WO2018196203A1 - Robot de nettoyage de restaurant basé sur un anneau circulaire à encoches - Google Patents

Robot de nettoyage de restaurant basé sur un anneau circulaire à encoches Download PDF

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Publication number
WO2018196203A1
WO2018196203A1 PCT/CN2017/095020 CN2017095020W WO2018196203A1 WO 2018196203 A1 WO2018196203 A1 WO 2018196203A1 CN 2017095020 W CN2017095020 W CN 2017095020W WO 2018196203 A1 WO2018196203 A1 WO 2018196203A1
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WO
WIPO (PCT)
Prior art keywords
dust
suction
humidifying
water tank
cavity
Prior art date
Application number
PCT/CN2017/095020
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English (en)
Chinese (zh)
Inventor
赵阳
Original Assignee
赵阳
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Filing date
Publication date
Application filed by 赵阳 filed Critical 赵阳
Publication of WO2018196203A1 publication Critical patent/WO2018196203A1/fr

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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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/04—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids for using the exhaust air for other purposes, e.g. for distribution of chemicals in a room, for sterilisation of the air
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409—Rigid filtering receptacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention belongs to the technical field of cleaning robots, and in particular relates to a restaurant cleaning robot based on a notch ring.
  • the cleaning work of the restaurant is often carried out for manpower cleaning, and the robot is rarely used; and the cleaning of the restaurant is inefficient and costly; in the process of human cleaning, the dust at the corners is often ignored, so that the cleaning is not clean enough;
  • the support legs at the lower end of the table and chair will affect the cleaning process. Therefore, it is necessary to design a cleaning robot that can improve the efficiency and clean the dust at the support legs at the lower end of the table and chair.
  • the present invention designs a restaurant cleaning robot based on a notched ring to solve the above problems.
  • the present invention discloses a restaurant cleaning robot based on a notched ring, which is implemented by the following technical solutions.
  • the utility model relates to a restaurant cleaning robot based on a notch ring, which is characterized in that it comprises a running mechanism, a humidifying mechanism, a dust collecting mechanism and a table foot cleaning mechanism, wherein the humidifying mechanism, the traveling mechanism and the dust collecting mechanism are rings with a gap;
  • the humidifying mechanism is installed on the dust collecting mechanism;
  • the traveling mechanism is installed on the dust collecting mechanism and is located on the upper side of the humidifying mechanism;
  • the nine table foot cleaning mechanisms are uniformly installed on the dust collecting mechanism in the circumferential direction; the table foot cleaning mechanism is located in the humidifying mechanism and The inside of the ring of the suction mechanism.
  • the dust collecting mechanism comprises a circular outer casing, a dust suction unit, an outer fixing ring, a dust suction hole, a dust collection unit accommodating cavity, an inner fixing ring, a first suction surface, a second suction surface, a first humidification surface, and a second a humidifying surface, a vacuuming structure cavity, a fan accommodating cavity, a water tank cavity, a dust suction joint, a dust storage cavity, wherein an annular suction structure cavity is opened in a circumferential direction of the end surface of the circular outer casing, and a cavity wall of the vacuuming structural cavity is gradually downwardshrinking;
  • the circular outer casing has an annular storage dust chamber in the circumferential direction, and the storage dust chamber is located on the upper side of the suction structure cavity;
  • the upper side of the vacuuming structure cavity has a circular suction slit circumferentially, and the suction slit and the storage dust chamber penetrate;
  • An annular water tank cavity is circumferentially opened on the outer casing,
  • the dust collection unit includes a dust suction pump and a dust storage box.
  • the traveling mechanism comprises a driving device, an induction piece, a servo motor, a driving wheel and a transmission mechanism, wherein the driving device is mounted on an end surface of the circular outer casing; three transmission mechanisms are installed in three transmission mechanism holes; three servo motors are installed in the The outer circular surface of the driving device is matched with three transmission mechanisms; three driving wheels are mounted at the lower end of the transmission mechanism; the two sensing pieces are respectively mounted on the outer circular surface of the driving device and located at the annular notch of the running mechanism.
  • the above driving device includes a control chip and a battery.
  • the humidification mechanism comprises a water tank, a moisture outlet pipe, a gas storage pipe, an air outlet pipe, an air intake pipe, an air suction device, a gas storage pipe receiving cavity, a gas storage pipe support block, an ultrasonic generator, a water tank square hole, and a humidifying structure, wherein the upper side of the water tank Four water tank square holes are uniformly opened; three ultrasonic generators are uniformly installed circumferentially on the bottom surface of the water tank; the water tank is installed in the water tank accommodating chamber; and five gas storage tube support blocks are uniformly installed in the water tank in the circumferential direction.
  • the gas storage pipe is installed on the end faces of the five gas storage pipe support blocks and is located in the water tank; four air suction devices are installed on the upper end surface of the water tank and cooperate with the four water tank square holes; the four air outlet pipes are respectively installed at The upper end faces of the four air suction devices; the four air intake pipes are installed on the outer circumferential surface of the gas storage pipe and pass through the water tank, and the air outlet pipe and the corresponding air intake pipe are connected by a hose; nine humidifying structures are mounted on the outer fixing ring In the outer fixing holes, the outlets of the nine humidifying mechanisms face the middle of the first humidifying surface; the eight humidifying structures are installed in the eight through holes on the inner fixing ring, and the outlet faces of the eight humidifying mechanisms In the middle of the two humidification surfaces; nine moisture outlet pipes are installed on the outer circumference of the gas storage pipe and pass through the water tank, and nine humidification structures are connected to the nine moisture outlet pipes through the hose; eight moisture outlet pipes are installed in the storage The outer circumference of the
  • the table cleaning mechanism includes a guide wheel, a spring, a rotating shaft, a cleaning structure, a sliding rod, a sliding block, a sliding sleeve and a sliding slot, wherein the sliding sides of the sliding sleeve are symmetrically opened with a sliding slot, and the sliding slot does not protrude out of the sliding sleeve end surface;
  • One end of the sliding sleeve is mounted on the inner circular surface of the inner fixing ring;
  • the two sliding blocks are symmetrically mounted on both sides of one end of the sliding rod;
  • a through hole is opened at one end away from the mounting slider;
  • the sliding rod is installed in the sliding sleeve through the cooperation of the sliding block and the sliding slot;
  • the rotating shaft is installed in the hole in the sliding rod;
  • the guiding wheel is mounted on the upper end of the rotating shaft;
  • the cleaning structure is installed on the rotating shaft The lower end; the spring passes through the sliding rod and the sliding sleeve, one end is mounted on the inner
  • the above-mentioned guide wheel is mounted on the rotating shaft through a bearing.
  • the above spring is a compression spring.
  • the above-mentioned table foot cleaning mechanism is ten.
  • the above sensing sheet is a photoelectric distance sensor.
  • the invention designs a cleaning type portable sweeping robot, which has the function of cleaning the table legs without a dead angle of 360 degrees, and the traveling mechanism can drive and control the movement of the sweeping robot;
  • the purpose of the humidifying mechanism is that the robot When vacuuming, most of the dust caused by the negative pressure of the vacuuming structure cavity is sucked into the vacuuming structure cavity, and the dust that is not sucked into the cavity of the vacuuming structure floats around, and the humidifying structure can remove the air. Dust drifted around, causing dust to spill to the ground; the purpose of the table cleaning mechanism is to clean the legs at 360 degrees without dead ends.
  • the sensing piece on the running mechanism of the present invention is for sensing the front leg; the servo motor provides power for the running mechanism; and the driving device controls the movement of the running mechanism.
  • the dust suction mechanism of the present invention has a dust suction function, and the purpose of the downward shrinkage of the dust suction structure cavity on the circular outer casing is to increase the suction force per unit area; the function of the inner fixed ring and the outer fixed ring is to fix the humidification structure; The purpose of opening a plurality of dust suction holes on the first dust suction surface is that dust that has not been sucked up in the suction structure cavity is adsorbed on the dust suction surface, and the dust suction holes suck the dust adsorbed on the dust suction surface.
  • the suction chamber is designed to evenly distribute the negative pressure of the four vacuuming units in the suction chamber; the purpose of the suction joint is to make the negative pressure in the vacuum chamber more Uniformity, the annular vacuuming structure cavity can more uniformly absorb the dust on the ground; the purpose of the dust suction pump is to suck the dust; the function of the dust box is to store the dust sucked by the vacuum pump.
  • the humidifying mechanism of the invention has the function of humidifying dust, and the purpose of installing the gas storage pipe in the water tank is to ensure that the temperature of the moisture in the gas storage pipe is consistent with the water temperature in the water tank, and preventing the droplets from being combined after the moisture hits the gas storage pipe.
  • the purpose of the water tank square hole in the end face of the water tank is to allow more moisture to enter the air suction device;
  • the humidification structure is for guiding the moisture in the gas storage pipe to the first humidifying surface and the second humidifying surface
  • the purpose of the first humidification surface tangent line being vertically downward at the intersection of the first humidification surface and the first suction surface is
  • the outlet of the humidifying structure is opposite to the first humidifying surface, and the moisture will hit the first humidifying surface instead of directly contacting the dust to prevent the dust from blocking the outlet of the humidifying structure, and on the other hand, the moisture can be prevented from reaching the vacuuming structure cavity.
  • the purpose of the second humidifying surface tangent line being vertically downward at the intersection of the second humidifying surface and the second vacuuming surface is to make the outlet of the humidifying structure face the second humidifying surface
  • the moisture will hit the second humidifying surface instead of directly contacting the dust to prevent the dust from blocking the outlet of the humidifying structure.
  • the moisture can be prevented from reaching the vacuuming structure cavity, and the inside of the vacuuming structure cavity is prevented from being blocked by the muddy water.
  • the moisture on the first humidifying surface or the second humidifying surface will rebound, and the rebounded moisture will meet the dust of the vacuuming structure cavity and the suction hole, and the moisture will increase the dust quality. Dust is dropped on the ground to reduce dust floating in the air; to reduce the dust in the air; the purpose of the ultrasonic generator is to produce atomized micro water droplets; the purpose of the air suction device is to pump Moisture within the tank.
  • the table foot cleaning mechanism in the invention is for cleaning the dust around the table legs; the spring function is to adapt the table foot cleaning mechanism to the table legs of different sizes; the cleaning structure is for cleaning the dust near the table legs; the function of the sliding bar is When the sweeping robot cleans the legs of different sizes, the slider mounted on the slider moves back and forth along the chute on the sliding sleeve.
  • the spring In the process of use, the spring is first in a freely telescopic state; when the sweeping robot is working, the dust on the ground will reach the dust suction joint on the dust storage cavity through the vacuum structure cavity, and enter the dust storage cavity through the dust suction joint to enter the dust storage.
  • the dust of the cavity will be sucked away by the action of the dust suction unit; the dust that is not absorbed will fly into the air, and the first suction surface and the second suction surface will block a part of the dust, and the flying dust will be attached to the first
  • the suction surface and the second suction surface suck the adsorbed dust into the dust storage chamber through the dust suction hole; at the same time, the ultrasonic wave generator atomizes the water in the water tank, and the moisture in the water tank functions in the air suction device.
  • the moisture is pumped into the gas storage pipe, and the moisture outlet pipe transfers the moisture in the gas storage pipe to the humidifying structure, and the moisture is discharged from the outlet pipe of the humidifying structure to the first humidifying surface and the second humidifying surface.
  • the rebounding moisture will humidify the flying dust, and the humidified dust will fall to the ground by gravity; when the sensor piece mounted on the driving device senses that there is a table leg in front, under the control of the driving device, the sweeping robot At the foot of the table, the guide wheel is in contact with the outer edge of the table leg, so that the cleaning structure installed at one end of the rotating shaft starts to clean the dust around the table leg; when the size of the table leg is too large, the outer edge of the table leg presses the guiding wheel.
  • the shaft is moved, the spring is compressed, and the compressed spring surrounds the table legs with the guide wheel, so that the function of cleaning the legs around the 360 degree dead angle can be achieved.
  • the humidifying structure on the inner fixing ring does not work, and the outer fixing ring does not work.
  • the humidifying structure works; the sweeping robot that sweeps the table legs will first withdraw from the table legs, and in the process of cleaning the robot to withdraw from the legs, the cleaning robot is sucked from the back side of the notch.
  • the humidifying structure on the rear side of the dust structure chamber does not work, and the humidifying structure on the front side of the vacuuming structure chamber works; secondly, the cleaning robot adjusts the position gap forward under the action of the traveling mechanism, and the cleaning robot continues to work.
  • the humidifying structure on the front side of the dust structure chamber does not work, and the humidifying structure on the rear side of the vacuuming structure chamber works, that is, the humidifying mechanism at the forefront of the robot forward direction does not work.
  • Figure 1 is a schematic view of the overall component distribution.
  • FIG. 2 is a schematic view showing the installation structure of the table foot cleaning mechanism.
  • Figure 3 is a schematic view showing the structure of the suction structure chamber.
  • Figure 4 is a schematic view showing the structure of the traveling mechanism.
  • Figure 5 is a schematic view of the table cleaning mechanism.
  • Figure 6 is a schematic view of the humidifying mechanism.
  • Fig. 7 is a schematic view showing the installation structure of the air suction device.
  • Figure 8 is a schematic view showing the installation structure of the moisture outlet pipe.
  • Figure 9 is a schematic view showing the mounting structure of the ultrasonic generator.
  • Figure 10 is a schematic view of the structure of the water tank.
  • Figure 11 is a schematic view showing the structure of a circular outer casing.
  • Figure 12 is a schematic view of the dust suction mechanism.
  • Figure 13 is a schematic view showing the structure of the slider mounting.
  • FIG. 1 and 2 it includes a running mechanism 40, a humidifying mechanism 41, a dust collecting mechanism 42, and a table leg cleaning.
  • the sweeping mechanism 45 is as shown in FIG. 1 and FIG. 2, wherein the humidifying mechanism 41, the traveling mechanism 40 and the dust collecting mechanism 42 are notched rings; as shown in FIG. 1 and FIG. 2, the humidifying mechanism 41 is mounted on the dust collecting mechanism 42.
  • the traveling mechanism 40 is mounted on the dust suction mechanism 42 and is located on the upper side of the humidifying mechanism 41.
  • the nine table cleaning mechanisms 45 are uniformly installed circumferentially.
  • the table cleaning mechanism 45 is located inside the ring of the humidifying mechanism 41 and the dust collecting mechanism 42.
  • the dust collecting mechanism 42 includes a circular outer casing 5, a dust suction unit 1, an outer fixing ring 11, a dust suction hole 13, a dust suction unit accommodating chamber 14, an inner fixing ring 15, and a first The first dust collecting surface 16, the second dust collecting surface 47, the first humidifying surface 43, the second humidifying surface 46, the suction structure chamber 17, the fan housing chamber 25, the water tank chamber 36, the suction slit 37, and the dust storage chamber 38
  • FIG. 3 wherein the end surface of the circular outer casing 5 has an annular suction structure cavity 17 in the circumferential direction, and the cavity wall of the suction structure cavity 17 gradually contracts downward; FIG. As shown in FIG.
  • the circular outer casing 5 is circumferentially opened with an annular dust storage chamber 38, and the dust storage chamber 38 is located on the upper side of the suction structure chamber 17.
  • the upper side of the suction structure chamber 17 is circumferentially opened with a circular vacuum.
  • a slit 37, and the dust suction slit 37 penetrates the dust storage chamber 38;
  • the circular outer casing 5 has an annular water tank chamber 36 circumferentially opened, and the water tank chamber 36 is located at the upper side of the dust storage chamber 38; It is shown that four dust collecting unit accommodating chambers 14 are uniformly formed on the end surface of the circular outer casing 5; as shown in FIG.
  • the lower end of the outer wall of the suction structure cavity 17 has a first first suction surface 16 and a second suction surface 47.
  • the first first suction surface 16 and the second suction surface 47 are circumferentially opened.
  • a dust suction hole 13 as shown in FIG. 3, the first humidification surface 43 is located on the upper side of the first first suction surface 16; as shown in FIG. 3, the second humidification surface 46 is located on the upper side of the second suction surface 47.
  • the tangential line of the first humidifying surface 43 is vertically downward at the intersection of the first humidifying surface 43 and the first first dust collecting surface 16; as shown in FIG.
  • the second humidifying surface 46 is tangent at the The intersection of the second humidifying surface 46 and the second suction surface 47 is vertically downward; as shown in FIGS. 1 and 3, the end surface of the outer fixing ring 11 has a uniform transmission hole 44 in the circumferential direction, and the end surface of the outer fixing ring 11
  • a hole, the inner fixing ring 15 is mounted on the inner circular surface of the circular outer casing 5; as shown in FIGS. 1 and 12, the four dust suction units 1 are installed in the four dust suction unit accommodating chambers 14, and the dust suction unit 1 and Storage dust chamber 38 is connected through a hose Pick up.
  • the dust suction unit 1 includes a dust suction pump and a dust box.
  • the traveling mechanism 40 includes a driving device 6, a sensing piece 48, a servo motor 2, a driving wheel 10, and a transmission mechanism 7, wherein the driving device 6 is mounted on an end surface of the circular outer casing 5; 2, three transmission mechanisms 7 are mounted in the three transmission mechanism holes 44; as shown in Figures 1, 2, 4, three servo motors 2 are mounted on the outer circumference of the drive unit 6, and with three transmissions
  • the mechanism 7 cooperates; as shown in Figures 1, 2, and 4, three driving wheels 10 are mounted on the lower end of the transmission mechanism 7; as shown in Fig. 1, two sensing pieces 48 are respectively mounted on the outer circumference of the driving device 6, and are located
  • the traveling mechanism 40 is at the annular gap.
  • the above-described driving device 6 includes a control chip and a battery.
  • the humidifying mechanism 41 includes a water tank 27, a moisture outlet pipe 24, an air storage pipe 26, an air outlet pipe 29, an air intake pipe 30, an air suction device 31, and an air storage pipe 26 housing cavity. , the gas storage pipe support block 33, the ultrasonic generator 34, the water tank square hole 35, the humidification structure 8, as shown in FIG. 10, wherein the upper side of the water tank 27 is evenly opened with four water tank square holes 35; as shown in FIG.
  • the three ultrasonic generators 34 are circumferentially evenly mounted on the bottom surface of the water tank 27; as shown in Fig. 6, the water tank 27 is installed in the tank 27 receiving chamber; as shown in Fig.
  • the five gas storage tube supporting blocks 33 are circumferentially Uniformly mounted on the bottom surface of the water tank 27, the gas storage pipe 26 is mounted on the end faces of the five gas storage pipe support blocks 33 and located in the water tank 27; as shown in Fig. 7, four air suction devices 31 are installed in the water tank 27.
  • the upper end surface is matched with the four water tank square holes 35; as shown in Fig. 7, four air outlet pipes 29 are respectively mounted on the upper end faces of the four air suction devices 31; as shown in Fig. 7, four air intake pipes 30 are installed at The outer circumference of the gas storage pipe 26 passes through the water tank 27, and the outlet pipe 29 is connected with the corresponding intake pipe 30 through a hose; as shown in Figs. 1, 2, and 7, As shown in Fig.
  • nine humidifying structures 8 are mounted in the nine outer fixing holes 18 on the outer fixing ring 11, and the outlets of the nine humidifying mechanisms 41 face the middle of the first humidifying surface 43; as shown in Figs. 1, 2, 7, and 8. It is shown that eight humidifying structures 8 are installed in the eight through holes on the inner fixing ring 15, and the outlets of the eight humidifying mechanisms 41 face the middle of the second humidifying surface 46; as shown in Figs. 1, 2, 7, and 8,
  • a moisture outlet pipe 24 is mounted on the outer circumferential surface of the gas storage pipe 26 and passes through the water tank 27, and the nine humidification structures 8 are connected to the nine moisture outlet pipes 24 through the hose; as shown in Figs. 1, 2, 7, and 8. It is shown that eight moisture outlet pipes 24 are installed on the outer circumferential surface of the gas storage pipe 26 and pass through the water tank 27, and eight moisture outlet pipes 24 are connected to the eight humidification structures 8 through a hose.
  • the table cleaning mechanism 45 includes a guide wheel 3, a spring 4, a rotating shaft 12, a cleaning structure 9, a slide bar 20, a slider 21, a sliding sleeve 22, and a chute 39, as shown in FIGS.
  • the sliding groove 39 is symmetrically opened on both sides of the sliding sleeve 22, and the sliding groove 39 does not pass through the end surface of the sliding sleeve 22; as shown in FIG. 1 and FIG. 2, one end of the sliding sleeve 22 is installed inside the inner fixing ring 15.
  • the two sliders 21 are symmetrically mounted on both sides of one end of the slide bar 20; as shown in FIGS.
  • the slide bar 20 is open away from the end of the mounting slider 21.
  • the slider 20 is coupled to the chute 39 through the slider 21 Installed in the sliding sleeve 22; as shown in Figures 5 and 13, the rotating shaft 12 is mounted in the hole in the sliding rod 20; as shown in Figures 5 and 13, the guiding wheel 3 is mounted on the upper end of the rotating shaft 12; As shown, the cleaning structure 9 is mounted on the lower end of the rotating shaft 12; as shown in FIG. 5, the spring 4 passes through the sliding rod 20 and the sliding sleeve 22, one end is mounted on the inner circular surface of the inner fixing ring 15, and the other end is matched with the rotating shaft 12. .
  • the guide wheel 3 is mounted on the rotary shaft 12 via a bearing.
  • the spring 4 is a compression spring 4.
  • the table foot cleaning mechanism 45 is ten.
  • the above-mentioned sensor sheet 48 is a photoelectric distance sensor.
  • the invention designs a cleaning type portable sweeping robot, which has the function of cleaning the table legs without a dead angle of 360 degrees, and the traveling mechanism 40 can drive and control the movement of the sweeping robot; the purpose of the humidifying mechanism 41 is to be sucked when the robot is vacuuming Most of the dust caused by the negative pressure of the dust structure chamber 17 is sucked into the suction structure chamber 17, and the dust that is sucked into the suction structure chamber 17 is floated to the periphery, and the humidification structure 8 can remove the drift in the air. The dust around it causes the dust to spill to the ground; the purpose of the table cleaning mechanism 45 is to clean the table legs without a dead angle of 360 degrees.
  • the sensing piece 48 on the running mechanism 40 of the present invention is for sensing the front leg; the servo motor 2 provides power to the running mechanism 40; and the driving device 6 controls the movement of the running mechanism 40.
  • the dust suction mechanism 42 of the present invention has a dust suction function, and the purpose of shrinking the suction structure cavity 17 on the circular outer casing 5 is to increase the suction force per unit area; the function of the inner fixed ring and the outer fixed ring is fixed.
  • the dust collecting chamber is designed to evenly distribute the negative pressure of the four dust collecting units 1 in the dust collecting chamber;
  • the purpose of the suction slit 37 is to make the negative pressure in the suction structure chamber 17 more uniform, so that the annular suction structure chamber 17 can more uniformly absorb the dust on the ground; the purpose of the suction pump is to suck the dust; the dust box The function is to store the dust sucked by the vacuum pump.
  • the humidifying mechanism 41 of the present invention has the function of humidifying dust.
  • the purpose of the gas storage pipe 26 being installed in the water tank 27 is to ensure that the moisture temperature in the gas storage pipe 26 is consistent with the water temperature in the water tank 27, preventing moisture from hitting the gas storage pipe. After 26, the droplets are combined to affect the dust removal effect; the end face of the water tank 27 is open to the water tank.
  • the purpose of 35 is to allow more moisture to enter the air extracting device 31; the humidifying structure 8 is for guiding the moisture in the gas storage pipe 26 to the first humidifying surface 43 and the second humidifying surface 46; the first humidifying surface 43
  • the purpose of the tangential line being vertically downward at the intersection of the first humidifying surface 43 and the first first suction surface 16 is such that the outlet of the humidifying structure 8 faces the first humidifying surface 43, and moisture will hit the first humidifying surface.
  • the purpose of the second humidifying surface 46 tangentially at the intersection of the second humidifying surface 46 and the second suction surface 47 is to make the vertical
  • the outlet of the humidifying structure 8 faces the second humidifying surface 46, and the moisture will hit the second humidifying surface 46 instead of directly contacting the dust, preventing the dust from blocking the outlet of the humidifying structure 8; hitting the first humidifying surface 43 or
  • the moisture on the second humidifying surface 46 will rebound, and the rebounded moisture will meet the dust that has not been sucked up by the vacuuming structure chamber 17 and the dust collecting hole 13.
  • the moisture entrained dust will increase the dust quality, and the dust falls to the gravity effect.
  • the table foot cleaning mechanism 45 in the present invention is for cleaning the dust around the table legs; the spring 4 is used to adapt the table foot cleaning mechanism 45 to the table legs of different sizes; the cleaning structure 9 is for cleaning the dust near the table legs; the sliding bar 20 The function of the slider 21 mounted on the slider 20 is to move back and forth along the sliding slot 39 on the sliding sleeve 22 when the cleaning robot cleans the legs of different sizes.
  • the spring 4 is in a freely stretchable state; when the sweeping robot is in operation, dust on the ground passes through the dust suction structure chamber 17 to the dust suction slit 37 on the dust storage chamber 38, and enters the dust storage chamber through the dust suction slit 37.
  • the dust entering the dust storage chamber 38 is sucked away by the dust suction unit 1; the unabsorbed dust will fly into the air, and the first first suction surface 16 and the second suction surface 47 will Blocking a part of the dust, the flying dust will adhere to the first first dust collecting surface 16 and the second dust collecting surface 47, and the sucked dust is sucked into the dust storage chamber 38 through the dust collecting hole 13; and the ultrasonic wave generator will
  • the water in the water tank 27 is atomized, and the moisture in the water tank 27 is pumped into the gas storage pipe 26 by the suction device 31, and the moisture outlet pipe 24 transfers the moisture in the gas storage pipe 26 to the humidifying structure.
  • the cleaning robot is viewed from the rear side of the notch, the humidifying structure 8 on the rear side of the vacuuming structure chamber 17 is not working, and the humidifying structure 8 on the front side of the vacuuming structure chamber 17 is operated; secondly, the cleaning robot is under the action of the traveling mechanism 40.
  • the adjustment position gap is forward, the cleaning robot continues to work.
  • the cleaning robot is viewed from the rear side of the notch, and the humidification structure 8 on the front side of the dust structure chamber 17 does not work, and the humidification structure 8 on the rear side of the suction structure chamber 17 works.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)

Abstract

L'invention concerne un robot de nettoyage de restaurant basé sur un anneau circulaire à encoches, le robot de nettoyage de restaurant comprenant un mécanisme de déplacement (40), un mécanisme d'humidification (41), un mécanisme de collecte de poussière (42) et des mécanismes de nettoyage de pied de table (45). Le mécanisme d'humidification (41), le mécanisme de déplacement (40) et le mécanisme de collecte de poussière (42) forment un anneau circulaire présentant une encoche. Le mécanisme d'humidification (41) est monté sur le mécanisme de collecte de poussière (42). Le mécanisme de déplacement (40) est monté sur le mécanisme de collecte de poussière (42) et est situé sur le côté supérieur du mécanisme d'humidification (41). Neuf mécanismes de nettoyage de pied de table (45) sont montés de manière circonférentielle et uniforme sur le mécanisme de collecte de poussière (42). Les mécanismes de nettoyage de pied de table (45) sont situés à l'intérieur des anneaux circulaires du mécanisme d'humidification (41) et du mécanisme de collecte de poussière (42). Le mécanisme de déplacement (40) peut entraîner et commander le mouvement du robot de nettoyage. L'objectif du mécanisme d'humidification (41) est le suivant : lorsque le robot collecte de la poussière, la majeure partie de la poussière montante provoquée par une pression négative dans une cavité de structure de collecte de poussière (17) est aspirée dans la cavité de structure de collecte de poussière (17), et la poussière qui n'est pas aspirée dans la cavité de structure de collecte de poussière (17) flotte tout autour, et le mécanisme d'humidification (41) peut retirer la poussière flottant dans les airs, faisant tomber la poussière sur le sol.
PCT/CN2017/095020 2017-04-27 2017-07-28 Robot de nettoyage de restaurant basé sur un anneau circulaire à encoches WO2018196203A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710286441.6A CN107041719B (zh) 2017-04-27 2017-04-27 一种基于缺口圆环的餐厅清扫机器人
CN201710286441.6 2017-04-27

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WO2018196203A1 true WO2018196203A1 (fr) 2018-11-01

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DE102022211684A1 (de) 2022-11-04 2024-05-08 BSH Hausgeräte GmbH Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts

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FR3132425A1 (fr) * 2022-02-04 2023-08-11 Bh2M Ensemble pour l ’aspiration de poussières
DE102022211684A1 (de) 2022-11-04 2024-05-08 BSH Hausgeräte GmbH Verfahren zum Betrieb eines mobilen, selbstfahrenden Geräts
EP4364630A1 (fr) 2022-11-04 2024-05-08 BSH Hausgeräte GmbH Procédé de fonctionnement d'un engin mobile automoteur

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