CN107080501B - A kind of clear floor-washing robot in adaptive dining room based on PLC control - Google Patents
A kind of clear floor-washing robot in adaptive dining room based on PLC control Download PDFInfo
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- CN107080501B CN107080501B CN201710286533.4A CN201710286533A CN107080501B CN 107080501 B CN107080501 B CN 107080501B CN 201710286533 A CN201710286533 A CN 201710286533A CN 107080501 B CN107080501 B CN 107080501B
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- fixture block
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
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- Manipulator (AREA)
Abstract
The invention belongs to the clear floor-washing robot technical field in dining room more particularly to a kind of clear floor-washing robots in adaptive dining room based on PLC control, it includes driving mechanism, walking mechanism, wiping arrangement, dust exhaust apparatus, first shell, extension spring, sensor；Sensor on the first shell is installed in the present invention can control the movement of clear floor-washing robot；Then the second shell that the present invention designs continues to rotate 90 degree by the active force of scroll spring by first rotating 90 degree under the action of dining room table leg and first shell；Because scroll spring only just will drive when second shell rotational angle reaches 90 degree second shell continuation rotated along original direction, on the contrary it is then can by scroll spring drive in the opposite direction reset rotation；Second shell of the present invention carries out 90 degree of rotations twice, and second shell can make first shell rotate one week around dining room table leg while rotating twice by extension spring；To which the dust for wiping table leg surrounding be cleaned out.
Description
Technical field
The invention belongs to the clear floor-washing robot technical field in dining room more particularly to a kind of adaptive dining rooms based on PLC control
Clear floor-washing robot.
Background technique
Often it is at present that manpower cleans for the cleaning works in dining room, robot is rarely employed；And artificially to dining room into
Inefficiency when row cleans, higher cost；The dust for often ignoring edge in artificial cleaning process to clean inadequate
Completely；And tables and chairs there are many being placed in dining room, tables and chairs lower end supporting leg can impact scale removal process in cleaning process；
So needing to design a kind of sweeping machine that can be improved efficiency but also be cleared up the dust at the supporting leg of tables and chairs lower end
What people was highly desirable.
The present invention design it is a kind of based on PLC control the clear floor-washing robot in adaptive dining room solve the problems, such as it is as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of adaptive dining room based on PLC control clearly
Robot, it adopts the following technical solutions to realize.
A kind of clear floor-washing robot in adaptive dining room based on PLC control, it is characterised in that: it includes driving mechanism, walking
Mechanism, wiping arrangement, dust exhaust apparatus, first shell, extension spring, sensor, two of them sensor are separately mounted to first
The both ends of shell and the two sides for being located at first shell；Dust exhaust apparatus is mounted on the inside of first shell；Wiping arrangement installation
In the inside of dust exhaust apparatus；Walking mechanism is located at the center on the inside of wiping arrangement, and walking mechanism periphery and wiping arrangement
Four planes of inside pass through an extension spring connection respectively；Driving mechanism is mounted on the upside of walking mechanism.
Above-mentioned driving mechanism include fixture block, compression blocks, guiding arc plate, the first telescopic rod, fixing axle, axle sleeve, scroll spring,
First annular column, the second circular column, pedestal circular groove, third limited block, the second limiting slot, pedestal, pushing block, link block, first
Limited block, compressed spring, the first spring cavity, second spring cavity, the second limited block, top cover, second shell, first annular column
Slot, the first limiting slot are wherein provided with pedestal circular groove at the center of pedestal upper end；One end of four the first limited blocks is provided with one
Square breach；Four the first limited blocks are circumferentially uniformly mounted on pedestal upper surface, and the outer end of four the first limited blocks is equal
On the outside of pedestal periphery；One end of fixing axle is mounted at the center of pedestal circular groove；The inner headed face of axle sleeve is mounted on fixation
On the periphery of axis；The inner headed face of second circular column is fixedly mounted on the periphery of axle sleeve lower end；Outside second circular column
The first spring cavity is provided on disc；One end of first telescopic rod is mounted on the first spring inside cavities, the first telescopic rod and
One compressed spring is installed between one spring cavity；One end of compressed spring, which is mounted on the first telescopic rod, is located at the first spring
On the end face of one end of intracavitary side, the other end is mounted on the end face of the first spring inside cavities；It is oriented to one end installation of arc plate
In the upper end of the first telescopic rod；The inner headed face of first annular column is mounted on the periphery of axle sleeve upper end；First annular column it is upper
End is provided with first annular column slot；Scroll spring is located in first annular column slot；The inner end of scroll spring is mounted on the outer circle of axle sleeve
On face, outer end is mounted on the inner headed face of first annular column slot；Second spring chamber is provided on the periphery of first annular column lower end
Body；Second limiting slot there are two symmetrically being opened on the inner headed face of second spring cavity；And two the second limiting slots are not pierced by
The periphery of one circular column；It is provided with the first limiting slot on the downside of fixture block one end, and the first limiting slot is by projected square part and skewed
Part forms, and the junction of square shape part and incline-like portion is at a step；The two sides of fixture block are symmetrically installed there are two third
Limited block；One end of fixture block is fitted in second spring cavity by two third limited blocks and two the second limiting slots
Side；One compressed spring is installed between fixture block and second spring cavity；One end of compressed spring is mounted on one end of fixture block, separately
One end is mounted on the end face of second spring inside cavities；The upper end of compression blocks is mounted on the downside of fixture block, and compression blocks are located at
Between first limiting slot and first annular column periphery；Compression blocks and guiding arc plate and the 4th limited block cooperate；Top cover is mounted on
The upper end of fixing axle；One end of second limited block is arc-shaped, and four the second limited blocks are circumferentially uniform to be mounted on top cover lower end
On face, and one end of four non-arc-shapeds of the second limited block is respectively positioned on the outside of top cover periphery；In the inner circle of second shell
It is provided with an annular groove, second shell is fitted to the periphery of top cover by end face on the upside of annular groove and the second limited block
On；Second shell passes through on the periphery for being fitted to pedestal of end face on the downside of annular groove and the first limited block；Four connections
On the circumferentially uniform inner headed face for being mounted on second shell annular groove in one end of block, the other end of four link blocks is mounted on one
A pushing block；The width of pushing block is of same size with the first limiting slot, and the upper surface of pushing block and the first limiting slot is upper
Side cooperation；Four the first limited block installation sites are matched with four the second limited block installation sites respectively.
Above-mentioned walking mechanism includes walking structure, traveling wheel, the first sweep-up pipe, outlet pipe, wherein the inside of walking structure
Functional motor, PLC chip, dust suction pump, water tank and dust storage tank are installed；The upper surface of walking structure is mounted on chassis lower end surface
On, three traveling wheels are circumferentially uniformly mounted to the lower end of walking structure；The row of four circumferentially uniform installations of the first sweep-up pipe
It walks on the periphery of structure；Four outlet pipes are axially uniform to be mounted on the periphery of walking structure, and four outlet pipes point
It is not adjacent with four the first sweep-up pipes.
Above-mentioned dust exhaust apparatus includes suction box, air suction opening, the second sweep-up pipe, and wherein the lower end of suction box is provided with many dust suctions
Hole；Four the second sweep-up pipes are separately mounted on the upper surface of four side of suction box；Suction box is mounted on the interior of first shell lower end
On side.
Above-mentioned wiping arrangement includes wiping block, water inlet pipe, and wherein wiping block is mounted on the inside of dust exhaust apparatus；Four water inlets
Pipe is separately mounted on the upper surface of four side of wiping block.
Above-mentioned second sweep-up pipe is connect by hose with the first sweep-up pipe；First sweep-up pipe passes through dust suction pump and walking mechanism
In dust storage tank connection.
Above-mentioned first water inlet pipe is connect by hose with outlet pipe, and outlet pipe is connect with the water tank in walking mechanism.
As the further improvement of this technology, the other end of above-mentioned guiding arc plate is equipped with the 4th limited block, the 4th limit
Block plays position-limiting action to compression fastly.
As the further improvement of this technology, the above-mentioned scheme as three traveling wheels of replacement is four traveling wheels.
As the further improvement of this technology, the sensor is piezoelectric transducer.
As the further improvement of this technology, the sensor is optoelectronic distance sensor.
Relative to traditional clear floor-washing robot technology in dining room, the clear floor-washing robot in dining room designed in the present invention is by driving machine
Structure, walking mechanism, wiping arrangement, dust exhaust apparatus are constituted, with walking function, dedusting function, wiping function.
Walking mechanism has walking function in the present invention；The function motor being mounted in walking mechanism can be to dining room clearly
Robot provides power；The effect of dust suction pump is can to provide negative pressure to suction box；The dust that dust storage tank can come up absorption
It carries out storage to fill, facilitates unified clear up；Water tank can provide water source to wiping arrangement；PLC chip in the present invention in functional entity
It can control the rotation and rotation of traveling wheel, to reach control walking and change nyctitropic purpose, enable sweeping robot
It gets at up to the place for needing to clear up；Realize the effect of Intelligent sweeping machine device people.In the present invention wiping arrangement can to ground into
Row wiping, in wiping process, the water in walking structure in water tank is flowed into wiping block by outlet pipe and water inlet pipe, is made
Wiping block carries out wiping cleaning to ground by wiping block after the completion of clear floor-washing robot dust suction at semi-wet state, so that
It more cleans on ground；The dust exhaust apparatus designed in the present invention has dust-absorbing function；The lower end of suction box is circumferentially provided with many dust suctions
Hole, effect are when suction box carries out at absorption the dust on ground by dust suction pump, the first sweep-up pipe and the second sweep-up pipe
When reason；Suction box can be averaged to the suction on ground by multiple air suction openings, adjusted the negative pressure in suction box, made suction box internal pressure
Power is kept constant.The dust being cleaned is inhaled into suction box by air suction opening, and the dust in suction box passes through the first dust suction
Pipe and the second sweep-up pipe are moved in the dust storage tank in walking structure；To achieve the effect that dust suction is cleared up.
Sensor on the first shell is installed in the present invention can control the movement of clear floor-washing robot；When clear floor-washing robot
When dining table leg is encountered in the position of intermediate side partially in moving process, automatically adjusted by clear floor-washing robot so that its transverse shifting
And it is constantly close around dining table leg by walking structure, while dining table leg can give one reaction force of second shell, so that it is carried out
Rotation；First shell is driven to be rotated around dining table leg by four extension springs while second shell rotation；When
It after two 90 degree of housing into rotation, is continued to rotate by the effect power drive second shell of scroll spring, in second shell rotation
First shell is driven to continue to rotate around feet by four extension springs simultaneously, the other side until turning to dining table leg, from
And achieve the purpose that clean feet.And when leaning on one end of proximal edge close to dining table leg on clear floor-washing robot, sensor sensing arrives
Signal is passed to walking structure by the table leg in front, and walking structure is laterally close to feet；Dining table leg can give second shell simultaneously
One reaction force, so that it is rotated；First shell is driven by four extension springs while second shell rotation
It is rotated around dining table leg；After second shell rotates 90 degree, by the effect power drive second shell of scroll spring after
Continuous rotation drives first shell to continue to rotate around feet while second shell rotation by four extension springs, until
The other side of dining table leg is turned to, to achieve the purpose that clean feet.The second shell that the present invention designs passes through dining room table leg
Under the action of first rotate 90 degree, then continue to rotate 90 degree by the active force of scroll spring；Because scroll spring only has
It just will drive second shell continuation when second shell rotational angle reaches 90 degree to rotate along original direction, otherwise second
Shell can then be driven by scroll spring to be rotated in the opposite direction；The present invention is rotated twice 90 by designing second shell
Degree, second shell can make first shell rotate one week around dining room table leg while rotating twice by extension spring；
To which the dust for wiping table leg surrounding be cleaned out.
Pedestal plays the role of support to fixing axle in the present invention；And the first limited block of side mounted thereto is played
Fixed effect；One end of fixture block is mounted on the inside of second spring chamber, the pressure being mounted between fixture block and second spring chamber
Contracting spring is when in a compressed state to provide a restoring force to fixture block；The lower end of fixture block is provided with first limiting slot, pushes away
Motion block can be moved to the other side from the side of fixture block by the first limiting slot；The lower end of fixture block is equipped with compression blocks；First stretches
One end of contracting bar is mounted on the first spring inside cavities；When the compressed spring being mounted between the first spring cavity and the first telescopic rod
It is when in a compressed state to provide a restoring force to the first telescopic rod；The upper end of first telescopic rod is equipped with guiding arc plate,
When fixture block is mobile to second spring inside cavities, compression blocks will push guiding arc plate mobile；The guiding arc strip dynamic first made
Medial movement of the telescopic rod to the first spring cavity；Second limited block plays the role of limit to fixture block；Second limited block is to
One telescopic rod plays position-limiting action；The scroll spring being mounted between axle sleeve and first annular column can be to one, axle sleeve recovery
Power.The width for the pushing block that the present invention designs is of same size with the first limiting slot, and the upper surface of pushing block and the first limit
The upper side of slot flushes, and effect is can to allow promotion that can successfully move in the first limiting slot fastly.
In the work of clear floor-washing robot, the compressed spring being mounted between the first telescopic rod and the first spring cavity is in freely
Retracted position, the compressed spring being mounted between fixture block and second spring chamber are in free extension state, and scroll spring is in certainly
By state；Fixture block is in the circumferential front side for being located at the first telescopic rod clockwise；First telescopic rod is contacted with the first limited block；
One of pushing block in four pushing blocks is contacted with fixture block, and the first limiting slot radial direction on this pushing block and fixture block
Mutual dislocation；Sensor is installed on the outside of first shell；Clearly by function motor in walking mechanism and PLC chip control
Robot carries out mobile cleaning；When clear floor-washing robot encounters the table leg resting on the ground in scale removal process, table leg can stop
Clear floor-washing robot advances, to one reaction force of second shell on clear floor-washing robot；Rotate it；Because of four promotions
Block is installed on the inside of second shell, is rotated so second shell will drive four pushing blocks while rotation；And this
When four pushing blocks in one of pushing block contacted with fixture block, i.e., this pushing block will push fixture block around fixing axle carry out circumference turn
It is dynamic；Being mounted on the compression blocks on the downside of fixture block simultaneously also can and then rotate；Because one end of scroll spring is mounted on axle sleeve, another
End is mounted on the inner headed face of first annular column slot；And fixture block will drive first annular column while rotation and be rotated, the
It is installed between one circular column and axle sleeve by bearing；The lower end of bearing is fixedly installed with the second circular column, pacifies on the second circular column
Equipped with the first telescopic rod, the first telescopic rod is contacted with the first limited block, and the first limited block limits the first telescopic rod and plays movement, into
And successively limit the movement of the second circular column and axle sleeve；When relatively rotating between axle sleeve and first annular column, scrollwork bullet
Spring will be by one outside pulling force of first annular column；Fixture block can contact after turning an angle with the second limited block, and at this time four
Another fixture block in a fixture block is moved adjacent to the position of the first telescopic rod；Since the contact position of the second limited block and fixture block is
Arc-shaped, so fixture block exists since the second limited block can give its reaction force while fixture block and the second limited block contact
It will be to close to the movement of the side of fixing axle under this reaction force；In its moving process, promotion is mounted on first and stretched by compression blocks
For guiding arc plate on contracting bar to close to the movement of the side of fixing axle, guiding arc plate drives the first telescopic rod mobile while mobile；
Another pushing block moves closer to the first telescopic rod and circumferential upper clockwise during the first telescopic rod is mobile
On rear side of the first telescopic rod；Contact area with the first limiting slot port and pushing block constantly increases in the movement of fixture block；
First telescopic rod progressively disengages the control of the first limited block, and another pushing block passes through the first limit from the side of the first limited block
Square breach on the block of position are gradually moved into the other side of the first limited block；When pushing block be moved to it is rectangular in the first limiting slot
When part is contacted with completely；First telescopic rod has completely disengaged the control of the first limited block, while another pushing block also moves
On front side of to the first telescopic rod；At this time due to being mounted on the effect of compressed spring in the first spring cavity and second spring chamber；First
Telescopic rod and fixture block will be mobile to the direction far from fixing axle, fixture block and the first telescopic rod it is mobile while, pushing block by
Gradually square shape part is located on front side of fixture block by incline-like portion removal fixture block from the first limiting slot；Due to scroll spring
Active force, the first telescopic rod will push another pushing block for being located at the front to move；To drive second shell to carry out
Rotation；It is successively driven, second shell will be in rotary state always；By being mounted on second shell while second shell rotates
Four extension springs between first shell drive first shell mobile, while passing through the shifting of sensor control first shell
Dynamic direction rotates first shell while moving forward around dining room table leg；Pass through suction while rotation
Dirt device and wiping arrangement clear up the two sides of table leg；After the completion of cleaning, since clear floor-washing robot is moved into table
The other side of leg, table leg will not impact the movement of clear floor-washing robot；Clear floor-washing robot can continue on other ground
Dust cleared up.
Detailed description of the invention
Fig. 1 is global facility appearance diagram.
Fig. 2 is driving mechanism scheme of installation.
Fig. 3 is driving mechanism schematic diagram of internal structure.
Fig. 4 is the first telescopic rod scheme of installation.
Fig. 5 is fixture block scheme of installation.
Fig. 6 is fixture block structural schematic diagram.
Fig. 7 is second shell scheme of installation.
Fig. 8 is the second limited block scheme of installation.
Fig. 9 is the first limit slot structure schematic diagram.
Figure 10 is wiping block scheme of installation.
Figure 11 is suction box structural schematic diagram.
Figure 12 is the first telescopic rod and fixture block distribution schematic diagram.
Figure 13 is fixture block operation principle schematic diagram.
Figure 14 is the first telescopic rod operation principle schematic diagram.
Figure 15 is clear floor-washing robot operation principle schematic diagram.
Figure 16 is guiding arc plate stress diagram.
Figure label title: 1, sensor；2, air suction opening；3, first shell；4, walking structure；5, suction box；6, it walks
Wheel；7, wiping block；8, the first sweep-up pipe；9, outlet pipe；10, extension spring；11, fixture block；12, second shell；13, compression blocks；
14, it is oriented to arc plate；15, the first telescopic rod；16, fixing axle；17, axle sleeve；18, scroll spring；19, first annular column；20, second
Circular column；21, pedestal circular groove；22, pedestal；23, pushing block；24, link block；25, the first limited block；26, compressed spring；27,
First spring cavity；28, second spring cavity；29, the second limited block；30, top cover；31, first annular column slot；32, second inhales
Dirt pipe；33, water inlet pipe；36, the first limiting slot；37, driving mechanism；38, walking mechanism；39, dust exhaust apparatus；40, wiping arrangement；
41, annular groove；42, third limited block；43, the second limiting slot；44, the 4th limited block.
Specific embodiment
As shown in Figure 1, 2, it includes driving mechanism 37, walking mechanism 38, wiping arrangement 40, dust exhaust apparatus 39, first shell
Body 3, extension spring 10, sensor 1, wherein as shown in Figure 1, two sensors 1 are separately mounted to the both ends of first shell 3 and divide
Not Wei Yu first shell 3 two sides；Dust exhaust apparatus 39 is mounted on the inside of first shell 3；Wiping arrangement 40 is mounted on dust suction dress
Set 39 inside；Walking mechanism 38 is located at the center of 40 inside of wiping arrangement, and 38 periphery of walking mechanism and wiping arrangement
Four planes of 40 insides pass through an extension spring 10 respectively and connect；As shown in Fig. 2, driving mechanism 37 is mounted on walking mechanism
38 upside.
As shown in Fig. 3,12, above-mentioned driving mechanism 37 includes fixture block 11, compression blocks 13, guiding arc plate 14, the first telescopic rod
15, fixing axle 16, axle sleeve 17, scroll spring 18, first annular column 19, the second circular column 20, pedestal circular groove 21, third limited block
42, the second limiting slot 43, pedestal 22, pushing block 23, link block 24, the first limited block 25, compressed spring 26, the first spring cavity
27, second spring cavity 28, the second limited block 29, top cover 30, second shell 12, first annular column slot 31, the first limiting slot 36,
Wherein as shown in figure 3, being provided with pedestal circular groove 21 at the center of 22 upper end of pedestal；One end of four the first limited blocks 25 is provided with one
A square breach；Four the first limited blocks 25 are circumferential to be uniformly mounted on 22 upper surface of pedestal, and four the first limited blocks 25
Outer end be respectively positioned on the outside of pedestal 22 periphery；As shown in figure 3, one end of fixing axle 16 is mounted on the center of pedestal circular groove 21
Place；The inner headed face of axle sleeve 17 is mounted on the periphery of fixing axle 16；The inner headed face of second circular column 20 is fixedly mounted on axle sleeve
On the periphery of 17 lower ends；As shown in figure 4, being provided with the first spring cavity 27 on the periphery of the second circular column 20；First stretches
One end of contracting bar 15 is mounted on 27 inside of the first spring cavity, is equipped with one between the first telescopic rod 15 and the first spring cavity 27
A compressed spring 26；One end of compressed spring 26 is mounted on the end of the one end being located on the inside of the first spring cavity on the first telescopic rod 15
On face, the other end is mounted on the end face of 27 inside of the first spring cavity；As shown in Figure 3,4, it is oriented to one end installation of arc plate 14
In the upper end of the first telescopic rod 15；The inner headed face of first annular column 19 is mounted on the periphery of 17 upper end of axle sleeve；Such as Fig. 3,5 institutes
Show, the upper end of first annular column 19 is provided with first annular column slot 31；Scroll spring 18 is located in first annular column slot 31；Scrollwork bullet
The inner end of spring 18 is mounted on the periphery of axle sleeve 17, and outer end is mounted on the inner headed face of first annular column slot 31；Such as Fig. 5 institute
Show, is provided with second spring cavity 28 on the periphery of first annular 19 lower end of column；It is symmetrical on the inner headed face of second spring cavity 28
Second limiting slot 43 there are two opening；And two the second limiting slots 43 are not pierced by the periphery of first annular column 19；Such as Fig. 5 institute
Show, the first limiting slot 36 is provided on the downside of 11 one end of fixture block, and as shown in Fig. 6,9, the first limiting slot 36 is by projected square part and inclines
The junction of ramp-like part composition, square shape part and incline-like portion is at a step；As shown in fig. 6, the two sides pair of fixture block 11
Claiming installation, there are two third limited blocks 42；One end of fixture block 11 passes through two third limited blocks 42 and two the second limiting slots 43
It is fitted to 28 inside of second spring cavity；As shown in fig. 6, being equipped with a pressure between fixture block 11 and second spring cavity 28
Contracting spring 26；One end of compressed spring 26 is mounted on one end of fixture block 11, and the other end is mounted on 28 inside of second spring cavity
On end face；As shown in fig. 6, the upper end of compression blocks 13 is mounted on the downside of fixture block 11, and compression blocks 13 are located at the first limiting slot 36
Between first annular 19 periphery of column；Compression blocks 13 and guiding arc plate 14 and the 4th limited block 44 cooperate；As shown in figure 8, top
Lid 30 is mounted on the upper end of fixing axle 16；One end of second limited block 29 is arc-shaped, as shown in figure 8, four the second limited blocks
29 it is circumferentially uniform be mounted on 30 lower end surface of top cover, and one end of four non-arc-shapeds of the second limited block 29 is respectively positioned on top cover
The outside of 30 peripheries；As shown in fig. 7, being provided with an annular groove 41 in the inner circle of second shell 12, second shell 12 passes through
41 upside end face of annular groove and the second limited block 29 are fitted on the periphery of top cover 30；Second shell 12 passes through annular
41 downside end face of slot is fitted on the periphery of pedestal 22 with the first limited block 25；As shown in figure 3, four link blocks 24
The circumferentially uniform inner headed face for being mounted on 12 annular groove 41 of second shell in one end on, the other end of four link blocks 24 is respectively mounted
There is a pushing block 23；As shown in figure 3, the width of pushing block 23 and the first limiting slot 36 is of same size, and pushing block 23
Upper surface and the first limiting slot 36 upper side cooperate；As shown in figure 3, four 25 installation sites of the first limited block are respectively with four
A second limited block, 29 installation site matches.
As shown in Fig. 2, above-mentioned walking mechanism 38 includes walking structure 4, traveling wheel 6, the first sweep-up pipe 8, outlet pipe 9,
The inside of middle walking structure 4 is installed by functional motor, PLC chip, dust suction pump, water tank and dust storage tank；The upper surface of walking structure 4
It is mounted on the lower end surface of chassis, as shown in Figure 1, 2, the circumferential lower end for being uniformly mounted to walking structure 4 of three traveling wheels 6；Four
On the periphery of the walking structure 4 of the circumferentially uniform installation of a first sweep-up pipe 8；Four outlet pipes 9 are axially uniform to be mounted on
On the periphery of walking structure 4, and four outlet pipes 9 are adjacent with four the first sweep-up pipes 8 respectively.
As shown in figure 11, above-mentioned dust exhaust apparatus 39 includes suction box 5, air suction opening 2, the second sweep-up pipe 32, wherein suction box 5
Lower end be provided with many air suction openings 2；Four the second sweep-up pipes 32 are separately mounted on the upper surface of 5 four side of suction box；Suction box
5 are mounted on the medial surface of 3 lower end of first shell.
As shown in figure 11, above-mentioned wiping arrangement 40 includes wiping block, water inlet pipe 33, and wherein wiping block is mounted on dust exhaust apparatus
39 inside；Four water inlet pipes 33 are separately mounted on the upper surface of four side of wiping block.
Above-mentioned second sweep-up pipe 32 is connect by hose with the first sweep-up pipe 8；First sweep-up pipe 8 is pumped and is walked by dust suction
Dust storage tank connection in mechanism 38.
Above-mentioned first water inlet pipe 33 is connect by hose with outlet pipe 9, and the water tank in outlet pipe 9 and walking mechanism 38 connects
It connects.
As shown in figure 3, the other end of above-mentioned guiding arc plate 14 is equipped with the 4th limited block 44, the 4th 44 pairs of limited block pressure
Contracting plays position-limiting action fastly.
The above-mentioned scheme as three traveling wheels 6 of replacement is four traveling wheels 6.
The sensor 1 is piezoelectric transducer 1.
The sensor 1 is optoelectronic distance sensor 1.
In summary:
The clear floor-washing robot in the dining room designed in the present invention is by driving mechanism 37, walking mechanism 38, wiping arrangement 40, dust suction
Device 39 is constituted, with walking function, dedusting function, wiping function.
Walking mechanism 38 has walking function in the present invention；The function motor being mounted in walking mechanism 38 can be to dining room
Clear floor-washing robot provides power；The effect of dust suction pump is can to provide negative pressure to suction box 5；What dust storage tank can come up absorption
Dust carries out storage and fills, and facilitates unified clear up；Water tank can provide water source to wiping arrangement 40；In the present invention in functional entity
PLC chip can control the rotation and rotation of traveling wheel 6, to reach control walking and change nyctitropic purpose, so that cleaning
Robot can reach the place for needing to clear up；Realize the effect of Intelligent sweeping machine device people.Wiping arrangement 40 can in the present invention
To wipe to ground, in wiping process, the water in walking structure 4 in water tank is flowed by outlet pipe 9 and water inlet pipe 33
Enter into wiping block, make wiping block at semi-wet state, after the completion of clear floor-washing robot dust suction by wiping block to ground into
Row wiping cleaning, so that ground is more cleaned；The dust exhaust apparatus 39 designed in the present invention has dust-absorbing function；Under suction box 5
End is circumferential to be provided with many air suction openings 2, and effect is when suction box 5 passes through dust suction pump, the first sweep-up pipe 8 and the second sweep-up pipe 32
When carrying out absorbing processing to the dust on ground；Suction box 5 can be averaged to the suction on ground by multiple air suction openings 2, adjusted
Negative pressure in suction box 5 keeps constant 5 internal pressure power of suction box.The dust being cleaned is inhaled into suction box by air suction opening 2
In 5, the dust in suction box 5 is moved in the dust storage tank in walking structure 4 by the first sweep-up pipe 8 and the second sweep-up pipe 32；
To achieve the effect that dust suction is cleared up.
The sensor 1 being mounted in first shell 3 in the present invention can control the movement of clear floor-washing robot；When clear ground machine
When dining table leg is encountered in the position of the inclined side in people centre in moving process, as shown in fig. 15 a, automatically adjusted by clear floor-washing robot
So that its transverse shifting and by walking structure constantly close to around dining table leg, while as illustrated in fig. 15b, dining table leg can give second
12 1 reaction forces of shell, so that it is rotated；It is driven while second shell 12 rotates by four extension springs 10
Dynamic first shell 3 is rotated around dining table leg；As shown in fig. 15 c, after second shell 12 rotates 90 degree, pass through scrollwork bullet
The effect power drive second shell 12 of spring 18 continues to rotate, and as shown in Figure 15 d, passes through four while second shell 12 rotates
Root extension spring 10 drives first shell 3 to continue to rotate around feet, until turning to the other side of dining table leg, to reach
Clean the purpose of feet.And when leaning on one end of proximal edge close to dining table leg on clear floor-washing robot, as shown in Figure 15 e, sensor
1 senses the table leg in front, signal is passed to walking structure 4, walking structure 4 is laterally close to feet；Simultaneously such as Figure 15 f
Shown, dining table leg can give 12 1 reaction forces of second shell, so that it is rotated；It is logical while second shell 12 rotates
Crossing four extension springs 10 drives first shell 3 to be rotated around dining table leg；As shown in Figure 15 g, second shell 12 is rotated
It after 90 degree, is continued to rotate by the effect power drive second shell 12 of scroll spring 18, while second shell 12 rotates
First shell is driven to continue to rotate around feet by four extension springs 10, as shown in Figure 15 h, until turning to dining table leg
The other side, thus achieve the purpose that clean feet.The second shell 12 that the present invention designs passes through first under the action of the table leg of dining room
90 degree are rotated, then continues to rotate 90 degree by the active force of scroll spring 18；Because scroll spring 18 is only second
12 rotational angle of shell just will drive the continuation of second shell 12 and rotate along original direction when reaching 90 degree, otherwise second shell
Body 12 can then be driven by scroll spring 18 to be rotated in the opposite direction；The present invention is rotated twice by designing second shell 12
90 degree, second shell 12 can make first shell 3 around dining room table leg while rotating twice by extension spring 10
Rotation one week；To which the dust for wiping table leg surrounding be cleaned out.
Pedestal 22 plays the role of support to fixing axle 16 in the present invention；And to the first limited block of side mounted thereto
25 play fixed effect；One end of fixture block 11 is mounted on the inside of second spring chamber, is mounted on fixture block 11 and second spring
Compressed spring 26 between chamber is when in a compressed state to provide a restoring force to fixture block 11；The lower end of fixture block 11 is provided with one
A first limiting slot 36, pushing block 23 can be moved to the other side from the side of fixture block 11 by the first limiting slot 36；Fixture block 11
Lower end compression blocks 13 are installed；One end of first telescopic rod 15 is mounted on 27 inside of the first spring cavity；When being mounted on first
Compressed spring 26 between spring cavity and the first telescopic rod 15 is when in a compressed state to provide one to the first telescopic rod 15
Restoring force；The upper end of first telescopic rod 15 is equipped with guiding arc plate 14, when fixture block 11 is to second spring 28 medial movement of cavity,
As shown in figure 16, compression blocks 13 will push guiding arc plate 14 mobile；The guiding arc plate 14 made drives the first telescopic rod 15 to first
The medial movement of spring cavity, it is mobile in guiding arc plate because being the arc plate that a radian is gradually increased, can be by compression blocks
Power decomposes the first telescopic rod direction, and the power of compression blocks is transmitted to the first telescopic rod；Second limited block 29 plays fixture block 11
The effect of limit is arrived；Second limited block 29 plays position-limiting action to the first telescopic rod 15；It is mounted on axle sleeve 17 and the first ring
Scroll spring 18 between shape column 19 can give 17 1 restoring forces of axle sleeve, the width and first for the pushing block 23 that the present invention designs
Limiting slot 36 it is of same size, and the upper surface of pushing block 23 is flushed with the upper side of the first limiting slot 36, and effect is can be with
Promotion can successfully be moved in the first limiting slot 36 fastly.
Specific embodiment: it in the work of clear floor-washing robot, is mounted between the first telescopic rod 15 and the first spring cavity
Compressed spring 26 is in free extension state, is mounted on the compressed spring 26 between fixture block 11 and second spring chamber and is in and freely stretches
Contracting state, scroll spring 18 are in free state；Fixture block 11 is in the circumferential front side for being located at the first telescopic rod 15 clockwise；
First telescopic rod 15 is contacted with the first limited block 25；One of pushing block 23 in four pushing blocks 23 is contacted with fixture block 11,
And 36 mutual dislocation of the first limiting slot on this pushing block 23 and fixture block 11；The outside of first shell 3 is equipped with sensor 1；It is logical
The function motor and PLC chip crossed in walking mechanism 38 control clear floor-washing robot and carry out mobile cleaning；When clear floor-washing robot is clear
When encountering the table leg resting on the ground during reason, table leg can stop clear floor-washing robot to advance, to first on clear floor-washing robot
3 one reaction forces of shell；By the sensor 1 of the installation in first shell 3 and it is mounted on first shell 3 and second shell 12
Between four extension springs 10 driving second shell 12 rotated；Because four pushing blocks 23 are installed in second shell 12
Inside is rotated so second shell 12 will drive four pushing blocks 23 while rotation；And four pushing blocks 23 at this time
In one of pushing block 23 contacted with fixture block 11, i.e., this pushing block 23 will push fixture block 11 around fixing axle 16 carry out circumference turn
It is dynamic；The compression blocks 13 for being mounted on 11 downside of fixture block simultaneously also can be rotated and then；Because one end of scroll spring 18 is mounted on axle sleeve
On 17, the other end is mounted on the inner headed face of first annular column slot 31；And fixture block 11 rotation while will drive it is first annular
Column 19 is rotated, and is installed between first annular column 19 and axle sleeve 17 by bearing；The lower end of bearing is fixedly installed with the second ring
Shape column 20 is equipped with the first telescopic rod 15 on second circular column 20, and the first telescopic rod 15 is contacted with the first limited block 25, and first
Limited block 25 limits the first telescopic rod 15 and plays movement, and then successively limits the movement of the second circular column 20 and axle sleeve 17；Work as axle sleeve
When relatively rotating between 17 and first annular column 19, scroll spring 18 will be by the 19 1 outside drawings of first annular column
Power；As shown in Figure 13 a, fixture block 11 can contact after turning an angle with the second limited block 29, another in four fixture blocks 11 at this time
One fixture block 11 is moved adjacent to the position of the first telescopic rod 15；Since the contact position of the second limited block 29 and fixture block 11 is circle
Arcuation, so since the second limited block 29 can give its reaction force while fixture block 11 and the second limited block 29 contact, card
Block 11 will be to close to the movement of the side of fixing axle 16 under this reaction force；In its moving process, compression blocks 13, which will push, pacifies
The side of guiding arc plate 14 to close fixing axle 16 on the first telescopic rod 15 is mobile, while guiding arc plate 14 is mobile
Drive the first telescopic rod 15 mobile；As shown in figures 14a, another pushing block 23 is gradually during the first telescopic rod 15 is mobile
It is located at 15 rear side of the first telescopic rod clockwise close to the first telescopic rod 15 and circumferential；As illustrated in fig. 13b, with first
36 port of limiting slot and the contact area of pushing block 23 constantly increase in the movement of fixture block 11；As shown in Figure 14 b, first stretches
Contracting bar 15 progressively disengages the control of the first limited block 25, and another pushing block 23 passes through first from the side of the first limited block 25
Square breach on limited block 25 are gradually moved into the other side of the first limited block 25；As shown in figure 13 c, when pushing block 23 moves
Move with when projected square part is contacted with completely in the first limiting slot 36；As shown in Figure 14 c, 14d, the first telescopic rod 15 is completely de-
Control from the first limited block 25, while another pushing block 23 also has been moved into 15 front side of the first telescopic rod；At this time due to peace
The effect of compressed spring 26 in the first spring cavity and second spring chamber；First telescopic rod 15 will be to far from fixed with fixture block 11
The direction of axis 16 is mobile, fixture block 11 and the first telescopic rod 15 it is mobile while, as shown in figure 13d, pushing block 23 gradually from
Square shape part removes fixture block 11 by incline-like portion in first limiting slot 36, is located at 11 front side of fixture block；Due to scroll spring
18 active force, the first telescopic rod 15 will push another pushing block 23 for being located at the front to move；To drive second
Shell is rotated；It is successively driven, second shell will be in rotary state always；By being mounted on while second shell rotates
Four extension springs 10 between second shell and first shell are controlled to drive first shell mobile by sensor 1
The moving direction of first shell rotates first shell while moving forward around dining room table leg；It is rotating
While the two sides of table leg are cleared up by dust exhaust apparatus 39 and wiping arrangement 40；After the completion of cleaning, due to clear ground machine
Device people is moved into the other side of table leg, and table leg will not impact the movement of clear floor-washing robot；Clear floor-washing robot can be with
Continue to clear up the dust on other ground.
Claims (4)
1. a kind of clear floor-washing robot in adaptive dining room based on PLC control, it is characterised in that: it includes driving mechanism, vehicle with walking machine
Structure, wiping arrangement, dust exhaust apparatus, first shell, extension spring, sensor, two of them sensor are separately mounted to first shell
The both ends of body and the two sides for being located at first shell；Dust exhaust apparatus is mounted on the inside of first shell；Wiping arrangement is mounted on
The inside of dust exhaust apparatus；Walking mechanism is located at the center on the inside of wiping arrangement, and in walking mechanism periphery and wiping arrangement
Four planes of side pass through an extension spring connection respectively；Driving mechanism is mounted on the upside of walking mechanism；
Above-mentioned driving mechanism includes fixture block, compression blocks, guiding arc plate, the first telescopic rod, fixing axle, axle sleeve, scroll spring, first
Circular column, the second circular column, pedestal circular groove, third limited block, the second limiting slot, pedestal, pushing block, link block, the first limit
Block, compressed spring, the first spring cavity, second spring cavity, the second limited block, top cover, second shell, first annular column slot,
First limiting slot is wherein provided with pedestal circular groove at the center of pedestal upper end；One end of four the first limited blocks is provided with a side
V notch v；Four the first limited blocks are circumferentially uniformly mounted on pedestal upper surface, and the equal position in outer end of four the first limited blocks
On the outside of pedestal periphery；One end of fixing axle is mounted at the center of pedestal circular groove；The inner headed face of axle sleeve is mounted on fixing axle
Periphery on；The inner headed face of second circular column is fixedly mounted on the periphery of axle sleeve lower end；The periphery of second circular column
On be provided with the first spring cavity；One end of first telescopic rod is mounted on the first spring inside cavities, the first telescopic rod and the first bullet
One compressed spring is installed between spring cavity；One end of compressed spring, which is mounted on the first telescopic rod, is located at the first spring cavity
On the end face of one end of inside, the other end is mounted on the end face of the first spring inside cavities；One end of guiding arc plate is mounted on
The upper end of first telescopic rod；The inner headed face of first annular column is mounted on the periphery of axle sleeve upper end；The upper end of first annular column
It is provided with first annular column slot；Scroll spring is located in first annular column slot；The inner end of scroll spring is mounted on the periphery of axle sleeve
On, outer end is mounted on the inner headed face of first annular column slot；Second spring cavity is provided on the periphery of first annular column lower end；
Second limiting slot there are two symmetrically being opened on the inner headed face of second spring cavity；And two the second limiting slots are not pierced by the first ring
The periphery of shape column；The first limiting slot is provided on the downside of fixture block one end, and the first limiting slot is by projected square part and incline-like portion
The junction of composition, projected square part and incline-like portion is at a step；The two sides of fixture block are symmetrically installed there are two third limited block；
One end of fixture block is fitted to second spring inside cavities by two third limited blocks and two the second limiting slots；Fixture block
One compressed spring is installed between second spring cavity；One end of compressed spring is mounted on one end of fixture block, other end peace
On the end face of second spring inside cavities；The upper end of compression blocks is mounted on the downside of fixture block, and compression blocks are located at the first limit
Between position slot and first annular column periphery；The other end of guiding arc plate is equipped with the 4th limited block, compression blocks and guiding arc plate
Cooperate with the 4th limited block；Top cover is mounted on the upper end of fixing axle；One end of second limited block is arc-shaped, four second limits
Block is circumferentially uniform to be mounted in top cover face, and one end of four non-arc-shapeds of the second limited block is respectively positioned on top cover periphery
Outside；An annular groove is provided in the inner circle of second shell, second shell passes through end face on the upside of annular groove and the second limited block
It is fitted on the periphery of top cover；Second shell is fitted to bottom by end face on the downside of annular groove and the first limited block
On the periphery of seat；On the circumferentially uniform inner headed face for being mounted on second shell annular groove in one end of four link blocks, four companies
The other end for connecing block is mounted on a pushing block；The width of pushing block is of same size with the first limiting slot, and pushing block
The upper side of upper surface and the first limiting slot cooperates；Four the first limited block installation sites are installed with four the second limited blocks respectively
Position matches；
Above-mentioned walking mechanism includes walking structure, traveling wheel, the first sweep-up pipe, outlet pipe, wherein the inside installation of walking structure
Functional motor, PLC chip, dust suction pump, water tank and dust storage tank；The upper surface of walking structure is mounted on the lower end surface of chassis, and three
A traveling wheel is circumferentially uniformly mounted to the lower end of walking structure；Four the first sweep-up pipes are uniformly mounted on the outer of walking structure
On disc；Four outlet pipes are axially uniform to be mounted on the periphery of walking structure, and four outlet pipes respectively with four
One sweep-up pipe is adjacent；
Above-mentioned dust exhaust apparatus includes suction box, air suction opening, the second sweep-up pipe, and wherein the lower end of suction box is provided with many air suction openings；
Four the second sweep-up pipes are separately mounted on the upper surface of four side of suction box；Suction box is mounted on the medial surface of first shell lower end
On；
Above-mentioned wiping arrangement includes wiping block, water inlet pipe, and wherein wiping block is mounted on the inside of dust exhaust apparatus；Four water inlet pipes point
It is not mounted on the upper surface of four side of wiping block；
Above-mentioned second sweep-up pipe is connect by hose with the first sweep-up pipe；First sweep-up pipe passes through in dust suction pump and walking mechanism
Dust storage tank connection；
First water inlet pipe is connect by hose with outlet pipe, and outlet pipe is connect with the water tank in walking mechanism.
2. a kind of clear floor-washing robot in adaptive dining room based on PLC control according to claim 1, it is characterised in that: on
The scheme for stating three traveling wheels replaces with four traveling wheels.
3. a kind of clear floor-washing robot in adaptive dining room based on PLC control according to claim 1, it is characterised in that: on
Stating sensor is piezoelectric transducer.
4. a kind of clear floor-washing robot in adaptive dining room based on PLC control according to claim 1, it is characterised in that: on
Stating sensor is optoelectronic distance sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286533.4A CN107080501B (en) | 2017-04-27 | 2017-04-27 | A kind of clear floor-washing robot in adaptive dining room based on PLC control |
| PCT/CN2017/095015 WO2018196199A1 (en) | 2017-04-27 | 2017-07-28 | Adaptive restaurant floor cleaning robot based on plc control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286533.4A CN107080501B (en) | 2017-04-27 | 2017-04-27 | A kind of clear floor-washing robot in adaptive dining room based on PLC control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107080501A CN107080501A (en) | 2017-08-22 |
| CN107080501B true CN107080501B (en) | 2019-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710286533.4A Active CN107080501B (en) | 2017-04-27 | 2017-04-27 | A kind of clear floor-washing robot in adaptive dining room based on PLC control |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107080501B (en) |
| WO (1) | WO2018196199A1 (en) |
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| US7934571B2 (en) * | 2009-09-04 | 2011-05-03 | Jane-Ferng Chiu | Moving base for robotic vacuum cleaner |
| CN203314896U (en) * | 2013-06-08 | 2013-12-04 | 中船重工(武汉)凌久高科有限公司 | Intelligentized cleaning dust removal equipment |
| CN204765434U (en) * | 2015-07-03 | 2015-11-18 | 安庆联泰电子科技有限公司 | Intelligence robot of sweeping floor |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018196199A1 (en) | 2018-11-01 |
| CN107080501A (en) | 2017-08-22 |
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Effective date of registration: 20191105 Address after: 309, Room 201, Pearl Street, northbound street, Luqiao District, Zhejiang, Taizhou 318050, China Applicant after: Taizhou Yun Cheng Intelligent Technology Co., Ltd. Address before: Shanxi province Taiyuan city Xinghualing District 030000 South Gate No. 6 East three Applicant before: Che Chengkai |
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Effective date of registration: 20201229 Address after: 251708 Dingzhuang village, Qinghe town, Huimin County, Binzhou City, Shandong Province Patentee after: Xu Liangjie Address before: 318050 Room 309, Pearl Street, Lubei street, Luqiao District, Taizhou, Zhejiang, 309 Patentee before: Taizhou cloud makes intelligent technology Ltd. |
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Effective date of registration: 20220107 Address after: 318020 mould Expo City, Beicheng street, Huangyan District, Taizhou City, Zhejiang Province Patentee after: Zeng Meizhi Address before: 251708 Dingzhuang village, Qinghe town, Huimin County, Binzhou City, Shandong Province Patentee before: Xu Liangjie |