CN110742558A - Cleaning and service integrated robot - Google Patents
Cleaning and service integrated robot Download PDFInfo
- Publication number
- CN110742558A CN110742558A CN201911084438.1A CN201911084438A CN110742558A CN 110742558 A CN110742558 A CN 110742558A CN 201911084438 A CN201911084438 A CN 201911084438A CN 110742558 A CN110742558 A CN 110742558A
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- service
- machine body
- cleaning
- cleaning machine
- tray
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
Abstract
The invention provides a cleaning and service integrated robot, which belongs to the field of service robots and comprises a service machine body, a cleaning machine body and a tray, wherein the bottom of the service machine body is provided with a plurality of first idler wheels driven by a first motor, the cleaning machine body is in a disc shape, the bottom of the cleaning machine body is provided with a plurality of second idler wheels driven by a second motor, the cleaning machine body comprises a water tank and a mop cloth, the water tank is connected with the mop cloth, the mop cloth is arranged at the bottom of the cleaning machine body, and the mop cloth is connected with a vibrating motor; the tray is circular, and the tray can be placed in the top of clean organism, and the top of tray has a plurality of heavy grooves that are used for holding first gyro wheel, and the service organism can be placed in the top of tray, makes the bottom of service organism and the top laminating of tray to make first gyro wheel arrange in heavy inslot. The robot can separately and independently complete a plurality of service works and can be used in a fit manner to complete a specific service project, so that the robot is more intelligent and convenient to use.
Description
Technical Field
The invention relates to the field of service robots, in particular to a cleaning and service integrated robot.
Background
With the development of the intelligent robot industry and technology, many household robots, such as service robots and floor sweeping robots, appear on the market. The existing service robot can generally provide functions of accompanying, reading, early education, audio and video playing and the like, the sweeping robot can generally perform dust collection operation, and some sweeping robots can also perform floor mopping operation. Common household robots do not have the functions of mutual linkage and mutual matching, are used independently when in use, and have single functions.
Disclosure of Invention
In view of the above, the present invention provides a cleaning and service integrated robot to solve the problems in the prior art.
The invention is realized by the following steps:
a cleaning and service integrated robot comprises a service machine body, a cleaning machine body and a tray, wherein the bottom of the service machine body is provided with a plurality of first idler wheels driven by a first motor, the cleaning machine body is in a disc shape, the bottom of the cleaning machine body is provided with a plurality of second idler wheels driven by a second motor, the cleaning machine body comprises a water tank and a mop cloth, the water tank is connected with the mop cloth, the mop cloth is arranged at the bottom of the cleaning machine body, and the mop cloth is connected with a vibrating motor; the tray is circular, and the tray can place in the top of clean organism, the top of tray has a plurality of heavy grooves that are used for holding first gyro wheel, the service organism can place in the top of tray makes the bottom of service organism and the top laminating of tray, and makes first gyro wheel is arranged in heavy inslot.
Further, the bottom of tray has a plurality of location archs of annular distribution, the top of cleaning machine body has a plurality of constant head tanks, the location arch can be arranged in the constant head tank.
Further, the service machine body is in a semi-ellipsoidal shape, and the diameter of the bottom of the service machine body is larger than that of the cleaning machine body; the bottom of the service machine body is provided with three groups of supporting mechanisms which are distributed in a triangular shape, wherein the distance between the two groups of supporting mechanisms is greater than the diameter of the cleaning machine body;
the supporting mechanism comprises a driving motor, a rotary sleeve and a supporting rod, wherein the output end of the driving motor is connected with a gear, driving teeth are arranged outside the rotary sleeve, the gear is meshed with the driving teeth, a threaded hole is formed in the rotary sleeve, the supporting rod is of a screw rod structure, and the supporting rod is in threaded connection with the threaded hole; an upper connecting table and a lower connecting table are formed inside the service machine body, a space is formed between the upper connecting table and the lower connecting table, the rotary sleeve is arranged between the upper connecting table and the lower connecting table, a limiting ring is arranged at the top of the lower connecting table, an annular limiting groove is formed in the bottom of the rotary sleeve, and the limiting ring is connected to the limiting groove; the upper connecting table is vertically provided with a connecting hole, the lower connecting table is vertically provided with a through hole, the through hole is communicated with the bottom of the service machine body, one part of the supporting rod is arranged in the connecting hole, one part of the supporting rod is arranged in the through hole, and a limiting rod used for limiting the supporting rod to rotate around the axis of the supporting rod is arranged in the connecting hole; the driving motor can drive the rotary sleeve to rotate during working, and then a part of the supporting rod is moved to the outside of the through hole.
Furthermore, the connecting hole is of a blind hole structure, the top of the limiting rod is connected to the top of the connecting hole, the top of the supporting rod is provided with a limiting hole, the limiting rod is inserted into the limiting hole, and the cross sections of the limiting rod and the limiting hole are both of rectangular structures.
Further, a first controller is arranged in the service body, the first controller is used for controlling the first motor and the driving motor, a plurality of first obstacle detection sensors are arranged on the side portion of the service body, the first obstacle detection sensors are used for detecting obstacles close to or contacting the service body and generating obstacle detection signals, and the first controller can receive the obstacle detection signals and generate and transmit corresponding driving control signals to the first motor so as to control the service body to move on the floor;
the cleaning machine is characterized in that a second controller is arranged in the cleaning machine body and used for controlling the second motor and the vibrating motor, a plurality of second obstacle detection sensors are arranged on the side portion of the cleaning machine body and used for detecting obstacles close to or contacting the cleaning machine body and generating obstacle detection signals, and the second controller can receive the obstacle detection signals, generate and transmit corresponding driving control signals to the second motor so as to control the cleaning machine body to move on the floor.
Further, all be provided with the wireless signal transceiver in service organism and the clean organism, first controller and second controller pass through the wireless signal transceiver and connect the back, the second controller can accept the barrier detection signal that first barrier detection sensor produced.
Furthermore, the top of the cleaning machine body and the bottom of the service machine body are both provided with positioning sensors, a round hole is formed in the tray, and when the tray is placed on the cleaning machine body, the round hole is located right above the positioning sensors at the top of the cleaning machine body.
Further, the bottom of bracing piece is provided with the rubber pad.
The cleaning and service integrated robot provided by the invention can separately and independently complete a plurality of service works and can be used in a fit manner to complete a specific service project, so that the robot is more intelligent and convenient to use.
Drawings
The description includes the following figures, the contents shown are respectively:
fig. 1 is a schematic front view of a service body in an integrated cleaning and service robot according to an embodiment of the present invention;
FIG. 2 is a schematic bottom view of a service body of the integrated cleaning and service robot according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a cleaning body of the integrated cleaning and service robot provided in the embodiment of the present invention;
FIG. 4 is a schematic front view of a cleaning body of the integrated cleaning and service robot according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a tray body of the integrated cleaning and service robot according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a support mechanism in an integrated cleaning and servicing robot provided in accordance with an embodiment of the present invention;
fig. 7 is a schematic front view illustrating a service body of the cleaning and service integrated robot supported by a support rod according to the embodiment of the present invention;
FIG. 8 is a schematic front view of a swivel nut of the integrated cleaning and servicing robot according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a controller of an integrated cleaning and servicing robot according to an embodiment of the present invention;
fig. 10 is a schematic front view illustrating a service body and a cleaning body of an integrated cleaning and service robot according to an embodiment of the present invention.
Labeled as: the device comprises a service machine body 11, a cleaning machine body 12, a first motor 13, a first roller 14, a second motor 15, a second roller 16, a water tank 17, a mop 18, a vibrating motor 19, a tray 20, a sinking groove 21, a positioning bulge 22, a positioning groove 23, a supporting mechanism 24, a driving motor 25, a rotary sleeve 26, a supporting rod 27, a gear 28, a driving tooth 29, a threaded hole 30, an upper connecting table 31, a lower connecting table 32, a limiting ring 33, a limiting groove 34, a connecting hole 35, a through hole 36, a limiting rod 37, a first controller 38, a first obstacle detection sensor 39, a second controller 40, a second obstacle detection sensor 41, a wireless signal transceiver 42, a positioning sensor 43, a rubber pad 44 and a round hole 45.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
The embodiment provides a cleaning and service integrated robot, and the robot can separately and independently complete multiple service works, can also be used in a fit manner to complete specific service projects, and is more intelligent and convenient to use.
As shown in fig. 1 to 10, the cleaning and service integrated robot includes a service body 11, a cleaning body 12 and a tray 20, the bottom of the service body 11 has a plurality of first rollers 14 driven by a first motor 13, the cleaning body 12 has a disc shape, the bottom of the cleaning body 12 has a plurality of second rollers 16 driven by a second motor 15, the cleaning body 12 includes a water tank 17 and a mop cloth 18, the water tank 17 is connected with the mop cloth 18, the mop cloth 18 is disposed at the bottom of the cleaning body 12, and the mop cloth 18 is connected with a vibration motor 19; tray 20 is circular, and tray 20 can place in the top of cleaning machine body 12, and the top of tray 20 has a plurality of heavy grooves 21 that are used for holding first gyro wheel 14, and service machine body 11 can place in the top of tray 20, makes the bottom of service machine body 11 and the top laminating of tray 20 to make first gyro wheel 14 place in heavy groove 21.
The cleaning and service integrated robot has a service body 11 and a cleaning body 12 which can be used independently, the service body 11 is provided with a first roller 14 which can walk, the robot can automatically and independently walk indoors, the service body 11 is provided with a large screen and a player, can provide voice service, has a voice recognition function, and can provide multiple functions of video playing, audio playing, child education, family guarding, safety alarm and the like. The cleaning machine body 12 has a floor sweeping function and a floor mopping function, and is provided with a poking brush capable of poking dust and other garbage, the bottom of the cleaning machine body 12 is provided with a dust suction port, and a dust collecting box is arranged inside the cleaning machine body and can sweep the dust and the garbage on the indoor floor. The cleaning machine body 12 is also provided with a water tank 17 and a mop cloth 18, water can be stored in the water tank 17, the mop cloth 18 is connected through a vibrating motor 19, and the vibrating motor 19 can drive the mop cloth 18 to vibrate to finish the mopping operation.
The service body 11 and the cleaning body 12 can also be used in cooperation, so that the service body 11 applies pressure to the cleaning body 12, the mop cloth 18 and the floor have larger friction force, the cleaning body 12 can better remove dirt on the floor during mopping operation, and a better cleaning effect is achieved.
Tray 20 is used for connecting cleaning machine body 12 and service machine body 11, during the connection, place tray 20 on cleaning machine body 12, place service machine body 11 on tray 20, tray 20 is last to have the heavy groove 21 that is used for holding first gyro wheel 14 of cleaning machine body 12 bottom, make first gyro wheel 14 holding in heavy groove 21, make the great area ground of service machine body 11 bottom laminate in the top of tray 20, make and to connect very steadily between cleaning machine body 12, tray 20 and the service machine body 11, when carrying out the operation of mopping the ground, cleaning machine body 12 removes in-process service machine body 11 and can not rock or drop. Placing the service body 11 on the cleaning body 12, the service body 11 transmits its own weight to the cleaning body 12, so that the mop cloth 18 can have a greater friction with the floor to better finish the mopping operation.
As shown in fig. 3 and 5, the bottom of the tray 20 has a plurality of positioning protrusions 22 distributed annularly, the top of the cleaning machine body 12 has a plurality of positioning slots 23, and the positioning protrusions 22 can be placed in the positioning slots 23. The positioning protrusions 22 and the positioning grooves 23 are three, and the three positioning grooves 23 are not distributed on the same circle, so that only one connection mode is provided between the tray 20 and the cleaning machine body 12, and the first roller 14 and the sinking groove 21 are also three, so that the angles of the cleaning machine body 12 and the service machine body 11 are always consistent after the connection, and the connection stability of the cleaning machine body and the service machine body can be ensured.
As shown in fig. 2 and 6, the service body 11 is semi-ellipsoidal, and the diameter of the bottom of the service body 11 is larger than that of the cleaning body 12; the bottom of the service machine body 11 is provided with three groups of supporting mechanisms 24, the three groups of supporting mechanisms 24 are distributed in a triangular shape, wherein the distance between the two groups of supporting mechanisms 24 is greater than the diameter of the cleaning machine body 12;
the supporting mechanism 24 comprises a driving motor 25, a rotary sleeve 26 and a supporting rod 27, the output end of the driving motor 25 is connected with a gear 28, a driving tooth 29 is arranged outside the rotary sleeve 26, the gear 28 is meshed with the driving tooth 29, a threaded hole 30 is formed in the rotary sleeve 26, the supporting rod 27 is of a screw rod structure, and the supporting rod 27 is in threaded connection with the threaded hole 30; an upper connecting table 31 and a lower connecting table 32 are formed inside the service machine body 11, a space is formed between the upper connecting table 31 and the lower connecting table 32, the rotary sleeve 26 is arranged between the upper connecting table 31 and the lower connecting table 32, the top of the lower connecting table 32 is provided with a limiting ring 33, the bottom of the rotary sleeve 26 is provided with an annular limiting groove 34, and the limiting ring 33 is connected with the limiting groove 34; the upper connecting platform 31 is vertically provided with a connecting hole 35, the lower connecting platform 32 is vertically provided with a through hole 36, the through hole 36 is communicated with the bottom of the service machine body 11, one part of the supporting rod 27 is arranged in the connecting hole 35, one part of the supporting rod 27 is arranged in the through hole 36, and a limiting rod 37 used for limiting the supporting rod 27 to rotate around the axis of the supporting rod 27 is arranged in the connecting hole 35; the driving motor 25 is operated to rotate the rotating sleeve 26, so that a portion of the supporting rod 27 is moved to the outside of the through hole 36. The bottom of the support bar 27 is provided with a rubber pad 44.
The movable supporting mechanism 24 is arranged at the bottom of the service machine body 11, so that the service machine body 11 can be more intelligent and automatic when being connected with the cleaning machine body 12. The service machine body 11 does not need to be lifted up manually to be placed on the tray 20 at the top of the cleaning machine body 12, so that manual operation is reduced, and burden of a user is relieved.
The semi-ellipsoidal service body 11 has a circular bottom, and the diameter of the bottom of the service body 11 is larger than that of the cleaning body 12, so that the cleaning body 12 can smoothly travel to the bottom of the service body 11. Three sets of support mechanisms 24 are provided at the bottom of the service body 11, as shown in fig. 2, wherein the distance between two sets of support mechanisms 24 is large, so that the cleaning body 12 can run between the two sets of support mechanisms 24.
The supporting mechanism 24 has a driving motor 25, a rotary sleeve 26 and a supporting rod 27, and when the supporting mechanism works, the driving motor 25 drives the gear 28 to rotate, so as to drive the rotary sleeve 26 to rotate, and the rotary sleeve 26 drives the supporting rod 27 to move up and down through a spiral structure. An upper connecting table 31 and a lower connecting table 32 are arranged inside the service machine body 11 and used for connecting all parts, the rotary sleeve 26 is arranged between the upper connecting table 31 and the lower connecting table 32, the rotary sleeve 26 can be positioned between the two connecting tables to rotate, the two connecting tables limit the rotary sleeve 26 from the upper side and the lower side, the rotary sleeve 26 cannot move along the axis direction, a limiting ring 33 is arranged on the lower connecting table 32, the limiting ring 33 is matched with a limiting groove 34 at the bottom of the rotary sleeve 26, the rotary sleeve 26 cannot move along the radial direction, and the rotary sleeve 26 can only do circular motion.
The support rod 27 of screw rod structure and the screw hole 30 spiro union of cover 26 soon, and the gag lever post 37 is connected at the support rod 27 top, makes the support rod 27 can not rotate through the restriction of gag lever post 37, can drive the support rod 27 when making cover 26 rotate and reciprocate. The bottom end of the supporting rod 27 is close to the bottom of the service machine body 11, when the supporting rod 27 moves downwards, the supporting rod can move to the outside of the service machine body 11, and after the bottom end of the supporting rod 27 is attached to the floor, the service machine body 11 can be supported, so that a large space is formed between the service machine body 11 and the bottom plate, and the cleaning machine body 12 can drive into the bottom of the service machine body 11. The rubber pad 44 is arranged at the bottom of the support rod 27, so that the friction force between the support rod and the floor can be increased, and the floor can be protected.
When in use, the three groups of supporting mechanisms 24 are opened, so that the three groups of supporting mechanisms 24 work simultaneously to support the service machine body 11; and meanwhile, the tray 20 is placed at the top of the cleaning machine body 12, the cleaning machine body 12 is opened, the cleaning machine body 12 can automatically move into the bottom of the service machine body 11, when the first roller 14 is positioned right above the sinking groove 21, the cleaning machine body 12 stops moving, the supporting mechanism 24 is started to withdraw the supporting rod 27, the first roller 14 falls into the sinking groove 21, and the service machine body 11 is placed on the tray 20.
Corresponding control keys can be arranged on the service machine body 11 and the cleaning machine body 12, and the actions can be completed by one key.
As shown in fig. 6, the connecting hole 35 is a blind hole structure, the top of the limiting rod 37 is connected to the top of the connecting hole 35, the top of the supporting rod 27 is provided with a limiting hole, the limiting rod 37 is inserted into the limiting hole, and the cross sections of the limiting rod 37 and the limiting hole are both rectangular structures. The stopper rod 37 having such a structure can stably restrict the rotation of the support rod 27, so that the support rod 27 can move only up and down.
As shown in fig. 9, a first controller 38 is disposed in the service body 11, the first controller 38 is configured to control the first motor 13 and the driving motor 25, a plurality of first obstacle detection sensors 39 are disposed on a side portion of the service body 11, the first obstacle detection sensors 39 are configured to detect obstacles approaching or contacting the service body 11 and generate obstacle detection signals, and the first controller 38 is capable of receiving the obstacle detection signals and generating and transmitting corresponding driving control signals to the first motor 13 to control the movement of the service body 11 on the floor;
a second controller 40 is disposed in the cleaning machine body 12, the second controller 40 is used for controlling the second motor 15 and the vibration motor 19, a plurality of second obstacle detection sensors 41 are disposed on a side portion of the cleaning machine body 12, the second obstacle detection sensors 41 are used for detecting obstacles approaching or contacting the cleaning machine body 12 and generating obstacle detection signals, and the second controller 40 can receive the obstacle detection signals and generate and transmit corresponding driving control signals to the second motor 15 to control the movement of the cleaning machine body 12 on the floor.
The first controller 38 is a control mechanism inside the service body 11, and can be used to control the service body 11 to complete various actions. The first object detection sensor is arranged on the side of the service machine body 11, generates an obstacle signal and transmits the obstacle signal to the first controller 38 through the obstacle detection sensor, the first controller 38 generates a control signal to control the first motor 13 to work, so that the service machine body 11 can automatically walk on an indoor floor and automatically avoid obstacles. The second controller 40 is a control mechanism inside the cleaning machine body 12, and can be used to control the cleaning machine body 12 to perform various actions. The second obstacle detection sensor 41 is provided on the side of the cleaning machine body 12, so that the cleaning machine body 12 can also automatically travel indoors and avoid obstacles such as walls.
The service body 11 and the cleaning body 12 are both provided with a wireless signal transceiver 42, and after the first controller 38 and the second controller 40 are connected through the wireless signal transceiver 42, the second controller 40 can receive the obstacle detection signal generated by the first obstacle detection sensor 39.
The service body 11 and the cleaning body 12 can also be connected through the wireless signal transceiver 42, at this time, the service body 11 and the cleaning body 12 are in an integrated structure, the robot enters a floor mopping state, the first controller 38 inside the service body 11 does not actively control the service body 11 any more, but controls the service body 11 through the second controller 40 inside the cleaning body 12, so that the cleaning body 12 and the service body 11 can be more synchronous. In operation, the obstacle detection signal generated by the first obstacle detection sensor 39 of the service body 11 is transmitted to the second controller 40 of the cleaning body 12 through the wireless signal transceiver 42, and the second controller 40 generates a control signal and controls the second motor 15 to operate, so that the cleaning body 12 can more smoothly walk indoors. At this time, the service body 11 is located above the cleaning body 12, the first obstacle detecting sensor 39 of the service body 11 has a higher position, the cleaning body 12 is located below, and the second obstacle detecting sensor 41 of the cleaning body 12 has a lower position, which are mutually matched, so that the second controller 40 can form a more accurate control signal.
The top of the cleaning machine body 12 and the bottom of the service machine body 11 are both provided with a positioning sensor 43, a round hole 45 is opened on the tray 20, and the round hole 45 is located right above the positioning sensor 43 on the top of the cleaning machine body 12 when the tray 20 is placed on the cleaning machine body 12. Through the arrangement of the positioning sensor 43, the cleaning machine body 12 can be positioned more accurately when driving into the lower part of the service machine body 11, so that the sinking groove 21 of the tray 20 can be stopped accurately below the first roller 14 after the cleaning machine body 12 stops moving, and the service machine body 11 can be connected with the cleaning machine body 12 more smoothly.
In summary, when the integrated robot is used separately, multiple service works can be completed independently, and specific service items can be realized in cooperation with each other. And the setting of above-mentioned structure not only can realize the completion of specific project, can also make service organism and clean organism integral type ground deposit in the family, has practiced thrift the usage space for indoor.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A cleaning and service integrated robot is characterized by comprising a service machine body, a cleaning machine body and a tray, wherein the bottom of the service machine body is provided with a plurality of first idler wheels driven by a first motor, the cleaning machine body is disc-shaped, the bottom of the cleaning machine body is provided with a plurality of second idler wheels driven by a second motor, the cleaning machine body comprises a water tank and a mop cloth, the water tank is connected with the mop cloth, the mop cloth is arranged at the bottom of the cleaning machine body, and the mop cloth is connected with a vibrating motor; the tray is circular, and the tray can place in the top of clean organism, the top of tray has a plurality of heavy grooves that are used for holding first gyro wheel, the service organism can place in the top of tray makes the bottom of service organism and the top laminating of tray, and makes first gyro wheel is arranged in heavy inslot.
2. The integrated cleaning and service robot of claim 1, wherein the bottom of the tray has a plurality of positioning protrusions distributed annularly, the top of the cleaning machine body has a plurality of positioning grooves, and the positioning protrusions can be placed in the positioning grooves.
3. The integrated cleaning and service robot of claim 2, wherein the service body is semi-ellipsoidal, and the diameter of the bottom of the service body is larger than that of the cleaning body; the bottom of the service machine body is provided with three groups of supporting mechanisms which are distributed in a triangular shape, wherein the distance between the two groups of supporting mechanisms is greater than the diameter of the cleaning machine body;
the supporting mechanism comprises a driving motor, a rotary sleeve and a supporting rod, wherein the output end of the driving motor is connected with a gear, driving teeth are arranged outside the rotary sleeve, the gear is meshed with the driving teeth, a threaded hole is formed in the rotary sleeve, the supporting rod is of a screw rod structure, and the supporting rod is in threaded connection with the threaded hole; an upper connecting table and a lower connecting table are formed inside the service machine body, a space is formed between the upper connecting table and the lower connecting table, the rotary sleeve is arranged between the upper connecting table and the lower connecting table, a limiting ring is arranged at the top of the lower connecting table, an annular limiting groove is formed in the bottom of the rotary sleeve, and the limiting ring is connected to the limiting groove; the upper connecting table is vertically provided with a connecting hole, the lower connecting table is vertically provided with a through hole, the through hole is communicated with the bottom of the service machine body, one part of the supporting rod is arranged in the connecting hole, one part of the supporting rod is arranged in the through hole, and a limiting rod used for limiting the supporting rod to rotate around the axis of the supporting rod is arranged in the connecting hole; the driving motor can drive the rotary sleeve to rotate during working, and then a part of the supporting rod is moved to the outside of the through hole.
4. The integrated cleaning and service robot as claimed in claim 3, wherein the connecting hole is a blind hole structure, the top of the limiting rod is connected to the top of the connecting hole, the top of the supporting rod is provided with a limiting hole, the limiting rod is inserted into the limiting hole, and the cross sections of the limiting rod and the limiting hole are both rectangular structures.
5. The integrated cleaning and service robot of claim 3, wherein a first controller is disposed in the service body, the first controller is used for controlling the first motor and the driving motor, a plurality of first obstacle detection sensors are disposed at the side of the service body, the first obstacle detection sensors are used for detecting obstacles approaching or contacting the service body and generating obstacle detection signals, and the first controller can receive the obstacle detection signals and generate and transmit corresponding driving control signals to the first motor so as to control the movement of the service body on the floor;
the cleaning machine is characterized in that a second controller is arranged in the cleaning machine body and used for controlling the second motor and the vibrating motor, a plurality of second obstacle detection sensors are arranged on the side portion of the cleaning machine body and used for detecting obstacles close to or contacting the cleaning machine body and generating obstacle detection signals, and the second controller can receive the obstacle detection signals, generate and transmit corresponding driving control signals to the second motor so as to control the cleaning machine body to move on the floor.
6. The integrated cleaning and service robot of claim 5, wherein wireless signal transceivers are disposed in the service body and the cleaning body, and after the first controller and the second controller are connected via the wireless signal transceivers, the second controller can receive the obstacle detection signal generated by the first obstacle detection sensor.
7. The integrated cleaning and service robot of claim 5, wherein the top of the cleaning machine body and the bottom of the service machine body are provided with positioning sensors, the tray is provided with a circular hole, and the circular hole is located right above the positioning sensor at the top of the cleaning machine body when the tray is placed on the cleaning machine body.
8. The integrated cleaning and service robot of claim 7, wherein the bottom of the support rod is provided with a rubber pad.
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