CN206795842U - Surface processing equipment with multiple functions - Google Patents
Surface processing equipment with multiple functions Download PDFInfo
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- CN206795842U CN206795842U CN201720253013.9U CN201720253013U CN206795842U CN 206795842 U CN206795842 U CN 206795842U CN 201720253013 U CN201720253013 U CN 201720253013U CN 206795842 U CN206795842 U CN 206795842U
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Abstract
Present disclose provides a kind of surface processing equipment with multiple functions, including：Chassis；Support arm, support arm are arranged on chassis in which can swing up and down around the first pivot axis；Head, it is arranged on support arm.When surface processing equipment is in cleaning function, support arm is in recovery position in order to be walked on ground, when surface processing equipment is in safety protection function, support arm is rocked to outside predetermined one around the first pivot axis puts position to adjust the visual angle of IMAQ, when surface processing equipment is in interactive function, support arm swings around the first pivot axis and there are multiple outer pendulum positions to adjust the relative position between interactive voice object.The technical scheme of the disclosure efficiently solves the problem of surface processing equipment in correlation technique is unfavorable for realizing other functions.
Description
Technical field
This disclosure relates to cleaning equipment field, in particular to a kind of surface processing equipment with multiple functions.
Background technology
In recent years, robot has been widely used in our life.For example said in museum
The robot of solution, at the restaurant in be responsible for the robot of food delivery, indoor cleaning machine people (also referred to as sweeper), and can accompany
Robot of people's chat etc..But the robot function in correlation technique is single, can not meet diversified user's request.This
Outside, the robot with interactive voice is general higher, and robot occupies substantial amounts of space, is not easy to store.
Utility model content
The disclosure aims to provide a kind of surface processing equipment with multiple functions, and the function includes cleaning function, security protection
Function and interactive function, the surface processing equipment include：Chassis；Surface treating appliance, tray bottom is arranged on, for clearing up ground
On dust；Support arm, support arm are arranged at the top of chassis in which can swing up and down around the first pivot axis, wherein, support arm tool
There are recovery position and at least one outer pendulum position；Head, it is arranged on support arm；Wherein, head includes：For gathering image
Optical image sensor；Microphone, chassis and/or head are arranged on, for interactive voice；Wherein surface processing equipment is in
During cleaning function, support arm is in recovery position in order to be walked on ground, when surface processing equipment is in safety protection function, support
Arm is rocked to outside predetermined one around the first pivot axis and puts position to adjust the visual angle of IMAQ, and surface processing equipment is in
During interactive function, support arm swings around the first pivot axis and there are multiple outer pendulum positions to adjust between interactive voice object
Relative position.
Nonrestrictive, the surface processing equipment has cleaning function, safety protection function and an interactive function, and support arm around
First pivot axis is swung, so that support arm is in state corresponding with the function of surface processing equipment so that surface treatment is set
Standby form can adapt to multiple functions, and multiple functions are realized on surface processing equipment.In addition, support arm recovery is also convenient for
Surface processing equipment is stored.
In certain embodiments, above-mentioned surface processing equipment also includes：First drive mechanism, it is arranged in chassis or sets
Put in support arm, the first drive mechanism driving support arm, so that support arm has recovery position and outer pendulum position.
In certain embodiments, the first drive mechanism includes the first motor and the first transmission mechanism, the output of the first motor
Axle extends perpendicularly to the first pivot axis, and the first motor drives support arm by the first transmission mechanism.
In certain embodiments, the first drive mechanism is arranged in chassis, and the first transmission mechanism includes intermeshing snail
Wheel and worm screw and the first power transmission shaft rotated coaxially with worm gear, worm screw are driven by the output shaft of the first motor, the first power transmission shaft
Rotation drive support arm swing.
In certain embodiments, the first drive mechanism is arranged in chassis, and the first transmission mechanism includes intermeshing the
One bevel gear and second bevel gear and the first power transmission shaft rotated coaxially with second bevel gear, first bevel gear is by the first motor
Output shaft driving, the rotation of the first power transmission shaft drives support arm to swing.
In certain embodiments, the first drive mechanism is arranged in support arm, and the first transmission mechanism includes intermeshing
First bevel gear and second bevel gear and the dead axle coaxially connected with second bevel gear, first bevel gear are defeated by the first motor
Shaft drives, and dead axle is fixedly installed with respect to chassis.
In certain embodiments, support arm includes the first support arm and the second support arm, the first end of the first support arm around
First pivot axis is swingably arranged on chassis and driven by the first drive mechanism, and the first end of the second support arm is around second
Pivot axis is swingably arranged on the second end of the first support arm, and head is arranged on the second end of the second support arm.
In certain embodiments, surface processing equipment also includes：Second drive mechanism, be arranged in the first support arm or
It is arranged in the second support arm, the second drive mechanism drives the second support arm, so that the second support arm swing.
In certain embodiments, the second drive mechanism includes the second motor and the second transmission mechanism, the output of the second motor
Axle extends perpendicularly to the second pivot axis, and the second motor drives the second support arm by the second transmission mechanism.
In certain embodiments, the second drive mechanism is arranged in the first support arm, and the second transmission mechanism includes mutually nibbling
The third hand tap gear of conjunction and the 4th bevel gear and the second driving shaft rotated coaxially with the 4th bevel gear, third hand tap gear is by
The output shaft driving of two motors, the rotation of second driving shaft drive the second support arm swing.
In certain embodiments, the second drive mechanism includes the 3rd motor, and the 3rd motor is arranged in the second support arm, the
The axis of the output shaft of three motors is overlapped with the second pivot axis, and the output shaft of the 3rd motor is connected with the first support arm.
In certain embodiments, the first support arm is two be oppositely arranged, and the second support arm is one and is arranged on two
Between individual first support arm.
In certain embodiments, the first support arm and the second support arm include skeleton and are arranged on outer outside skeleton
Shell, the skeleton of the second support arm is hollow grid shape structure.
In certain embodiments, above-mentioned surface processing equipment has human-computer interaction function, and head, which is arranged in, realizes people
Produce and shake the head or nodding action during machine interactive function.
In certain embodiments, display unit and loudspeaker are provided with head, display unit and loudspeaker are configured as
Display use state exchanges with people.
In certain embodiments, the holding tank for accommodating support arm and head is provided with chassis, support arm is in recovery position
Support arm and head are recycled to the upper surface that chassis is not protruded from holding tank when putting.
In certain embodiments, head is arranged on support arm in which can swing up and down around the 3rd pivot axis, and head can
Swung around the 4th pivot axis.
In certain embodiments, head includes pedestal and head body, and pedestal is swingably set around the 3rd pivot axis
On support arm, head body is rotatably arranged on pedestal along the 4th pivot axis.
In certain embodiments, pedestal, which includes connecting seat and the first steering wheel being arranged on connecting seat, head body, to turn
It is arranged on dynamicly on connecting seat.
In certain embodiments, head body includes shell, the display unit being arranged on shell and is arranged in shell
The second steering wheel, shell is connected by the second steering wheel with connecting seat.
In certain embodiments, head also includes touch sensitive device, for gathering the touch signal of touching medium；Touch sensitive device
The signal of the position change on control support arm and/or head is sent when collecting touch signal.
In certain embodiments, surface processing equipment also includes sound source locating device, for gather sound source (such as voice hand over
Mutual object etc.) positional information, sound source locating device sends the position on control support arm and/or head when collecting positional information
The signal of change.
In certain embodiments, for controlling support arm and/or head to adjust the drive signal at the visual angle of IMAQ,
Position based on the object in the image collected produces.
In certain embodiments, surface treating appliance includes：Dust bin, it is arranged in chassis, for storing dust；And
Brush unit, for the dust of ground to be swept into dust bin.
In certain embodiments, above-mentioned surface processing equipment includes：Radio communication device, for launching and/or receiving nothing
Line signal.Wireless signal can carry sound and/or image.
In certain embodiments, above-mentioned surface processing equipment includes：Distance measuring sensor, it is provided for empty residing for collecting device
Between be used for establish the environmental data of map.
In certain embodiments, above-mentioned surface processing equipment includes：Detection of obstacles unit, for detecting support arm and head
The barrier on vertical direction where portion, and export detection signal.
In certain embodiments, above-mentioned surface processing equipment includes：Be arranged on head be used for show visual elements
Display device.
In certain embodiments, above-mentioned surface processing equipment includes：Guider, for the adjusting device in IMAQ
Position in space, to adjust the position of IMAQ.
In certain embodiments, above-mentioned surface processing equipment includes：Life body detecting sensor, for detecting life entity letter
Number, life body detecting sensor sends the signal of the position change on control support arm and/or head when collecting vital body signal,
To adjust the sound signal collecting direction at the visual angle of IMAQ and/or microphone.
In certain embodiments, above-mentioned surface processing equipment includes：Guider, guider adjust in safety protection function
Position of the equipment in residing space, to adjust the position of IMAQ；And/or guider is adjusted in cleaning function and set
The standby position in residing space, to clean multiple positions；And/or guider in interactive function adjusting device residing
Position in space, to adjust interaction locations.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its illustrate be used for explain the disclosure, do not form the improper restriction to the disclosure.In the accompanying drawings：
Fig. 1 shows the dimensional structure diagram of the embodiment one according to the surface processing equipment of the disclosure；
Fig. 2 shows the schematic side view of Fig. 1 surface processing equipment；
Fig. 3 shows the cooperation shape of the support arm of Fig. 1 surface processing equipment, the first drive mechanism and the second drive mechanism
State schematic diagram；
Fig. 4 shows the structural representation on the head of Fig. 1 surface processing equipment；
Fig. 5 shows the structural representation of the pedestal on Fig. 4 head；
Fig. 6 shows the structural representation of the installation sleeve between Fig. 4 head and support arm；
Fig. 7 shows the support arm of the embodiment two according to the surface processing equipment of the disclosure, the first drive mechanism and
The mated condition schematic diagram of two drive mechanisms；
Fig. 8 shows the part-structure schematic diagram of the example IV of the surface processing equipment according to the disclosure；
Fig. 9 shows the part-structure schematic diagram of the embodiment five according to the surface processing equipment of the disclosure；
Figure 10 shows Fig. 9 the second motor and the schematic cross-sectional view of the first support arm mated condition；
Figure 11 shows the structural representation on the head of the embodiment of the surface processing equipment according to the disclosure；And
Figure 12 shows the structural representation of the surface processing equipment according to the disclosure.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, chassis；11st, holding tank；20th, support arm；21st, the first support arm；22nd, the second support arm；221st, skeleton；30、
Head；31st, pedestal；311st, connecting seat；312nd, the first steering wheel；32nd, head body；40th, the first drive mechanism；41st, the first motor；
42nd, first bevel gear；43rd, second bevel gear；44th, the first power transmission shaft；45th, dead axle；50th, the second drive mechanism；51st, the second electricity
Machine；52nd, third hand tap gear；53rd, the 4th bevel gear；54th, second driving shaft；55th, the 3rd motor；61st, the first potentiometer；62nd, it is standby
Use potentiometer；63rd, the second potentiometer；70th, installation sleeve；80th, optical image sensor；S1, the first pivot axis；S2, second
Pivot axis；S3, the 3rd pivot axis；S4, the 4th pivot axis.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the disclosure in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As depicted in figs. 1 and 2, the surface processing equipment of embodiment one includes：Chassis 10, support arm 20, head 30 and
First drive mechanism 40.Support arm 20 is arranged on chassis 10 in which can swing up and down around the first pivot axis S1, the support arm 20
With recovery position and outer pendulum position.Head 30 is arranged on support arm 20, and display unit can be set on the head 30 or is raised
The parts such as sound device, display unit can show visual elements, such as use state of surface processing equipment etc. or be easy to and people
The element exchanged.First drive mechanism 40 is arranged in chassis 10, the first drive mechanism 40 driving support arm 20, so that branch
Brace 20 has recovery position and outer pendulum position.
The technical scheme of Application Example one, support arm 20 under the driving of the first drive mechanism 40 have recovery position and
Outer pendulum position.The head 30 being arranged on support arm 20 can also move with support arm 20.When surface processing equipment is partially in
During working condition, for example support arm 20 is driven to be in outer pendulum position by the first drive mechanism when man-machine interaction or monitor state
Put, when surface processing equipment is in partially operational state, such as sweep the floor state when or driven by first during off position
Motivation structure driving support arm 20 is in recovery position.Support arm 20 make it that the occupancy of surface processing equipment is empty when being in recovery position
Between be obviously reduced, be so easy to store and deposit.First drive mechanism 40 is arranged in chassis 10, so efficiently utilizes table
The face processing equipment space of itself so that surface processing equipment overall structure is compacter, attractive in appearance.
For more reasonably utilization space so that surface processing equipment structure is compacter, as shown in figure 3, implementing
In the surface processing equipment of example one, the first drive mechanism 40 includes the first motor 41 and the first transmission mechanism, the first motor 41
Output shaft extends perpendicularly to the first pivot axis S1, and the first motor 41 drives support arm 20 by the first transmission mechanism.
The motor that can commercially buy typically is grown up tubular or oblong-shaped, and its axial dimension is larger.In order to take into account manufacture
Cost and the requirement of surface processing equipment miniaturization, the integral layout needs of the first drive mechanism 40 are more reasonable.In embodiment
In one, the first pivot axis S1 for extending perpendicularly to support arm 20 of the output shaft of the first motor 41, pass through the first transmission
Mechanism transmits the power of the first motor 41 to support arm 20.No matter above-mentioned first drive mechanism 40 is arranged in chassis 10 or set
Put in support arm 20 can characteristics of compact layout, save space.
As shown in figure 3, in embodiment one, the first transmission mechanism is bored including intermeshing first bevel gear 42 and second
Gear 43 and the first power transmission shaft 44 rotated coaxially with second bevel gear 43, first bevel gear 42 is by the output of the first motor 41
Axle drives, and the rotation of the first power transmission shaft 44 drives support arm 20 to swing.The output shaft of first motor 41 passes through intermeshing
One bevel gear 42 and second bevel gear 43 impart power to the first power transmission shaft 44 and drive support arm by the first power transmission shaft 44
20 swing.Preferably, can be linked together between the first power transmission shaft 44 and support arm 20 by fastener, such as screw.When
So, the first power transmission shaft 44 direct can not also be connected with support arm 20, but is connected by a middleware with support arm 20, only
Need to meet that the first power transmission shaft 44 can drive support arm 20 to swing, specific annexation is not limited to above-mentioned be enumerated to
Mode.
The concrete structure of support arm 20 can have diversified forms, and support arm can be only a section or can include mutually interconnecting
The more piece connect.One skilled in the art will appreciate that the specific joint number of support arm can select according to being actually needed.As shown in figure 3,
In embodiment one, support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 is around
One pivot axis S1 is swingably arranged on chassis 10 and driven by the first drive mechanism 40, the first end of the second support arm 22
Swingably it is arranged on the second end of the first support arm 21 around the second pivot axis S2, head 30 is arranged on the second support arm 22
The second end on.The support arm 20 of embodiment one has the advantages that stable, scope of activities is big.Preferably, the second support arm
Formed with cavity in 22, the cavity is used to arrange circuit board, and cable-through hole is provided with the second support arm 22.
As shown in figure 3, in embodiment one, surface processing equipment also includes the second drive mechanism 50.Second driving machine
Structure 50 is arranged in the first support arm 21, and the second drive mechanism 50 drives the second support arm 22, so that the second support arm 22 is swung.
In the present embodiment, drive the second support arm 22 to make its swing by the second drive mechanism 50, can so make the first support arm
21 and second support arm 22 control respectively, so that the control of support arm 20 is more flexible.Certainly, other not shown in figure
In embodiment, the second support arm 22 can be similarly driven by the first drive mechanism 40, now be needed at second
Increase appropriate transmission mechanism between the power transmission shaft 44 of brace 22 and first.
For more reasonably utilization space so that surface processing equipment structure is compacter, as shown in figure 3, implementing
In example one, the second drive mechanism 50 includes the second motor 51 and the second transmission mechanism, the extension side of the output shaft of the second motor 51
Second support arm 22 is driven by the second transmission mechanism to perpendicular to the second pivot axis S4, the second motor 51.Similarly in first
The design principle of drive mechanism, the second drive mechanism 50 of embodiment one have the advantages of integral layout is more reasonable, such energy
Enough meet the requirement of surface processing equipment miniaturization.
As shown in figure 3, in embodiment one, the second transmission mechanism is bored including intermeshing third hand tap gear 52 and the 4th
Gear 53 and the second driving shaft 54 rotated coaxially with the 4th bevel gear 53, third hand tap gear 52 is by the output of the second motor 51
Axle drives, and the rotation of second driving shaft 54 drives the second support arm 22 to swing.The output shaft of second motor 51 passes through intermeshing
Third hand tap gear 52 and the 4th bevel gear 53 impart power to second driving shaft 54 and drive the by second driving shaft 54
Two support arms 22 are swung.Preferably, can be linked together between the support arm 22 of second driving shaft 54 and second by fastener,
Such as screw.Certainly, second driving shaft 54 direct can not also be connected with the second support arm 22, but by a middleware with
Second support arm 22 connects, it is only necessary to meets that second driving shaft 54 can drive the second support arm 22 to swing, specifically connects
The relation of connecing is not limited to the above-mentioned mode being enumerated to.
In order to take into account structural stability and kinetic stability, as shown in figure 3, in embodiment one, the first support arm 21 is
Two be oppositely arranged, the second support arm 22 are one and are arranged between two the first support arms 21.In the present embodiment,
One drive mechanism 40 drives one of them first support arm 21, and another first support arm 21 is coordinated by rotating shaft and chassis 10.
Certainly, as one skilled in the art will appreciate that the quantity of the first support arm 21 and the second support arm 22 is not limited to this, first
The support arm 22 of brace 21 and second can also be one, or the first support arm 21 be one and the second support arm 22 is relative
Two set.The quantity and arrangement of first support arm 21 and the second support arm 22 can flexibly be set according to being actually needed
Put.
In embodiment one, the first motor 41 and the second motor 51 are self-locking motor.As shown in figure 3, for the ease of right
First motor 41 is controlled, and can set the first potentiometer 61, judges turning for the first support arm 21 by the first potentiometer 61
Dynamic angle.And then first motor 41 is controlled according to the signal of the first potentiometer 61.In embodiment one, the first potentiometer
61 are arranged in the rotating shaft for the first support arm 21 not coordinated with the first drive mechanism 40.To be on the safe side, can be first
Standby potentiometer 62 is set on power transmission shaft 44.As a same reason, for the ease of being controlled to the second motor 51, can equally set
Second potentiometer 63, the rotational angle of the second support arm 22 is judged by the second potentiometer 63.Second potentiometer 63 is arranged on
On second driving shaft 54.Certainly, one skilled in the art will appreciate that as feasible embodiment, the first motor 41 and the second electricity
Machine 51 can also use other driving structures such as steering wheel.When the first motor 41 and the second motor 51 are steering wheel, the first driving machine
The position of the drive mechanism 50 of structure 40 and second needs adaptively to be adjusted.
As shown in figure 1, in embodiment one, the holding tank 11 for accommodating support arm 20 and head 30 is provided with chassis 10,
Support arm 20 and head 30 are recycled to the upper table that chassis 10 is not protruded from holding tank 11 when support arm 20 is in recovery position
Face.Said structure make it that structure is attractive in appearance.Preferably, when support arm 20 is in recovery position, support arm 20 and head 30 and chassis
In 10 upper surface is generally aligned in the same plane, so that the appearance looks elegant of surface processing equipment, improve Consumer's Experience.
As depicted in figs. 1 and 2, in embodiment one, head 30 is arranged in which can swing up and down around the 3rd pivot axis S3
On support arm 20, head 30 can swing around the 4th pivot axis S4.Said structure enables head 30 to swing up and down
It can also swing simultaneously.So, when surface processing equipment realizes human-computer interaction function, it is possible to achieve nod or shake the head
Action, and then be effectively improved Consumer's Experience.
In order to simplify structure, while in view of reducing space hold of the surface processing equipment when not working, such as Fig. 1 institutes
Show, in embodiment one, the first pivot axis S1, the second pivot axis S2 and the 3rd pivot axis S3 are parallel to each other.It is above-mentioned
Structure can also improve integrally-built stability.
As shown in figure 4, in embodiment one, head 30 includes pedestal 31 and head body 32, and pedestal 31 pivots around the 3rd
Axis S3 is swingably arranged on support arm 20, and head body 32 is rotatably arranged in pedestal 31 along the 4th pivot axis S4
On.Said structure can realize swinging up and down and swinging for head 30, and simple in construction, easily realize.
As shown in figure 5, in embodiment one, pedestal 31 includes connecting seat 311 and the first rudder being arranged on connecting seat 311
Machine 312, head body 32 are rotatably arranged on connecting seat 311.Connecting seat 311 can support the first steering wheel 312, and even
The position of the corresponding output shaft of first steering wheel 312 of joint chair 311 is provided with connecting shaft.So, the energy of 311 and first steering wheel of connecting seat 312
It is enough to be together swingably arranged on support arm 20 around the 3rd pivot axis S3, and then swinging up and down for head 30 can be realized.
Connecting seat 311 is set make it that the structure of head 30 is more stable.Certainly, rudder can only be included as feasible embodiment, pedestal
Machine, now, head body are rotatably arranged on steering wheel.So it is also required to slightly change steering wheel.
In embodiment one, head body 32 includes shell, the display unit being arranged on shell and is arranged in shell
The second steering wheel, shell is connected by the second steering wheel with connecting seat 311.The setting of second steering wheel can realize the left and right on head 30
Swing, and easily realization simple in construction.
It should be noted that the first above-mentioned steering wheel 312 and the mounting means of the second steering wheel can be found in prior art.Specifically
For, by taking the mounting means of the first steering wheel 312 as an example.As shown in fig. 6, the junction of the second support arm 22 and the first steering wheel 312
Installation sleeve 70 is provided with, the installation sleeve 70 is fixedly installed with the second support arm 22.Set on the inwall of the installation sleeve 70
There is rotation stop section, the cylinder bottom of installation sleeve 70 has through hole.The end of the output shaft of first steering wheel 312 is provided with screw, and this first
The output shaft end of steering wheel 312 is worn in above-mentioned installation sleeve 70 and with the limited section coordinated with rotation stop section.Rotation stop
Coordinate between section and limited section and cause relative turn will not occur between the output shaft of the first steering wheel 312 and installation sleeve 70
It is dynamic.In the through hole of installation sleeve 70 and wearing screw in the screw of the output shaft of the first steering wheel 312 fixes the first steering wheel 312
In installation sleeve 70.So, when the first steering wheel 312 starts, its main part can together be swung with connecting seat 311.Second rudder
The mounting means of machine is similar to the mounting means of the first steering wheel, and installation sleeve is fixed on connecting seat 311, and by the second steering wheel
Output shaft be arranged on above-mentioned installation sleeve in.
As one skilled in the art will appreciate that the position of the first steering wheel 312 and the second steering wheel is not limited to foregoing description
Content, the first steering wheel 312 can also be arranged in the second support arm 22, and the second steering wheel can also be arranged in pedestal 31.In addition,
Realize that the mode for swinging up and down and swinging on head 30 is not limited to use steering wheel, driven by motor and can be
Reality, it is only necessary to which the position of motor adaptively adjust.
Walking mechanism is provided with the chassis 10 of the surface processing equipment of the present embodiment, walking mechanism, which is arranged to, to be pushed away
Dynamic surface processing equipment moves according to pre-provisioning request.The surface processing equipment of the present embodiment can apply in commercial kitchen area and
Domestic environments.
According to the embodiment two of the surface processing equipment of the application and differing only in for above-described embodiment：First driving machine
The set location and type of drive of structure.Specifically, as shown in fig. 7, in embodiment two, the first drive mechanism 40 is disposed therein
In one support arm 20.First transmission mechanism includes intermeshing first bevel gear 42 and second bevel gear 43 and with second
The coaxially connected dead axle 45 of bevel gear 43.First bevel gear 42 is driven by the output shaft of the first motor 41, and dead axle 45 is with respect to chassis
10 fixed settings.When the output shaft rotation of the first motor 41 first bevel gear 42 can be driven to rotate, due to second bevel gear 43
It is fixedly installed with dead axle 45 with respect to chassis 10, now first bevel gear 42 can drive support arm 20 to rotate.Second drive mechanism 50
It is arranged in another support arm 20.The remainder of the surface processing equipment of embodiment two is essentially identical with embodiment one,
It will not be repeated here.
It is according to the difference of the (not shown) of embodiment three of the surface processing equipment of the application and above-described embodiment：
The set location and type of drive of second drive mechanism.Specifically, the second drive mechanism is arranged in the second support arm, and this second
The concrete structure of drive mechanism is similar to the design principle of the first drive mechanism of embodiment two, is mutually nibbled by motor, two
The bevel gear of conjunction and dead axle realize transmission.The operation principle of embodiment three and the operation principle of above-described embodiment are essentially identical,
This is repeated no more.
As shown in figure 8, it is according to the difference of the example IV of the surface processing equipment of the application and above-described embodiment：The
The structure of one drive mechanism.Specifically, as shown in figure 8, in example IV, the first drive mechanism 40 is arranged in chassis 10.
First transmission mechanism includes intermeshing worm gear and worm screw and the first power transmission shaft 44 rotated coaxially with worm gear, and worm screw is by the
The output shaft driving of one motor 41, the rotation of the first power transmission shaft 44 drive support arm 20 to swing.Above-mentioned worm gear and worm structure
Worm reduction box is formed, self-locking can be achieved, speed reducing ratio is preferably arranged to 1:23, location parameter is obtained by potentiometer, and calculate
Obtain magnitude of angular velocity.The second drive mechanism and embodiment one of example IV are essentially identical, employ 1:The bevel gear of 1 gearratio,
Also known as curve-tooth bevel gear.Location parameter is obtained by the potentiometer for being installed on shaft end, and calculates to obtain magnitude of angular velocity.
In example IV, the first support arm 21 and/or the second support arm 22 may include skeleton and be arranged on outside skeleton
Shell.Lightweight, reduce and start weight, carry drive mechanism.In some examples, skeleton can use aluminum alloy material, outside
Shell can use ABS materials.Finite element analysis has been carried out to skeleton with CAE instruments, appearance and size has been optimized mitigation weight
Amount.As shown in figure 8, the skeleton 221 of the second support arm 22 uses hollow grid shape structure, mainly aim at and mitigate matrix weight
Amount, while proof strength.
As shown in Figure 9 and Figure 10, according to the main of the example IV of the surface processing equipment of the application and above-described embodiment
Difference is：The structure of second drive mechanism.Specifically, as shown in Figure 9 and Figure 10, in embodiment five, the second drive mechanism
50 include the 3rd motor 55, and the 3rd motor 55 is arranged in the second support arm 22, the axis of the output shaft of the 3rd motor 55 and
Two pivot axis S2 are overlapped, and the output shaft of the 3rd motor 55 is connected with the first support arm.
In embodiment five, third hand tap gear and the 4th bevel gear are eliminated, using motor direct-drive form.Wherein,
3rd motor 55 is preferably planetary reducing motor.The output shaft of planetary reducing motor is fixed on one first by steel axle sleeve
On the skeleton of brace 21, the other end of planetary reducing motor is connected by hollow connecting shaft with another first support arm 21.
In addition, in embodiment five, another difference is that, in the tail end (one away from output shaft of planetary reducing motor
End) torsionspring for tensioning is provided with, pass through the moment of torsion that the moment of torsion that spring provides provides rotation direction identical with gravitational moment.
The opening procedure of two support arm 22, as gravitational moment weakens, moment of torsion linearly changes caused by spring.So as to make planetary reduction gear electric
The gear clearance of the gear reduction box of machine is pressed in side always.In motor start-up procedure, due to being used to caused by acceleration
Property power be also insufficient to allow the unilateral engagement compressed to open.So as to eliminate the second support arm 22 rocking in operation.
In the second support arm 22, there is magnetic encoder the side of hollow connecting shaft, and it act as measurable second support
The anglec of rotation of arm 22, resolution ratio are preferably 1/4096.Position and velocity information can be obtained by this encoder, for second
The operation control of brace 22.
First support arm 21 is directly driven using Worm reduction motor.Between the first motor and the first support arm 21
It is also provided with torsion spring and is rocked with eliminating caused by backlash.In motor output shaft side, be also equipped with magnetic encoder be used for detect the
The change in location of one support arm 21.On the bearing of opposite side, there is the travel switch of 0 degree, 90 degree extreme position of detection, avoid the
The rotation of one support arm 21 is provided with machinery gear more than the angular range limited.
In some examples, surface processing equipment has voice interactive function, wherein, surface processing equipment includes：Chassis
10th, surface treating appliance, support arm 20, head 30 and microphone.Surface treating appliance is arranged on the bottom of chassis 10, for clear
Manage the dust of ground；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down；Head 30 is set
Put on support arm 20, wherein, head 30 includes being used for the display device for showing visual elements；Microphone is arranged on chassis 10
And/or in head 30, for interactive voice；Wherein, support arm 20 has the recovery for being easy to walk on ground in surface treatment
Position, support arm 20 also have in interactive voice around at least one outer pendulum position that the first pivot axis S1 is swung.
Above-mentioned surface processing equipment not only has cleaning function, also with voice interactive function.Also, by around the first pivot
Shaft axis are arranged on the support arm on chassis in which can swing up and down, and reclaim support arm in cleaning so that the surface processing equipment
The comprehensive of cleaning scope can be ensure that by the short space such as sofa, bed；Support arm is put outside in interactive voice,
So that the surface processing equipment has certain height, consequently facilitating interactive voice, is at least easy to check head display device institute
The visual elements of display.When microphone is arranged at head, moreover it is possible to the relative position of surface processing equipment and sound source is adjusted, so as to
It is easy to sound collection.In addition, support arm recovery is also convenient for surface processing equipment storage.
Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first
Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2
On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.Above-mentioned support arm 20 has
It is stable, the advantages that scope of activities is big.Preferably, it is used for cloth circuits formed with cavity, the cavity in the second support arm 22
Plate, cable-through hole is provided with the second support arm 22.
First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms
Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot
Shaft axis S4 swings；Wherein, head 30 swing up and down and/or swing in interactive voice adjustment and voice
Relative position between interactive object.
As an example, surface treating appliance includes：Dust bin, it is arranged in chassis 10, for storing dust；And
Brush unit, for the dust of ground to be swept into dust bin.
The holding tank 11 for accommodating support arm 20 and head 30, branch when support arm 20 is in recovery position are provided with chassis 10
Brace 20 and head 30 are recycled to the upper surface that chassis 10 is not protruded from holding tank 11.Said structure make it that structure is attractive in appearance,
The height of surface treating appliance can be reduced simultaneously, be easy to walk in short space.In interactive voice, pass through drive signal
Control support arm 20 and/or head 30 are swung to form interactive action.
Head 30 may also include touch sensitive device, for gathering the touch signal of touching medium；Touch sensitive device collects touch
The signal of the position change on control support arm 20 and/or head 30 is sent during signal.One in the hand or body of user
Touch sensitive device when being contacted with touch sensitive device is divided to collect touch signal, so can be by the way of contact to surface processor
Tool is controlled.
Surface processing equipment also includes sound source locating device, and for gathering the positional information of interactive voice object, sound source is fixed
Position device sends the signal of the position change on control support arm 20 and/or head 30 when collecting positional information.Said structure has
Beneficial to the position for preferably adjusting support arm 20 and/or head 30.
In some examples, microphone is the microphone array being made up of multiple microphone units.
As shown in figure 11, in some examples, surface processing equipment can have image collecting function, surface processing equipment bag
Include：Chassis 10, surface treating appliance, support arm 20 and head 30.Surface treating appliance is arranged on the bottom of chassis 10, for clear
Manage the dust of ground；Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down；Head 30 is set
Put on support arm 20；Wherein, head 30 includes optical image sensor 80, for gathering image, before the imaging sensor 80
Side can set a translucent cover or translucent mask；Wherein, support arm 20 has is easy to walk on ground in surface treatment
Recovery position, support arm 20 also has to be swung to adjust the visual angle of IMAQ in IMAQ around the first pivot axis S1
At least one outer pendulum position.
The surface processing equipment not only has cleaning function, also with image collecting function.Also, by being pivoted around first
Axis is arranged on the support arm on chassis in which can swing up and down, and reclaims support arm in cleaning so that the surface processing equipment energy
It is enough to pass through the short spaces such as sofa, bed, it ensure that the comprehensive of cleaning scope；Support arm, energy are put outside in IMAQ
The visual angle that optical image sensor carries out IMAQ is enough adjusted, can so as to avoid the short visual angle of surface processing equipment
Collect the image suitable for viewing.In addition, support arm recovery is also convenient for the storage of surface processing equipment.
Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first
Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2
On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.For controlling support arm 20
And/or head 30, to adjust the drive signal at the visual angle of IMAQ, the position based on the object in the image collected produces.
First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms
Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot
Shaft axis S4 swings；Wherein, head 30 swing up and down and/or swing in IMAQ adjust image adopt
The visual angle of collection.
In some examples, surface treating appliance includes：Dust bin, it is arranged in chassis 10, for storing dust；And
Brush unit, for the dust of ground to be swept into dust bin.
In some examples, surface processing equipment has multiple functions, and function includes cleaning function, safety protection function and interaction
Function, wherein, surface processing equipment includes：Chassis 10, surface treating appliance, support arm 20, head 30 and microphone.Surface
Processing utensil is arranged on the bottom of chassis 10, for clearing up the dust of ground；Support arm 20 can go up the bottom around the first pivot axis S1
The top on chassis 10 is arranged on dynamicly, wherein, support arm 20 has recovery position and at least one outer pendulum position；Head 30,
It is arranged on support arm 20；Wherein, head 30 includes：For gathering the optical image sensor of image；Microphone, it is arranged on bottom
Disk 10 and/or head 30, for interactive voice；Wherein, when surface processing equipment is in cleaning function, support arm 20 is in recovery
Position on ground in order to be walked, and when surface processing equipment is in safety protection function, support arm 20 is swung around the first pivot axis S1
Pendulum position is to adjust the visual angle of IMAQ outside to predetermined one, when surface processing equipment is in interactive function, support arm 20
Swung around the first pivot axis S1 and there are multiple outer pendulum positions to adjust the relative position between interactive voice object.
The surface processing equipment has cleaning function, safety protection function and interactive function, and the control for passing through drive signal
Support arm is swung around the first pivot axis, so that support arm is in state corresponding with the function of surface processing equipment so that table
The form of face processing equipment can adapt to multiple functions, and multiple functions are realized on surface processing equipment.In addition, support arm returns
Receipts are also convenient for surface processing equipment storage.
Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first
Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2
On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.In interactive function, pass through
The control support arm 20 of drive signal and/or head 30 are swung to form interactive action.
First support arm 21 is two be oppositely arranged, and the second support arm 22 is one and is arranged on two the first support arms
Between 21.Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot
Shaft axis S4 swings；Wherein, swung up and down around the 3rd pivot axis S3 by the control head 30 of drive signal and/or
Four pivot axis S4 swing, so that head 30 is in state corresponding with the function of surface processing equipment.
Surface processing equipment includes：Dust bin, it is arranged in chassis 10, for storing dust；And brush unit, for inciting somebody to action
The dust of ground is swept into dust bin.
In some examples, when surface processing equipment is in cleaning function, head 30 is in the position for being easy to walk on ground
Put, when surface processing equipment is in safety protection function, head (30) are swung around the 3rd pivot axis S3 and/or the 4th pivot axis S4
To a predetermined position to adjust the visual angle of IMAQ, when surface processing equipment is in interactive function, head 30 is around the 3rd
Pivot axis S3 and/or the 4th pivot axis S4 swings and has multiple positions relative between interactive voice object to adjust
Position.
In some examples, surface processing equipment also has radio communication device, sound for launching and/or receiving carrying
The wireless signal of sound or image.Microphone, it is additionally operable to the collected sound signal in IMAQ.
In some examples, surface processing equipment also has guider, and guider adjusts surface in safety protection function
Position of the processing equipment in residing space, to adjust the position of IMAQ；And/or guider is adjusted in cleaning function
Position of the whole surface processing equipment in residing space, to clean multiple positions；And/or guider is adjusted in interactive function
Position of the whole surface processing equipment in residing space, to adjust interaction locations.
In some examples, surface processing equipment also has life body detecting sensor, raw for detecting vital body signal
Life body detecting sensor sends the signal of the position change on control support arm 20 and/or head 30 when collecting vital body signal,
To adjust the sound signal collecting direction at the visual angle of IMAQ and/or microphone.
Surface processing equipment also has in some examples：Distance measuring sensor, it is provided for gathering the surface treatment and sets
The environmental data for being used to establish map in standby residing space.Surface processing equipment may also include：Detection of obstacles unit, for examining
The barrier surveyed on support arm 20 and the vertical direction at the place of head 30, and export detection signal.
In some examples, surface processing equipment also includes detection of obstacles unit.Walking mechanism is provided with chassis 10；
Support arm 20 is arranged on the top on chassis 10 around the first pivot axis S1 in which can swing up and down, wherein, support arm 20 has recovery
Position and at least one outer pendulum position；Head 30 is arranged on support arm 20；Detection of obstacles unit, for detecting support arm
20 and head 30 where vertical direction on barrier；Calculating platform, coupled with detection of obstacles unit, for responding obstacle
The signal of analyte detection unit, control support arm 20 is swung around the first pivot axis S1, to adjust the height of support arm 20 and head 30
Degree under the barrier detected consequently facilitating pass through.
The surface processing equipment has the support arm that can be put outside, and can adjust support arm according to barrier so that table
Face processing equipment can complete more functions by the barrier of different height.As a non-limiting example, barrier
Analyte detection unit is hindered to be arranged on the infrared sensor on chassis or ultrasonic sensor, the sensor need to arrange support arm
Positioned at the front side of the direction of motion.
Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first
Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2
On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.First support arm 21 is phase
To two of setting, the second support arm 22 is one and is arranged between two the first support arms 21.
Head 30 is arranged on support arm 20 in which can swing up and down around the 3rd pivot axis S3, and head 30 can be around the 4th pivot
Shaft axis S4 swings；Wherein, swung by the control head 30 of drive signal, so that the height on support arm 20 and head 30
It is easy to pass through under the barrier detected.
In some examples, surface processing equipment also has calculating platform, for controlling support arm 20 and/or head 30 to put
It is dynamic, to form mechanical action in interactive voice.
The surface processing equipment is while keeping overall short, additionally it is possible to is produced by the swing on support arm and/or head
Raw interactive action, improve the vividness of interactive voice.Calculating platform can be put according to Script controlling support arm 20 and/or head 30
It is dynamic that to form mechanical action in interactive voice, script can be default one section of program or configuration file, but not limited to this,
Above-mentioned mechanical action can be anthropomorphic action.
Support arm 20 includes the first support arm 21 and the second support arm 22, and the first end of the first support arm 21 pivots around first
Axis S1 is swingably arranged on chassis 10, and the first end of the second support arm 22 is swingably set around the second pivot axis S2
On the second end of the first support arm 21, head 30 is arranged on the second end of the second support arm 22.First support arm 21 is phase
To two of setting, the second support arm 22 is one and is arranged between two the first support arms 21.
Head 30 also includes：For gathering the optical image sensor of picture signal, and/or for showing visual elements
Display device.
In some examples, above-mentioned surface processing equipment may include：Radio communication device, for launching and/or receiving nothing
Line signal.Image and/or acoustic information can be carried in wireless signal.
In some examples, above-mentioned surface processing equipment may include：Distance measuring sensor, it is provided for empty residing for collecting device
Between be used for establish the environmental data of map.Distance measuring sensor may be provided on chassis 10, can also be arranged on head 20, but
Not limited to this.Distance measuring sensor can be laser radar, but not limited to this.
In some examples, above-mentioned surface processing equipment may include：Detection of obstacles unit, for detecting the He of support arm 20
The barrier on vertical direction where head 30, and export detection signal.
In some examples, above-mentioned surface processing equipment may include：Be arranged on head 30 be used for show visual elements
Display unit.
In some examples, above-mentioned surface processing equipment may include：Guider, for the adjusting device in IMAQ
Position in space, to adjust the position of IMAQ.
In some examples, above-mentioned surface processing equipment may include：Life body detecting sensor, for detecting life entity letter
Number, life body detecting sensor sends the signal of the position change on control support arm and/or head when collecting vital body signal,
To adjust the sound signal collecting direction at the visual angle of IMAQ and/or microphone.
In some examples, above-mentioned surface processing equipment may include：Guider, guider adjust in safety protection function
Position of the equipment in residing space, to adjust the position of IMAQ；And/or guider is adjusted in cleaning function and set
The standby position in residing space, to clean multiple positions；And/or guider in interactive function adjusting device residing
Position in space, to adjust interaction locations.
As shown in figure 12, may include as a non-limiting example, surface processing equipment：Calculating platform 1201 and
Microphone 1202, display unit 1203, loudspeaker 1204, radio communication device 1205, detection of obstacles unit 1206, life entity
Detection sensor 1207, guider 1208, sound source locating device 1209, touch sensitive device 1210, distance measuring sensor 1211, one
Or in multiple driving mechanisms control devices 1212 at least partly.
Calculating platform 1201 can be memory and processor or FPGA etc. have computing capability hardware and/or hardware with
The combination of software, calculating platform 1201 may include multiple physically independent and electrical connection circuit arrangements, but not limited to this.It is transaudient
Device 1202 may include one or more microphone units, or the microphone array being made up of multiple microphone arrays.Loudspeaker
1204 can convert the electrical signal to voice signal.Radio communication device 1204 can receive and/or send wireless signal.Obstacle quality testing
It can be one or more infrared and/or ultrasonic sensors to survey unit 1206.Life body detecting sensor 1207 can be pyroelectricity
Sensor, optical image sensor etc..Guider 1208 has navigation feature.Sound source locating device 1209 can be microphone array
Row etc..Distance measuring sensor 1211 can be laser radar sensor.One or more driving mechanisms control devices 1212 can be to driving machine
Structure sends drive signal.
Preferred embodiment of the present disclosure is the foregoing is only, is not limited to the disclosure, for the skill of this area
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included within the scope of protection of the utility model.
Claims (10)
1. a kind of surface processing equipment with multiple functions, it is characterised in that the function includes cleaning function, safety protection function
And interactive function, wherein, the surface processing equipment includes：
Chassis (10)；
Surface treating appliance, the chassis (10) bottom is arranged on, for clearing up the dust of ground；
Support arm (20), the support arm (20) are arranged on the chassis (10) in which can swing up and down around the first pivot axis (S1)
Top, wherein, the support arm (20) has recovery position and at least one outer pendulum position；
Head (30), it is arranged on the support arm (20)；Wherein, the head (30) includes：For gathering the optics of image
Imaging sensor；
Microphone, the chassis (10) and/or the head (30) are arranged on, for interactive voice；
Wherein, when the surface processing equipment is in the cleaning function, the support arm (20) be in the recovery position with
It is easy to walk on ground, when the surface processing equipment is in the safety protection function, the support arm (20) is around first pivot
Shaft axis (S1), which are rocked to outside predetermined one, puts position to adjust the visual angle of IMAQ, and the surface processing equipment is in institute
When stating interactive function, the support arm (20) swings around first pivot axis (S1) and adjusted with multiple outer pendulum positions
With the relative position between interactive voice object.
2. surface processing equipment according to claim 1, it is characterised in that the head (30) is around the 3rd pivot axis
(S3) it is arranged on can swinging up and down on the support arm (20), the head (30) can be around the 4th pivot axis (S4) left and right
Swing；
Wherein, when the surface processing equipment is in the cleaning function, the head (30), which is in, is easy to what is walked on ground
Position, when the surface processing equipment is in the safety protection function, the head (30) around the 3rd pivot axis (S3) and/
Or the 4th pivot axis (S4) is rocked to a predetermined position to adjust the visual angle of IMAQ, the surface treatment is set
For when being in the interactive function, the head (30) is around the 3rd pivot axis (S3) and/or the 4th pivot axis
(S4) swing and adjust the relative position between interactive voice object with multiple positions.
3. surface processing equipment according to claim 1, it is characterised in that the surface treating appliance includes：Dust bin,
It is arranged in the chassis (10), for storing dust；And brush unit, for the dust of ground to be swept into the dust
In case.
4. surface processing equipment according to claim 1, it is characterised in that the surface processing equipment also has：Wirelessly
Communicator, the wireless signal of sound or image is carried for launching and/or receiving.
5. surface processing equipment according to claim 1, it is characterised in that the surface processing equipment also has：Obstacle
Analyte detection unit, for detecting the barrier on the vertical direction where the support arm (20) and the head (30), and it is defeated
Go out detection signal.
6. surface processing equipment according to claim 1, it is characterised in that the microphone, be additionally operable in IMAQ
When collected sound signal.
7. surface processing equipment according to claim 1, it is characterised in that the surface processing equipment also includes：Navigation
Device, the guider adjusts position of the surface processing equipment in residing space in safety protection function, to adjust figure
As the position of collection；And/or the guider adjusts the surface processing equipment in cleaning function in residing space
Position, to clean multiple positions；And/or the guider adjusts the surface processing equipment in interactive function residing
Position in space, to adjust interaction locations.
8. surface processing equipment according to claim 1, it is characterised in that life body detecting sensor, for detecting life
Body signal is ordered, the life body detecting sensor sends the control support arm (20) and/or institute when collecting vital body signal
The signal of the position change on head (30) is stated, to adjust the visual angle of IMAQ and/or sound signal collecting direction.
9. surface processing equipment according to claim 1, it is characterised in that the surface processing equipment also has：Ranging
Sensor, it is provided for gathering the environmental data for being used to establish map in space residing for the surface processing equipment.
10. surface processing equipment according to any one of claim 1 to 9, it is characterised in that the surface processing equipment
Also there is sound source locating device, for gathering the positional information of sound source, the sound source locating device is sent out when collecting positional information
The signal for going out to control the position of the support arm (20) and/or the head (30) to change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253013.9U CN206795842U (en) | 2017-03-15 | 2017-03-15 | Surface processing equipment with multiple functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720253013.9U CN206795842U (en) | 2017-03-15 | 2017-03-15 | Surface processing equipment with multiple functions |
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| Publication Number | Publication Date |
|---|---|
| CN206795842U true CN206795842U (en) | 2017-12-26 |
Family
ID=60730465
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720253013.9U Expired - Fee Related CN206795842U (en) | 2017-03-15 | 2017-03-15 | Surface processing equipment with multiple functions |
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| CN (1) | CN206795842U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112554115A (en) * | 2020-12-15 | 2021-03-26 | 佛山职业技术学院 | Robot for tour guide and floor sweeping and voice interaction method thereof |
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2017
- 2017-03-15 CN CN201720253013.9U patent/CN206795842U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112554115A (en) * | 2020-12-15 | 2021-03-26 | 佛山职业技术学院 | Robot for tour guide and floor sweeping and voice interaction method thereof |
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Granted publication date: 20171226 Termination date: 20190315 |
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