connected with the output shaft of coiling electric motor 83, and the input of coiling electric motor 83 is connected with controlling device 7, and coiling electric motor 83, reel 84 are separately mounted on robot body 1.
Described robot motion's driving means 6 is arranged on bottom robot body 1, and this robot motion's driving means 6 includes forward-reverse driving means 61 and lateral driver device 62, universal balance wheel 63;Described forward-reverse driving means 61 is provided with forward-reverse driving wheel 611, forward-reverse drives motor 612, and forward-reverse driving wheel 611 is arranged on forward-reverse and drives on the outfan of motor 612;Described lateral driver device 62 is provided with and laterally driven takes turns 621, horizontal drive motor 622, laterally driven takes turns on 621 output shafts being arranged on horizontal drive motor 622;Described forward-reverse drives motor 612, the input of horizontal drive motor 622 is connected with the outfan controlling device 7 respectively.
Described control device 7 includes single-chip microcomputer and control circuit thereof, and for automatically controlling the co-ordination of whole narrow slit Shi Tuo robot, this control device 7 is known technology, repeats its detailed construction the most one by one.
Embodiment two
Disclosed in Fig. 2 is another kind of narrow slit Shi Tuo robot, the basic structure of this robot is with embodiment one, all including the wet dragging device of robot body 1, narrow slit 3, be arranged on the robot motion's driving means 6 bottom robot body 1, control device 7, institute's difference is: this robot also includes cleaning agency 2, fines clearing apparatus 4.
Described clearing apparatus 2 includes two cleaning agencies 21, screening glass 22 and cleans motor 23;Described screening glass 22 is coaxially connected with cleaning agency 21, and the rubbish incidental bigger for blockage size enters cleaning agency;The described input cleaning motor 23 is connected with controlling device 7, and the output shaft cleaning motor 23 is connected with cleaning agency 21.
Described fines clearing apparatus 4 is for staying fines to carry out secondary cleaning clearing apparatus 2, and the input of this fines clearing apparatus 4 is connected with controlling device 7.
Above-mentioned cleaning agency 21, fines clearing apparatus 4 are known features, illustrate its structure the most one by one.
Embodiment three (most preferred embodiment)
Disclosed in Fig. 3 is another kind of narrow slit Shi Tuo robot, the basic structure of this robot is with embodiment two, all include robot body 1, cleaning agency 2, the wet dragging device of narrow slit 3, fines clearing apparatus 4, be arranged on the robot motion's driving means 6 bottom robot body 1, control device 7, institute's difference is: this robot also includes navigation detection device 5, this navigation detection device 5 is arranged on robot body 1, navigation detection device 5 includes detecting sensor, and the outfan of navigation detection device 5 is connected with the input controlling device 7.
The concrete structure of the narrow slit Shi Tuo robot described in the present embodiment three is as follows:
A kind of narrow slit Shi Tuo robot, robot body 1, cleaning agency 2, the wet dragging device of narrow slit 3, fines clearing apparatus 4, navigation detection device 5, robot motion's driving means 6, controls device 7;Wherein,
Described robot body 1 elliptical shape, makes robot more easily by narrow space to facilitate;
Described clearing apparatus 2 includes two cleaning agencies 21, screening glass 22 and cleans motor 23;Described screening glass 22 is coaxially connected with cleaning agency 21, and the rubbish incidental bigger for blockage size enters cleaning agency;The described input cleaning motor 23 is connected with controlling device 7, and the output shaft cleaning motor 23 is connected with cleaning agency 21.
The wet dragging device of described narrow slit 3 includes housing 31, the wet dragging device 32 being positioned at housing 31, mop floor driving means 33, described housing 31 is flat butterfly-like, the height of housing is less than or equal to 1cm, and the convenient position cleaning difficulty that is respectively provided on two sides with of housing 31 carries out the wet L-type opening 311 dragged;Described wet dragging device 32, the input of the driving means that mops floor 33 are connected with the outfan controlling device 7 respectively, and the wet dragging device of narrow slit 3 is connected with robot body 1 by retractor device 8.Owing to housing design is become flat butterfly-like by the present invention, and the height of housing is designed as less than or equal to 1cm, at the bottom of the convenient bed to less space, narrow slit at the bottom of cabinet carry out wet dragging;Simultaneously it is respectively provided on two sides with L-type opening at housing, clean position difficult to table leg and chair legs etc. can be facilitated to carry out wet dragging.Therefore, the present invention can carry out wet dragging operation by the independent narrow slit that enters under the drive of the driving means that mops floor, and can clear up narrow slit well.
Described wet dragging device 32 include rag 321, clean soak mechanism 322, bracer 324 is propped up in humidity regulation mechanism 323, rag transition;Described housing 31 is provided with rag and drags opening 312, mechanism 322 is soaked in cleaning, humidity regulation mechanism 323, rag transition are propped up bracer 324 and be separately mounted in housing 31, and clean soak mechanism 322, the input of humidity regulation mechanism 323 is connected with the outfan controlling device 7 respectively;Described rag 321 by rag transition prop up bracer 324 support and be each passed through and clean soak mechanism 322, humidity regulation mechanism 323, rag drag opening 312 and are coated on the bottom of housing 31.
Described cleaning is soaked mechanism 322 and is included filtered water tank 3221, cleaning case 3222, rag actuator 3223;Described rag actuator 3223 includes that rag drags steering wheel 32231, rag drag strut 32232, rag drags the input of steering wheel 32231 and is connected with controlling device 7, rag drags the outfan of steering wheel 32231 and is connected with rag drag strut 32232, and rag drag strut 32232 is connected with rag 321.Drag rag by rag actuator and pass sequentially through cleaning case, filtered water tank, can complete clean and soak operation.
Described humidity regulation mechanism 323 is located at the side of cleaning case 3222, and this humidity regulation mechanism 323 includes humidity regulation steering wheel 3231, humidity regulation drive link 3232, cam A3233, cam B3234, cam link 3235, humidity regulating plate 3236, guide pad 3237, floor cleaning degree sensor 3238, temperature sensor 3239, humidity sensor 3240;Described guide pad 3237 drags the height of opening 312 at corresponding rag and is provided with horizontal for the rag opening 32371 through rag;Being additionally provided with vertical gathering sill in this guide pad 3237, described humidity regulating plate 3236 is arranged in the gathering sill above rag opening 32371, and the inwall of the surrounding of humidity regulating plate 3236 and gathering sill is slidably matched;Described cam A3233, cam B3234 are mounted opposite respectively in gathering sill;Described humidity regulation steering wheel 3231 is arranged on outside guide pad 3237, the input of this humidity regulation steering wheel 3231 is connected with controlling device 7, the outfan of humidity regulation steering wheel 3231 is connected with humidity regulation drive link 3232, humidity regulation drive link 3232 is connected through guide pad 3237 with cam A3233, cam A3233 is connected with cam B3234 by cam link 3235, and cam A3233, cam B3234 match at two ends with humidity regulating plate 3236 respectively;During use, humidity regulation steering wheel is rotated by humidity regulation drive link band moving cam A, cam B, humidity regulating plate can be made to move up and down along the gathering sill of guide pad, thus regulate the gap size of rag opening 32371, in order to control to mop floor humidity well.Described floor cleaning degree sensor 3238 is arranged on the front end of housing 31, temperature sensor 3239, humidity sensor 3240 are separately positioned on the L-type opening 311 both sides sharp corner of housing 31 front end, and floor cleaning degree sensor, temperature sensor, the outfan of humidity sensor are connected with the input controlling device respectively.When ground cleannes sensor 3238 detect ground cleaner time, or when temperature sensor 3239 detect ambient temperature than relatively low, humidity sensor 3240 detect ambient humidity moister time, control device and transmit, according to these sensors, the data come and automatically reduce the humidity of rag;When ground cleannes sensor 3238 detect ground messy time, or when temperature sensor 3239 detect that ambient temperature is higher, humidity sensor 3240 detect ambient humidity relatively dry time, control device and transmit, according to these sensors, the data come and be automatically increased the humidity of rag.
The described driving means 33 that mops floor includes Two axle drive steering wheel 331, drive shaft 332, driving wheel 333, described Two axle drive steering wheel 331 is arranged on the middle part of housing 31, the two ends of Two axle drive steering wheel 331 are connected with two driving wheels 333 by drive shaft 332 respectively, and the input of Two axle drive steering wheel 331 is connected with the outfan controlling device 7.
Described retractor device 8 includes expansion link 81, cable 82, coiling electric motor 83, reel 84;One end of expansion link 81 dragging device wet with narrow slit 3 is connected, and the other end of expansion link 81 is connected with robot body 1;One end of cable 82 dragging device wet with narrow slit 3 is connected, the other end of cable 82 is wound on reel 84, reel 84 is connected with the output shaft of coiling electric motor 83, and the input of coiling electric motor 83 is connected with controlling device 7, and coiling electric motor 83, reel 84 are separately mounted on robot body 1.
Described fines clearing apparatus 4 is for staying fines to carry out secondary cleaning clearing apparatus 2, and the input of this fines clearing apparatus 4 is connected with controlling device 7.
Described navigation detection device 5 is separately mounted on the front-end and back-end of robot body 1, and navigation detection device 5 includes detecting sensor, and the outfan of navigation detection device 5 is connected with the input controlling device 7.Can complete vicinity environment detection by this navigation detection device and signal is issued control device, as run into barrier, controlling device and can control robot and get around barrier and advance, it is to avoid directly knock barrier and damage robot.
Described robot motion's driving means 6 is arranged on bottom robot body 1, and this robot motion's driving means 6 includes forward-reverse driving means 61 and lateral driver device 62, universal balance wheel 63;Described forward-reverse driving means 61 is provided with forward-reverse driving wheel 611, forward-reverse drives motor 612, and forward-reverse driving wheel 611 is arranged on forward-reverse and drives on the outfan of motor 612;Described lateral driver device 62 is provided with and laterally driven takes turns 621, horizontal drive motor 622, laterally driven takes turns on 621 output shafts being arranged on horizontal drive motor 622;Described forward-reverse drives motor 612, the input of horizontal drive motor 622 is connected with the outfan controlling device 7 respectively.Therefore, robot kinematic driving unit not only can realize the advance of robot, retrogressing and transverse movement, also can realize arbitrarily turning to, and its motion ratio is relatively freely, flexibly.
Described control device 7 includes single-chip microcomputer and control circuit thereof, for automatically controlling the co-ordination of whole narrow slit Shi Tuo robot, including clean, clean wring out rag, mopping floor etc. a complete set of cleans the operation that mops floor, its automaticity is higher.This control device 7 is known technology, repeats its detailed construction the most one by one.

Claims (10)

1. a narrow slit Shi Tuo robot, including robot body (1), it is arranged on the robot motion's driving means (6) bottom robot body (1), control device (7), the outfan controlling device (7) is connected with robot motion's driving means (6), it is characterized in that: this robot also includes the wet dragging device of narrow slit (3), the wet dragging device of this narrow slit (3) is connected with robot body (1) by retractor device (8);The wet dragging device of described narrow slit (3) includes housing (31), is positioned at the wet dragging device (32) of housing (31), the driving means that mops floor (33), described housing (31) is flat, the height of housing is less than or equal to 1cm, and the convenient position cleaning difficulty that is respectively provided on two sides with of housing (31) carries out the wet L-type opening (311) dragged;Described wet dragging device (32), the input of the driving means that mops floor (33) are connected with the outfan controlling device (7) respectively.
Narrow slit the most according to claim 1 Shi Tuo robot, it is characterised in that: described wet dragging device (32) include rag (321), clean soak mechanism (322), bracer (324) is propped up in humidity regulation mechanism (323), rag transition;Described housing (31) is provided with rag and drags opening (312), mechanism (322) is soaked in cleaning, humidity regulation mechanism (323), rag transition are propped up bracer (324) and be separately mounted in housing (31), and clean soak mechanism (322), the input of humidity regulation mechanism (323) is connected with the outfan controlling device (7) respectively;Described rag (321) props up bracer (324) by rag transition and supports and be each passed through that mechanism (322) is soaked in cleaning, humidity regulation mechanism (323), rag drag opening (312) and be coated on the bottom of housing (31).
Narrow slit the most according to claim 2 Shi Tuo robot, it is characterised in that: described cleaning is soaked mechanism (322) and is included filtered water tank (3221), cleaning case (3222), rag actuator (3223);Described rag actuator (3223) includes that rag drags steering wheel (32231), rag drag strut (32232), rag drags the input of steering wheel (32231) and is connected with controlling device (7), rag drags the outfan of steering wheel (32231) and is connected with rag drag strut (32232), and rag drag strut (32232) is connected with rag (321).
Narrow slit the most according to claim 2 Shi Tuo robot, it is characterized in that: described humidity regulation mechanism (323) is located at the side of cleaning case (3222), and this humidity regulation mechanism (323) includes humidity regulation steering wheel (3231), humidity regulation drive link (3232), cam A(3233), cam B(3234), cam link (3235), humidity regulating plate (3236), guide pad (3237), floor cleaning degree sensor (3238), temperature sensor (3239), humidity sensor (3240);Described guide pad (3237) drags the height of opening (312) at corresponding rag and is provided with horizontal for the rag opening (32371) through rag;Being additionally provided with vertical gathering sill in this guide pad (3237), described humidity regulating plate (3236) is arranged in the gathering sill of rag opening (32371) top, and the inwall of the surrounding of humidity regulating plate (3236) and gathering sill is slidably matched;Described cam A(3233), cam B(3234) be mounted opposite respectively in gathering sill;Described humidity regulation steering wheel (3231) is arranged on guide pad (3237) outward, the input of this humidity regulation steering wheel (3231) is connected with controlling device (7), the outfan of humidity regulation steering wheel (3231) is connected with humidity regulation drive link (3232), humidity regulation drive link (3232) passes guide pad (3237) and cam A(3233) it is connected, cam A(3233) by cam link (3235) and cam B(3234) be connected, cam A(3233), cam B(3234) respectively two ends with humidity regulating plate (3236) match;Described floor cleaning degree sensor (3238) is arranged on the front end of housing (31), temperature sensor (3239), humidity sensor (3240) are separately positioned on L-type opening (311) the both sides sharp corner of housing (31) front end, and floor cleaning degree sensor, temperature sensor, the outfan of humidity sensor are connected with the input controlling device respectively.
Narrow slit the most according to claim 1 Shi Tuo robot, it is characterized in that: the described driving means that mops floor (33) includes Two axle drive steering wheel (331), drive shaft (332), driving wheel (333), described Two axle drive steering wheel (331) is arranged on the middle part of housing (31), the two ends of Two axle drive steering wheel (331) are connected with two driving wheels (333) by drive shaft (332) respectively, and the input of Two axle drive steering wheel (331) is connected with the outfan controlling device (7).
Narrow slit the most according to claim 1 Shi Tuo robot, it is characterised in that: described retractor device (8) includes expansion link (81), cable (82), coiling electric motor (83), reel (84);One end dragging device wet with narrow slit (3) of expansion link (81) is connected, and the other end of expansion link (81) is connected with robot body (1);One end dragging device wet with narrow slit (3) of cable (82) is connected, the other end of cable (82) is wound on reel (84), reel (84) is connected with the output shaft of coiling electric motor (83), the input of coiling electric motor (83) is connected with controlling device (7), and coiling electric motor (83), reel (84) are separately mounted on robot body (1).
Narrow slit the most according to claim 1 Shi Tuo robot; it is characterized in that: this robot also includes cleaning agency (2), described clearing apparatus (2) includes two cleaning agencies (21), can enter the screening glass (22) of cleaning agency and clean motor (23) by the bigger rubbish incidental of blockage size;Described screening glass (22) is coaxially connected with cleaning agency (21);The input of described cleaning motor (23) is connected with controlling device (7), and the output shaft cleaning motor (23) is connected with cleaning agency (21).
Narrow slit the most according to claim 7 Shi Tuo robot, it is characterized in that: this robot also includes for clearing apparatus (2) stays fines carry out the fines clearing apparatus (4) of secondary cleaning, and the input of fines clearing apparatus (4) is connected with controlling device (7);Described robot body (1) is for can make robot be more easy to the elliptical shape by little space.
Narrow slit the most according to claim 1 Shi Tuo robot, it is characterized in that: this robot also includes navigation detection device (5), this navigation detection device (5) is arranged on robot body (1), navigation detection device (5) includes detecting sensor, and the outfan of navigation detection device (5) is connected with the input controlling device (7).
10. according to the narrow slit Shi Tuo robot described in claim 1 to 9 any claim, it is characterised in that: described robot motion's driving means (6) includes forward-reverse driving means (61) and lateral driver device (62), universal balance wheel (63);Described forward-reverse driving means (61) is provided with forward-reverse driving wheel (611), forward-reverse drives motor (612), and forward-reverse driving wheel (611) is arranged on forward-reverse and drives on the outfan of motor (612);Described lateral driver device (62) is provided with laterally driven (621), the horizontal drive motor (622) of taking turns, and laterally driven take turns (621) are arranged on the output shaft of horizontal drive motor (622);Described forward-reverse drives motor (612), the input of horizontal drive motor (622) is connected with control device (7) respectively.
CN201610529661.2A 2016-07-07 2016-07-07 Narrow slit Shi Tuo robots Active CN105942932B (en)

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CN114587201A (en) * 2020-12-03 2022-06-07 美智纵横科技有限责任公司 Mopping assembly of cleaning device and cleaning device with mopping assembly
CN112545398A (en) * 2020-12-07 2021-03-26 添可智能科技有限公司 Cleaning device and method for automatically controlling cleaning liquid adding of cleaning device
CN114376455A (en) * 2022-01-10 2022-04-22 杨春晓 Sweeping and mopping integrated machine

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