CN105942932B - Narrow slit Shi Tuo robots - Google Patents
Narrow slit Shi Tuo robots Download PDFInfo
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- CN105942932B CN105942932B CN201610529661.2A CN201610529661A CN105942932B CN 105942932 B CN105942932 B CN 105942932B CN 201610529661 A CN201610529661 A CN 201610529661A CN 105942932 B CN105942932 B CN 105942932B
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- 238000004140 cleaning Methods 0.000 claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000008844 regulatory mechanism Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 26
- 230000001105 regulatory effect Effects 0.000 claims description 22
- 101000794560 Arbacia punctulata Calmodulin-beta Proteins 0.000 claims description 14
- 230000007704 transition Effects 0.000 claims description 13
- 239000011521 glass Substances 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 239000004744 fabric Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 230000002000 scavenging effect Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- -1 cam A Proteins 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
A kind of narrow slit Shi Tuo robots are related to a kind of household floor-mopping robot, and including robot body, the wet dragging device of narrow slit, robot motion's driving device, control device, the wet dragging device of narrow slit is connect by telescopic device with robot body；The wet dragging device of narrow slit is including housing, the wet dragging device in housing, mop floor driving device, and housing is flat, and the height of housing is less than or equal to 1cm, and the both sides of housing are respectively equipped with L-type opening；Wet dragging device, the driving device that mops floor input terminal connect respectively with the output terminal of control device.Wet dragging device includes rag, mechanism, humidity regulation mechanism are soaked in cleaning.The present invention can drag operation into narrow slit progress is wet, narrow slit can be cleared up well, the humidity of rag can be adaptively adjusted according to environment temperature, humidity, floor cleaning degree, it can complete cleaning work, barrier can be got around automatically, its freedom of motion, flexibly, have the characteristics that high degree of automation, production cost are low, use easy to spread.
Description
Technical field
The present invention relates to a kind of household floor-mopping robot, particularly a kind of narrow slit Shi Tuo robots.
Background technology
With the development of science and technology, miscellaneous robot has gradually come into common people family, household floor-mopping robot is
One kind therein, the household floor-mopping robot can make people free from heavy cleaning housework, be brought to people's life
Great convenience, but table angle, bed bottom, narrow slit to family etc. be difficult to the position cleared up and can not be cleared up well.Shen
Please publication No. be CN104545709A " a kind of floor-mopping robot of automatic cleaning rag " although also disclose that it is a can from
The floor-mopping robot of dynamic cleaning rag, but still can not overcome above-mentioned problem, and control of the robot to rag humidity
Effect is unsatisfactory, it is impossible to the humidity of rag be adaptively adjusted according to environment temperature, humidity, floor cleaning degree.
Invention content
The technical problem to be solved by the present invention is to：A kind of narrow slit Shi Tuo robots are provided, are deposited with solving the above-mentioned prior art
Narrow slit be difficult to the shortcoming cleared up, rag humid control effect is undesirable.
Solving the technical solution of above-mentioned technical problem is：A kind of narrow slit Shi Tuo robots, including robot body, are mounted on
Robot motion's driving device of robot body bottom, control device, output terminal and the robot motion of control device drive
Device connects, which further includes the wet dragging device of narrow slit, and the wet dragging device of the narrow slit is connected by telescopic device and robot body
It connects；The wet dragging device of the narrow slit is including housing, the wet dragging device in housing, mop floor driving device, and the housing is
Flat, the height of housing is less than or equal to 1cm, and the both sides of housing are respectively equipped with the convenient position cleaned to hardly possible and carry out wet drag
L-type is open；The wet dragging device, the input terminal for the driving device that mops floor are connect respectively with the output terminal of control device.
The present invention further technical solution be：The wet dragging device includes rag, mechanism, humidity regulation are soaked in cleaning
Mechanism, rag transition supporting block；The housing is equipped with rag dragging opening, and cleaning soaks mechanism, humidity regulation mechanism, smears
Cloth transition supporting block is separately mounted in housing, and mechanism is soaked in cleaning, the input terminal of humidity regulation mechanism fills respectively with control
The output terminal connection put；The rag, which is supported by rag transition supporting block and is each passed through cleaning, soaks mechanism, humidity tune
Section mechanism, rag dragging opening are coated on the bottom of housing.
The present invention further technical solution be：The cleaning is soaked mechanism and is dragged including filtered water tank, cleaning case, rag
Dynamic device；The rag actuator includes rag dragging steering engine, rag drag strut, the input terminal of rag dragging steering engine and control
Device connection processed, the output terminal of rag dragging steering engine are connect with rag drag strut, and rag drag strut is connect with rag.
The present invention further technical solution be：The humidity regulation mechanism is located at the side of cleaning case, the humidity
Regulating mechanism includes humidity regulation steering engine, humidity regulation drive link, cam A, cam B, cam link, humidity regulating plate, guiding
Block, floor cleaning degree sensor, temperature sensor, humidity sensor；The guide pad is in the height of corresponding rag dragging opening
Degree is open equipped with the lateral rag being used for across rag；Vertical guide groove, the humidity tune are additionally provided in the guide pad
Section plate is arranged in the guide groove of rag overthe openings, and the surrounding of humidity regulating plate and the inner wall of guide groove are slidably matched；Institute
Cam A, the cam B stated is opposite respectively to be mounted in guide groove；The humidity regulation steering engine is mounted on outside guide pad, the humidity
The input terminal for adjusting steering engine is connect with control device, and the output terminal of humidity regulation steering engine is connect with humidity regulation drive link, humidity
It adjusts drive link to connect with cam A across guide pad, cam A is connect by cam link with cam B, cam A, cam B difference
It is matched with the both ends of humidity regulating plate；The floor cleaning degree sensor is arranged on the front end of housing, temperature sensor, humidity
Sensor is separately positioned on the L-type opening both sides sharp corner of housing forward end, and floor cleaning degree sensor, temperature sensor, wet
The output terminal of degree sensor is connect respectively with the input terminal of control device.
The present invention further technical solution be：The driving device that mops floor includes Two axle drive steering engine, drive shaft, drive
Driving wheel, the Two axle drive steering engine are mounted on the middle part of housing, and the both ends of Two axle drive steering engine pass through drive shaft and two respectively
A driving wheel connection, the input terminal of Two axle drive steering engine and the output terminal of control device connect.
The present invention further technical solution be：The telescopic device includes telescopic rod, cable, coiling electric motor, coiling
Wheel；One end of telescopic rod is connect with the wet dragging device of narrow slit, and the other end of telescopic rod is connect with robot body；One end of cable with
The wet dragging device connection of narrow slit, the other end of cable are wound on reel, the output axis connection of reel and coiling electric motor, coiling electricity
The input terminal of machine is connect with control device, and coiling electric motor, reel are separately mounted on robot body.
The present invention further technical solution be：The robot has further included cleaning agency, and the clearing apparatus includes
Two cleaning agencies, can the larger rubbish incidental of blockage size enter cleaning agency screening glass and clean motor；Described
Screening glass is coaxially connected with cleaning agency；The input terminal of the cleaning motor is connect with control device, cleans the output of motor
Axis is connect with cleaning agency.
The present invention further technical solution be：The robot, which further includes, to be useful for leaving clearing apparatus fines progress
The fines clearing apparatus of secondary cleaning, the input terminal of fines clearing apparatus are connect with control device；The robot body is can
Robot is made to be more easy to the elliptical shape by small space.
The present invention further technical solution be：The robot has further included navigation detection device, the navigation detection device
On robot body, navigation detection device includes detection sensor, the output terminal and control device of detection device of navigating
Input terminal connection.
The present invention further technical solution be：Robot motion's driving device includes forward-reverse driving device
With lateral driver device, universal balance wheel；The forward-reverse driving device is equipped with forward-reverse driving wheel, forward-reverse drives
Motor, forward-reverse driving wheel are mounted on the output terminal of forward-reverse driving motor；The lateral driver device is equipped with laterally
Driving wheel, horizontal drive motor, laterally driven wheel is on the output shaft of horizontal drive motor；The forward-reverse driving
Motor, horizontal drive motor input terminal connect respectively with control device.
Since using the above structure, the narrow slit Shi Tuo robots of the present invention compared with prior art, have below beneficial to effect
Fruit：
1. narrow slit can be cleared up well：
The narrow slit Shi Tuo robots of the present invention are in addition to including robot body, robot motion's driving device, control device
Outside, the wet dragging device of narrow slit has been further included, the wet dragging device of the narrow slit is connect by telescopic device with robot body；Narrow slit is wet to drag dress
Put including housing, wet dragging device, mop floor driving device, for middle casing to be flat, the height of housing is less than or equal to 1cm, shell
The both sides of body are respectively equipped with L-type opening；Wet dragging device, the driving device that mops floor input terminal respectively with the output terminal of control device connect
It connects.Due to the present invention by housing design into flat, and the height of housing is designed as being less than or equal to 1cm, it is convenient to compared with
The bed bottom in small space, bottom of cabinet narrow slit carry out wet drag；L-type opening is respectively equipped in the both sides of housing simultaneously, can facilitate to table leg and
The difficult position that cleans such as chair legs carries out wet drag.Therefore, the present invention can under the drive for the driving device that mops floor independently enter narrow slit into
Row is wet to drag operation, and narrow slit can be cleared up well.
In addition, robot body is also designed to elliptical shape by the present invention, it can also make robot more easily by narrow sky
Between.
2. the humidity that mops floor can be controlled well：
Since robot includes the wet dragging device of narrow slit, the wet dragging device of the narrow slit is including housing, wet dragging device, mop floor drive
Dynamic device, wet dragging device includes rag, mechanism, humidity regulation mechanism are soaked in cleaning；Wherein humidity regulation mechanism includes humidity again
Adjust steering engine, humidity regulation drive link, cam A, cam B, cam link, humidity regulating plate, guide pad；Guide pad is smeared in correspondence
The height of cloth dragging opening is equipped with the lateral rag being used for across rag and is open；Vertical guiding is additionally provided in the guide pad
Slot, humidity regulating plate are arranged in the guide groove of rag overthe openings, and cam A, cam B are opposite respectively to be mounted in guide groove；
Humidity regulation steering engine is connect by humidity regulation drive link with cam A, and cam A is connect by cam link with cam B, cam
A3, cam B are matched respectively with the both ends of humidity regulating plate.In use, humidity regulation steering engine passes through humidity regulation drive link band
Moving cam A, cam B rotate, and humidity regulating plate can be made to move up and down along the guide groove of guide pad, so as to adjustable rag opening
Gap size can finally control the humidity that mops floor well.
3. the humidity of rag is adaptively adjusted in energy environment temperature, humidity, floor cleaning degree：
Since the humidity regulation mechanism of the present invention has further included floor cleaning degree sensor, temperature sensor, humidity sensor
Device, wherein floor cleaning degree sensor are arranged on the front end of housing, before temperature sensor, humidity sensor are separately positioned on housing
End L-type opening both sides sharp corner, the floor cleaning degree sensor, temperature sensor, humidity sensor output terminal respectively with
The input terminal connection of control device.Therefore, face cleannes sensor of the invention, temperature sensor, humidity sensor can be automatic
Environment temperature, humidity, floor cleaning degree are detected, and the data detected are passed into control device, control device is according to detection
The humidity of data automatic adjustment rag arrived.
4. it can realize cleaning rag operation
Since robot includes the wet dragging device of narrow slit, the wet dragging device of the narrow slit is including housing, wet dragging device, mop floor drive
Dynamic device, wet dragging device includes rag, mechanism, humidity regulation mechanism are soaked in cleaning；Wherein cleaning soak mechanism include filtered water tank,
Cleaning case, rag actuator；The rag actuator includes rag dragging steering engine, rag drag strut, rag dragging rudder
The input terminal of machine is connect with control device, and the output terminal of rag dragging steering engine is connect with rag drag strut, and rag drag strut is with smearing
Cloth connects.Rag is dragged by rag actuator and passes sequentially through cleaning case, filtered water tank, you can completes cleaning and soaks operation.
5. cleaning work can be carried out
Since the invention also includes there is cleaning agency, which includes two cleaning agencies, screening glass and cleaning
Motor；Two cleaning agencies can first carry out cleaning work, while by screening glass also under the drive for cleaning motor before mopping floor
Can cleaning agency be entered with the larger rubbish incidental of blockage size, ensure that being smoothed out for cleaning work.
In addition, robot has further included fines clearing apparatus, the device can be used for the fines that clearing apparatus leaves into
The secondary cleaning of row, it is ensured that cleaning work is properly completed.
6. barrier can be got around automatically
Since robot has further included navigation detection device, navigation detection device be mounted on robot body front end or
Rear end can complete to issue control device to vicinity environment detection and by signal, such as encounter barrier, control device can control machine
People gets around barrier and advances, and avoids and directly knocks barrier and damage robot.
7. freedom of motion, flexibly
The present invention is equipped with robot motion's driving device in robot body bottom, robot motion's driving device packet
Include forward-reverse driving device and lateral driver device, universal balance wheel；It not only can be real by robot motion's driving device
Advance, retrogressing and the transverse movement of existing robot can also be achieved arbitrary steering, and movement is relatively freely, flexibly.
8. high degree of automation
Since the present invention includes control device, which can automatically control the coordination of entire narrow slit Shi Tuo robots
Work, including clean, clean wring out rag, mop floor etc. it is a full set of clean the operation that mops floor, it is whole without human intervention, automation
Degree is very high.
It is 9. small
Structural volume of the present invention is small, can reach any corner in room, facilitates cleaning is wet to drag operation.
10. use easy to spread
The structure of the present invention is simple, and production cost is low, and good appearance, easy to operate, use easy to spread.
In the following, the technical characteristic of the narrow slit Shi Tuo robots of the present invention is made further in conjunction with the accompanying drawings and embodiments
It is bright.
Description of the drawings
Fig. 1：The front view of the narrow slit Shi Tuo robots of the present invention described in embodiment one,
Fig. 2：The bottom view of Fig. 1,
Fig. 3：The dimensional structure diagram of the narrow slit Shi Tuo robots of the present invention described in embodiment one（From overlook direction）,
Fig. 4：The structure diagram of the wet dragging device of narrow slit described in embodiment one；
Fig. 5：The partial structurtes enlarged diagram of humidity regulation mechanism described in embodiment one；
Fig. 6：Narrow slit Shi Tuo robots described in embodiment one enter a bottom and carry out the wet dimensional structure diagram for dragging operation；
Fig. 7：The front view of the narrow slit Shi Tuo robots of the present invention described in embodiment two,
Fig. 8：The bottom view of Fig. 7,
Fig. 9：The dimensional structure diagram of the narrow slit Shi Tuo robots of the present invention described in embodiment two（From overlook direction）,
Figure 10：The dimensional structure diagram of the narrow slit Shi Tuo robots of the present invention described in embodiment two（From looking up direction）；
Figure 11：The front view of the narrow slit Shi Tuo robots of the present invention described in embodiment three,
Figure 12：The bottom view of Figure 11,
Figure 13：The dimensional structure diagram of the narrow slit Shi Tuo robots of the present invention described in embodiment three（From overlook direction）,
Figure 14：The dimensional structure diagram of the narrow slit Shi Tuo robots of the present invention described in embodiment three（From looking up direction）；
In above-mentioned attached drawing, each label is described as follows：
1- robot bodies,
2- clearing apparatus,
21- cleaning agencies, 22- screening glass, 23- clean motor,
The wet dragging device of 3- narrow slits,
31- housings,
311-L types are open, 312- rags dragging opening,
The wet dragging devices of 32-,
321- rags,
Mechanism is soaked in 322- cleanings,
3221- filtered water tanks, 3222- cleaning cases, 3223- rag actuators,
32231- rags dragging steering engine, 32232- rag drag struts,
323- humidity regulations mechanism,
3231- humidity regulation steering engines, 3232- humidity regulation drive links, 3233- cams A, 3234- cam B,
3235- cam links, 3236- humidity regulating plates, 3237- guide pads, 32371- rags opening,
3238- floor cleaning degree sensors, 3239- temperature sensors, 3240- humidity sensors,
324- rag transition supporting blocks,
33- mops floor driving device,
331- Two axle drive steering engines, 332- drive shafts, 333- driving wheels,
4- fines clearing apparatus,
5- navigation detection devices,
6- robot motion's driving devices,
61- forward-reverse driving devices,
611- forward-reverse driving wheels, 612- forward-reverse driving motors,
62- lateral driver devices,
The laterally driven wheels of 621-, 622- horizontal drive motors,
63- universal balance wheels,
7- control devices,
8- telescopic devices,
81- telescopic rods, 82- cables, 83- coiling electric motors, 84- reels.
Specific embodiment
Embodiment one
Disclosed in Fig. 1 is a kind of narrow slit Shi Tuo robots, including robot body 1, the wet dragging device 3 of narrow slit, robot
Kinematic driving unit 6, control device 7；Wherein,
1 elliptical shape of robot body, makes robot more easily by narrow space to facilitate；
The wet dragging device 3 of the narrow slit is including housing 31, the wet dragging device 32 in housing 31, mop floor driving device
33, the housing 31 is flat butterfly-like, and the height of housing is less than or equal to 1cm, and the both sides of housing 31 are respectively equipped with conveniently
The wet L-type opening 311 dragged is carried out to the position that hardly possible cleans；The wet dragging device 32, the input terminal of the driving device that mops floor 33 point
Output terminal not with control device 7 is connect, and the wet dragging device 3 of narrow slit is connect by telescopic device 8 with robot body 1.
The wet dragging device 32 includes rag 321, mechanism 322, humidity regulation mechanism 323, rag transition are soaked in cleaning
Supporting block 324；The housing 31 be equipped with rag dragging opening 312, cleaning soak mechanism 322, humidity regulation mechanism 323,
Rag transition supporting block 324 is separately mounted in housing 31, and the input terminal of mechanism 322, humidity regulation mechanism 323 is soaked in cleaning
The output terminal with control device 7 is connect respectively；The rag 321 is supported and is each passed through by rag transition supporting block 324
The bottom that mechanism 322, humidity regulation mechanism 323, rag dragging opening 312 are coated on housing 31 is soaked in cleaning.
The cleaning soaks mechanism 322 and includes filtered water tank 3221, cleaning case 3222, rag actuator 3223；It is described
Rag actuator 3223 include rag dragging steering engine 32231, rag drag strut 32232, rag dragging steering engine 32231 it is defeated
Enter end to connect with control device 7, the output terminal of rag dragging steering engine 32231 is connect with rag drag strut 32232, rag drag strut
32232 connect with rag 321.
The humidity regulation mechanism 323 is located at the side of cleaning case 3222, which includes humidity tune
Save steering engine 3231, humidity regulation drive link 3232, cam A3233, cam B3234, cam link 3235, humidity regulating plate
3236th, guide pad 3237, floor cleaning degree sensor 3238, temperature sensor 3239, humidity sensor 3240；The guiding
The height that block 3237 drags opening 312 in corresponding rag is equipped with the lateral rag opening 32371 being used for across rag；The guiding
Vertical guide groove is additionally provided in block 3237, the humidity regulating plate 3236 is arranged on the guiding of 32371 top of rag opening
In slot, and the surrounding of humidity regulating plate 3236 and the inner wall of guide groove are slidably matched；Cam A3233, the cam B3234 divides
It is not opposite to be mounted in guide groove；The humidity regulation steering engine 3231 is mounted on outside guide pad 3237, the humidity regulation steering engine
3231 input terminal is connect with control device 7, and the output terminal of humidity regulation steering engine 3231 is connect with humidity regulation drive link 3232,
Humidity regulation drive link 3232 is connect across guide pad 3237 with cam A3233, cam A3233 by cam link 3235 with it is convex
B3234 connections are taken turns, the both ends of cam A3233, cam B3234 respectively with humidity regulating plate 3236 match；The floor cleaning
Degree sensor 3238 is arranged on the front end of housing 31, and temperature sensor 3239, humidity sensor 3240 are separately positioned on housing 31
The L-type 311 both sides sharp corners of opening of front end, and the output terminal of floor cleaning degree sensor, temperature sensor, humidity sensor point
It is not connect with the input terminal of control device.When ground cleannes sensor 3238 detect ground it is cleaner when or work as temperature
Sensor 3239 detect environment temperature than relatively low, humidity sensor 3240 detect ambient humidity it is moister when, control dress
Put according to these sensors transmit come data reduce the humidity of rag automatically；When ground cleannes sensor 3238 detects ground
Environment temperature is higher, humidity sensor 3240 detects environmental wet when face is messy or when temperature sensor 3239 detects
When spending relatively dry, control device according to these sensors transmit come data be automatically increased the humidity of rag.
The driving device 33 that mops floor includes Two axle drive steering engine 331, drive shaft 332, driving wheel 333, and described is double
Axis driving steering engine 331 is mounted on the middle part of housing 31, and the both ends of Two axle drive steering engine 331 pass through drive shaft 332 and two respectively
Driving wheel 333 connects, and the input terminal of Two axle drive steering engine 331 is connect with the output terminal of control device 7.
The telescopic device 8 includes telescopic rod 81, cable 82, coiling electric motor 83, reel 84；One end of telescopic rod 81
Dragging device 3 wet with narrow slit is connect, and the other end of telescopic rod 81 is connect with robot body 1；One end of cable 82 with narrow slit is wet drags
Device 3 connects, and the other end of cable 82 is wound on reel 84, the output axis connection of reel 84 and coiling electric motor 83, coiling
The input terminal of motor 83 is connect with control device 7, and coiling electric motor 83, reel 84 are separately mounted on robot body 1.
Robot motion's driving device 6 is mounted on 1 bottom of robot body, which wraps
Include forward-reverse driving device 61 and lateral driver device 62, universal balance wheel 63；The forward-reverse driving device 61 is equipped with
Forward-reverse driving wheel 611, forward-reverse driving motor 612, forward-reverse driving wheel 611 are mounted on forward-reverse driving motor
On 612 output terminal；The lateral driver device 62 is equipped with laterally driven wheel 621, horizontal drive motor 622, laterally driven wheel
621 are mounted on the output shaft of horizontal drive motor 622；The forward-reverse driving motor 612, horizontal drive motor 622
Output terminal of the input terminal respectively with control device 7 connect.
The control device 7 includes microcontroller and its control circuit, for automatically controlling entire narrow slit Shi Tuo robots
Co-ordination, the control device 7 be known technology, no longer its detailed construction is repeated one by one here.
Embodiment two
Disclosed in Fig. 2 is another narrow slit Shi Tuo robots, and the basic structure of the robot is as in the first embodiment, include
The wet dragging device 3 of robot body 1, narrow slit, robot motion's driving device 6 mounted on 1 bottom of robot body, control device
7, institute the difference lies in：The robot has further included cleaning agency 2, fines clearing apparatus 4.
The clearing apparatus 2 includes two cleaning agencies 21, screening glass 22 and cleans motor 23；The screening glass
22 is coaxially connected with cleaning agency 21, enters cleaning agency for the larger rubbish incidental of blockage size；The cleaning motor
23 input terminal is connect with control device 7, and the output shaft for cleaning motor 23 is connect with cleaning agency 21.
The fines clearing apparatus 4 carries out secondary cleaning, the fines clearing apparatus for leaving fines to clearing apparatus 2
4 input terminal is connect with control device 7.
Above-mentioned cleaning agency 21, fines clearing apparatus 4 are known features, and no longer its structure is explained one by one here
It states.
Embodiment three（Most preferred embodiment）
Disclosed in Fig. 3 is another narrow slit Shi Tuo robots, and the basic structure of the robot includes with embodiment two
The wet dragging device 3 of robot body 1, cleaning agency 2, narrow slit, fines clearing apparatus 4, the machine mounted on 1 bottom of robot body
People's kinematic driving unit 6, control device 7, institute the difference lies in：The robot has further included navigation detection device 5, the navigation
Detection device 5 is mounted on robot body 1, and navigation detection device 5 includes detection sensor, the output for detection device 5 of navigating
End is connect with the input terminal of control device 7.
The concrete structure of narrow slit Shi Tuo robots described in the present embodiment three is as follows：
A kind of narrow slit Shi Tuo robots, the wet dragging device 3 of robot body 1, cleaning agency 2, narrow slit, fines clearing apparatus 4,
Navigate detection device 5, robot motion's driving device 6, control device 7；Wherein,
1 elliptical shape of robot body, makes robot more easily by narrow space to facilitate；
The clearing apparatus 2 includes two cleaning agencies 21, screening glass 22 and cleans motor 23；The screening glass
22 is coaxially connected with cleaning agency 21, enters cleaning agency for the larger rubbish incidental of blockage size；The cleaning motor
23 input terminal is connect with control device 7, and the output shaft for cleaning motor 23 is connect with cleaning agency 21.
The wet dragging device 3 of the narrow slit is including housing 31, the wet dragging device 32 in housing 31, mop floor driving device
33, the housing 31 is flat butterfly-like, and the height of housing is less than or equal to 1cm, and the both sides of housing 31 are respectively equipped with conveniently
The wet L-type opening 311 dragged is carried out to the position that hardly possible cleans；The wet dragging device 32, the input terminal of the driving device that mops floor 33 point
Output terminal not with control device 7 is connect, and the wet dragging device 3 of narrow slit is connect by telescopic device 8 with robot body 1.Due to this
Housing design into flat butterfly-like, and the height of housing is designed as to be less than or equal to 1cm by invention, convenient to smaller space
Bed bottom, bottom of cabinet narrow slit wet drag；L-type opening is respectively equipped in the both sides of housing simultaneously, can be facilitated to table leg and chair legs
Wet drag is carried out Deng hardly possible cleaning position.Therefore, the present invention independently can carry out wet drag under the drive for the driving device that mops floor into narrow slit
Operation can clear up narrow slit well.
The wet dragging device 32 includes rag 321, mechanism 322, humidity regulation mechanism 323, rag transition are soaked in cleaning
Supporting block 324；The housing 31 be equipped with rag dragging opening 312, cleaning soak mechanism 322, humidity regulation mechanism 323,
Rag transition supporting block 324 is separately mounted in housing 31, and the input terminal of mechanism 322, humidity regulation mechanism 323 is soaked in cleaning
The output terminal with control device 7 is connect respectively；The rag 321 is supported and is each passed through by rag transition supporting block 324
The bottom that mechanism 322, humidity regulation mechanism 323, rag dragging opening 312 are coated on housing 31 is soaked in cleaning.
The cleaning soaks mechanism 322 and includes filtered water tank 3221, cleaning case 3222, rag actuator 3223；It is described
Rag actuator 3223 include rag dragging steering engine 32231, rag drag strut 32232, rag dragging steering engine 32231 it is defeated
Enter end to connect with control device 7, the output terminal of rag dragging steering engine 32231 is connect with rag drag strut 32232, rag drag strut
32232 connect with rag 321.Rag is dragged by rag actuator and passes sequentially through cleaning case, filtered water tank, you can completes cleaning
With soak operation.
The humidity regulation mechanism 323 is located at the side of cleaning case 3222, which includes humidity tune
Save steering engine 3231, humidity regulation drive link 3232, cam A3233, cam B3234, cam link 3235, humidity regulating plate
3236th, guide pad 3237, floor cleaning degree sensor 3238, temperature sensor 3239, humidity sensor 3240；The guiding
The height that block 3237 drags opening 312 in corresponding rag is equipped with the lateral rag opening 32371 being used for across rag；The guiding
Vertical guide groove is additionally provided in block 3237, the humidity regulating plate 3236 is arranged on the guiding of 32371 top of rag opening
In slot, and the surrounding of humidity regulating plate 3236 and the inner wall of guide groove are slidably matched；Cam A3233, the cam B3234 divides
It is not opposite to be mounted in guide groove；The humidity regulation steering engine 3231 is mounted on outside guide pad 3237, the humidity regulation steering engine
3231 input terminal is connect with control device 7, and the output terminal of humidity regulation steering engine 3231 is connect with humidity regulation drive link 3232,
Humidity regulation drive link 3232 is connect across guide pad 3237 with cam A3233, cam A3233 by cam link 3235 with it is convex
B3234 connections are taken turns, the both ends of cam A3233, cam B3234 respectively with humidity regulating plate 3236 match；In use, humidity tune
It saves steering engine to rotate by humidity regulation drive link band moving cam A, cam B, humidity regulating plate can be made along the guide groove of guide pad
Lower movement, so as to adjust the gap size of rag opening 32371, to control the humidity that mops floor well.The floor cleaning degree
Sensor 3238 is arranged on the front end of housing 31, before temperature sensor 3239, humidity sensor 3240 are separately positioned on housing 31
The L-type 311 both sides sharp corners of opening at end, and the output terminal difference of floor cleaning degree sensor, temperature sensor, humidity sensor
It is connect with the input terminal of control device.When ground cleannes sensor 3238 detect ground it is cleaner when or when temperature pass
Sensor 3239 detect environment temperature than relatively low, humidity sensor 3240 detect ambient humidity it is moister when, control device
According to these sensors transmit come data reduce the humidity of rag automatically；When ground cleannes sensor 3238 detects ground
Environment temperature is higher, humidity sensor 3240 detects ambient humidity when messy or when temperature sensor 3239 detects
When relatively dry, control device according to these sensors transmit come data be automatically increased the humidity of rag.
The driving device 33 that mops floor includes Two axle drive steering engine 331, drive shaft 332, driving wheel 333, and described is double
Axis driving steering engine 331 is mounted on the middle part of housing 31, and the both ends of Two axle drive steering engine 331 pass through drive shaft 332 and two respectively
Driving wheel 333 connects, and the input terminal of Two axle drive steering engine 331 is connect with the output terminal of control device 7.
The telescopic device 8 includes telescopic rod 81, cable 82, coiling electric motor 83, reel 84；One end of telescopic rod 81
Dragging device 3 wet with narrow slit is connect, and the other end of telescopic rod 81 is connect with robot body 1；One end of cable 82 with narrow slit is wet drags
Device 3 connects, and the other end of cable 82 is wound on reel 84, the output axis connection of reel 84 and coiling electric motor 83, coiling
The input terminal of motor 83 is connect with control device 7, and coiling electric motor 83, reel 84 are separately mounted on robot body 1.
The fines clearing apparatus 4 carries out secondary cleaning, the fines clearing apparatus for leaving fines to clearing apparatus 2
4 input terminal is connect with control device 7.
The navigation detection device 5 is separately mounted on the front-end and back-end of robot body 1, detection device 5 of navigating
Including detection sensor, the output terminal of navigation detection device 5 is connect with the input terminal of control device 7.It is detected and filled by the navigation
Putting can complete to issue control device to vicinity environment detection and by signal, such as encounter barrier, control device can control robot
It gets around barrier to advance, avoids and directly knock barrier and damage robot.
Robot motion's driving device 6 is mounted on 1 bottom of robot body, which wraps
Include forward-reverse driving device 61 and lateral driver device 62, universal balance wheel 63；The forward-reverse driving device 61 is equipped with
Forward-reverse driving wheel 611, forward-reverse driving motor 612, forward-reverse driving wheel 611 are mounted on forward-reverse driving motor
On 612 output terminal；The lateral driver device 62 is equipped with laterally driven wheel 621, horizontal drive motor 622, laterally driven wheel
621 are mounted on the output shaft of horizontal drive motor 622；The forward-reverse driving motor 612, horizontal drive motor 622
Output terminal of the input terminal respectively with control device 7 connect.Therefore, robot kinematic driving unit can not only realize robot
Advance, retrogressing and transverse movement, can also be achieved arbitrary steering, movement is relatively freely, flexibly.
The control device 7 includes microcontroller and its control circuit, for automatically controlling entire narrow slit Shi Tuo robots
Co-ordination, including clean, clean wring out rag, mop floor etc. it is a full set of clean the operation that mops floor, the degree of automation is higher.The control
Device 7 processed is known technology, and no longer its detailed construction is repeated one by one here.
Claims (9)
1. a kind of narrow slit Shi Tuo robots, including robot body（1）, mounted on robot body（1）The robot fortune of bottom
Dynamic driving device（6）, control device（7）, control device（7）Output terminal and robot motion's driving device（6）Connection, it is special
Sign is：The robot further includes the wet dragging device of narrow slit（3）, the wet dragging device of the narrow slit（3）Pass through telescopic device（8）With robot
Ontology（1）Connection；The wet dragging device of the narrow slit（3）Including housing（31）, positioned at housing（31）Interior wet dragging device（32）, drag
Ground driving device（33）, the housing（31）To be flat, the height of housing is less than or equal to 1cm, housing（31）Both sides
It is respectively equipped with the convenient position cleaned to hardly possible and carries out the wet L-type opening dragged（311）；The wet dragging device（32）, mop floor driving
Device（33）Input terminal respectively with control device（7）Output terminal connection；The wet dragging device（32）Including rag
（321）, cleaning soak mechanism（322）, humidity regulation mechanism（323）, rag transition supporting block（324）；The housing（31）
It is equipped with rag dragging opening（312）, clean and soak mechanism（322）, humidity regulation mechanism（323）, rag transition supporting block
（324）It is separately mounted to housing（31）It is interior, and mechanism is soaked in cleaning（322）, humidity regulation mechanism（323）Input terminal respectively with
Control device（7）Output terminal connection；The rag（321）Pass through rag transition supporting block（324）It supports and is each passed through
Mechanism is soaked in cleaning（322）, humidity regulation mechanism（323）, rag dragging opening（312）It is coated on housing（31）Bottom.
2. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：Mechanism is soaked in the cleaning（322）Packet
Include filtered water tank（3221）, cleaning case（3222）, rag actuator（3223）；The rag actuator（3223）Including smearing
Cloth drags steering engine（32231）, rag drag strut（32232）, rag dragging steering engine（32231）Input terminal and control device（7）
Connection, rag dragging steering engine（32231）Output terminal and rag drag strut（32232）Connection, rag drag strut（32232）With smearing
Cloth（321）Connection.
3. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：The humidity regulation mechanism（323）If
In cleaning case（3222）Side, the humidity regulation mechanism（323）Including humidity regulation steering engine（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）；The guide pad（3237）
Corresponding rag dragging opening（312）Height be equipped with the lateral rag being used for across rag and be open（32371）；The guide pad
（3237）Inside it is additionally provided with vertical guide groove, the humidity regulating plate（3236）It is arranged on rag opening（32371）Top
In guide groove, and humidity regulating plate（3236）Surrounding and the inner wall of guide groove be slidably matched；The cam A（3233）, it is convex
Take turns B（3234）It is opposite respectively to be mounted in guide groove；The humidity regulation steering engine（3231）Mounted on guide pad（3237）Outside,
The humidity regulation steering engine（3231）Input terminal and control device（7）Connection, humidity regulation steering engine（3231）Output terminal with it is wet
Degree adjusts drive link（3232）Connection, humidity regulation drive link（3232）Across guide pad（3237）With cam A（3233）Connection,
Cam A（3233）Pass through cam link（3235）With cam B（3234）Connection, cam A（3233）, cam B（3234）Respectively with
Humidity regulating plate（3236）Both ends match；The floor cleaning degree sensor（3238）It is arranged on housing（31）Front end,
Temperature sensor（3239）, humidity sensor（3240）It is separately positioned on housing（31）The L-type opening of front end（311）Both sides wedge angle
Place, and the output terminal of floor cleaning degree sensor, temperature sensor, humidity sensor connects respectively with the input terminal of control device
It connects.
4. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：The driving device that mops floor（33）Including
Two axle drive steering engine（331）, drive shaft（332）, driving wheel（333）, the Two axle drive steering engine（331）Mounted on housing
（31）Middle part, Two axle drive steering engine（331）Both ends pass through drive shaft respectively（332）With two driving wheels（333）Connection, it is double
Axis drives steering engine（331）Input terminal and control device（7）Output terminal connection.
5. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：The telescopic device（8）Including flexible
Bar（81）, cable（82）, coiling electric motor（83）, reel（84）；Telescopic rod（81）One end and the wet dragging device of narrow slit（3）Even
It connects, telescopic rod（81）The other end and robot body（1）Connection；Cable（82）One end and the wet dragging device of narrow slit（3）Connection,
Cable（82）The other end be wound on reel（84）On, reel（84）With coiling electric motor（83）Output axis connection, coiling electricity
Machine（83）Input terminal and control device（7）Connection, and coiling electric motor（83）, reel（84）It is separately mounted to robot body
（1）On.
6. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：The robot has further included clearing apparatus
（2）, the clearing apparatus（2）Including two cleaning agencies（21）, can the larger rubbish incidental of blockage size enter scavenging machine
The screening glass of structure（22）And clean motor（23）；The screening glass（22）With cleaning agency（21）It is coaxially connected；Described
Clean motor（23）Input terminal and control device（7）Connection cleans motor（23）Output shaft and cleaning agency（21）Connection.
7. narrow slit Shi Tuo robots according to claim 6, it is characterised in that：The robot, which further includes, to be useful for cleaning
Device（2）Leave the fines clearing apparatus that fines carries out secondary cleaning（4）, fines clearing apparatus（4）Input terminal with control fill
It puts（7）Connection；The robot body（1）For robot can be made to be more easy to the elliptical shape by small space.
8. narrow slit Shi Tuo robots according to claim 1, it is characterised in that：The robot has further included navigation detection dress
It puts（5）, the navigation detection device（5）Mounted on robot body（1）On, detection device of navigating（5）Including detection sensor, lead
Boat detection device（5）Output terminal and control device（7）Input terminal connection.
9. the narrow slit Shi Tuo robots according to claim 1 to 8 any claim, it is characterised in that：The robot
Kinematic driving unit（6）Including forward-reverse driving device（61）And lateral driver device（62）, universal balance wheel（63）；It is described
Forward-reverse driving device（61）Equipped with forward-reverse driving wheel（611）, forward-reverse driving motor（612）, forward-reverse drive
Driving wheel（611）Mounted on forward-reverse driving motor（612）Output terminal on；The lateral driver device（62）Equipped with lateral drive
Driving wheel（621）, horizontal drive motor（622）, laterally driven wheel（621）Mounted on horizontal drive motor（622）Output shaft on；
The forward-reverse driving motor（612）, horizontal drive motor（622）Input terminal respectively with control device（7）Connection.
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| CN201610529661.2A CN105942932B (en) | 2016-07-07 | 2016-07-07 | Narrow slit Shi Tuo robots |
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| CN201610529661.2A CN105942932B (en) | 2016-07-07 | 2016-07-07 | Narrow slit Shi Tuo robots |
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| CN106335067B (en) * | 2016-10-13 | 2022-04-26 | 青岛塔波尔机器人技术股份有限公司 | Sweeping and mopping integrated cleaning robot and uniform wet mopping control method thereof |
| CN106983453B (en) * | 2017-04-27 | 2019-11-12 | 蒋玉素 | A kind of fast sweep machine people that dining room uses |
| DE102017118226A1 (en) * | 2017-08-10 | 2019-02-14 | Vorwerk & Co. Interholding Gmbh | Soil cultivation device with several tanks for the storage of liquid |
| CN109157164B (en) * | 2018-07-20 | 2020-11-27 | 广西科技大学鹿山学院 | Narrow gap health detection and cleaning robot |
| CN109199243A (en) * | 2018-09-13 | 2019-01-15 | 天津西青区瑞博生物科技有限公司 | A kind of clearing apparatus of housekeeping sweeping robot |
| CN109875464A (en) * | 2018-12-26 | 2019-06-14 | 松下家电研究开发（杭州）有限公司 | A kind of control method of mopping robot |
| CN113576342B (en) * | 2020-04-30 | 2022-10-28 | 青岛塔波尔机器人技术股份有限公司 | Mopping robot workstation and mop humidity control method |
| 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 |
| CN115381339A (en) * | 2021-05-25 | 2022-11-25 | 科沃斯机器人股份有限公司 | Self-moving robot, cleaning robot device and mopping method |
| CN114376455A (en) * | 2022-01-10 | 2022-04-22 | 杨春晓 | Sweeping and mopping integrated machine |
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