WO2018196204A1 - Robot de nettoyage complet à 360 degrés pour restaurant - Google Patents

Robot de nettoyage complet à 360 degrés pour restaurant Download PDF

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Publication number
WO2018196204A1
WO2018196204A1 PCT/CN2017/095021 CN2017095021W WO2018196204A1 WO 2018196204 A1 WO2018196204 A1 WO 2018196204A1 CN 2017095021 W CN2017095021 W CN 2017095021W WO 2018196204 A1 WO2018196204 A1 WO 2018196204A1
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WO
WIPO (PCT)
Prior art keywords
dust
suction
humidifying
cavity
pipe
Prior art date
Application number
PCT/CN2017/095021
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English (en)
Chinese (zh)
Inventor
赵阳
Original Assignee
赵阳
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 赵阳 filed Critical 赵阳
Publication of WO2018196204A1 publication Critical patent/WO2018196204A1/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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • 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 particularly relates to a 360 degree cleaning robot without a dead angle for a restaurant.
  • the restaurant cleaning robot can't clean the dust around the table legs and the surrounding area during the cleaning process.
  • the dust around the table legs is unclear for a long time, which will affect the hygienic environment of the restaurant.
  • the current restaurant cleaning robot can't dust the ground.
  • the humidification process is carried out, and during the cleaning process, dust is flying in the air, which affects the dining environment of people. Therefore, there is an urgent need for a cleaning robot that can clean the dust of the table legs and humidify the dust that is not absorbed.
  • the present invention contemplates a 360 degree non-dead cleaning robot for a restaurant to solve the above problems.
  • the present invention discloses a 360 degree no-angle cleaning robot for a restaurant, which is implemented by the following technical solutions.
  • the utility model relates to a 360 degree no-angle cleaning robot for a restaurant, which is characterized in that it comprises a cleaning mechanism unit and a connection structure, wherein a plurality of cleaning mechanism units are connected by a connection structure.
  • the cleaning mechanism unit includes a running mechanism, a humidifying mechanism, a dust collecting mechanism, and a table cleaning mechanism, wherein the humidifying mechanism, the traveling mechanism and the dust collecting mechanism are rings with a notch; the humidifying mechanism is mounted on the dust collecting mechanism; and the traveling mechanism It is installed on the dust suction mechanism and is located on the upper side of the humidification mechanism; the nine table foot cleaning mechanisms are uniformly installed on the dust suction mechanism in the circumferential direction; the table foot cleaning mechanism is located inside the ring of the humidification mechanism and the dust 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;
  • the sliding rod is provided with a through hole away from the end of the mounting slider; the sliding rod passes through the sliding block and
  • the sliding groove is installed in the sliding sleeve;
  • 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 at the lower end of the rotating shaft;
  • the spring passes through the sliding rod and the sliding sleeve, and
  • the connecting structure comprises a first connecting plate, a second connecting plate, a first dust discharging pipe, a second dust discharging pipe, a dust ring cavity, a ring groove, a moisture ring cavity, a connecting groove, a ring guiding block, a humid air pipe, and a Wet air pipe, dust inlet structure, first triangular plate, connecting hole, moisture outlet pipe, second triangular plate, first through hole, second through hole, first push plate, second push plate, partition plate, hard spring, out a wet gas pipe, a connection gap, a gas storage chamber, a dust suction passage, a dust storage cavity, wherein a dust ring cavity is formed on an outer circular surface of the outer fixing ring; a moisture ring cavity is formed on an outer circular surface of the outer fixing ring, The moisture ring cavity is located on the lower side of the dust ring cavity; the moisture ring cavity is connected to the gas storage pipe through the pipe; the dust ring cavity is connected to the dust storage cavity through the pipe; the two ends
  • the atomizing dust collecting device includes an atomizing pipe, a dust collecting block, a dust tank, a third humidifying surface, a third dust collecting surface, a fourth dust collecting surface, a fourth humidifying surface, a dust collecting square hole, and a dust collecting hole.
  • the dust suction groove is opened at the upper end of the dust suction block, and the dust groove is contracted downward; the dust suction square hole is opened at the lower end of the dust suction block, and the dust suction square hole communicates with the dust groove; the lower end faces of the dust suction block are symmetrically opened
  • the third humidifying surface is located on the upper side of the third dust collecting surface;
  • the fourth humidifying surface The surface is located on the upper side of the fourth dust collecting surface;
  • the third humidifying surface tangent line is vertically downward at the intersection of the third humidifying surface and the third dust collecting surface;
  • the fourth humidifying surface tangent line is on the fourth humidifying surface and the fourth vacuuming surface
  • the intersection of the faces is vertically downward; the same number of atomizing pipes are installed on both sides of the dust suction block, and the atomizing pipes on both sides pass
  • 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 present invention designs a 360 degree non-dead cleaning robot for a restaurant, 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 When the robot vacuums, most of the dust that is 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 vacuuming structure cavity floats around, and the humidifying structure can be removed.
  • the dust drifting to the surrounding air is scattered to make the dust spill to the ground;
  • the purpose of the table cleaning mechanism is to clean the table legs without a dead angle of 360 degrees;
  • the connecting structure of the present invention has the function of connecting the cleaning mechanism and the adjacent cleaning mechanism.
  • 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 suction surface is that the dust that has not been sucked in the suction structure cavity is adsorbed on the suction surface, and the suction holes will be adsorbed on the first suction surface and the second suction surface.
  • the dust on the suction surface is sucked up to reduce the dust floating in the air;
  • 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 let the suction
  • the negative pressure in the dust structure cavity is more uniform, so that the annular suction structure cavity can more uniformly absorb the dust on the ground;
  • the suction pump The purpose is to absorb dust; the role of the dust box is to store the dust sucked by the suction 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. Affecting the dust removal effect; 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 at the intersection of the first humidification surface and the first suction surface is to make the outlet of the humidification structure face the first humidification surface, and the moisture will hit the first humidification surface.
  • the dust is prevented from blocking the outlet of the humidifying structure; the purpose of the second humidifying surface tangent at the intersection of the second humidifying surface and the second suction surface is to make the outlet of the humidifying structure face up.
  • 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 on the first humidifying surface or the second humidifying surface will rebound.
  • the moisture meets the dust that has not been sucked up by the vacuuming structure cavity and the dust suction hole.
  • the moisture enveloping the dust will increase the dust quality, causing the dust to fall on the ground, thereby reducing the dust floating in the air; and reducing the dust in the air.
  • the purpose of the ultrasonic generator is to produce atomized micro water droplets; the purpose of the air extraction device is to extract moisture from the water 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 connecting structure of the present invention functions as a connection cleaning mechanism and an adjacent cleaning mechanism;
  • the function of the first hard spring is to provide the first triangular plate with the restoring force when returning the position, and on the other hand, when the first push plate is pushed
  • the first hard spring has sufficient hardness to move the first triangular plate only in the radial direction, and the amplitude of the movement of the first triangular plate in the circumferential direction is minimized;
  • the function of the second hard spring is The second triangular plate is provided with a restoring force when returning.
  • the second hard spring has sufficient hardness so that the second triangular plate only has a radial direction. Movement, try to reduce the amplitude of the movement of the second triangular plate in the circumferential direction; the function of the first triangular plate is that a plurality of first triangular plates cooperate with the first hard spring to block the holes of the moisture ring cavity, and the moisture ring cavity is in operation during operation.
  • the function of the second triangular plate is that a plurality of second triangular plates cooperate with the second hard spring to block the holes of the dust ring cavity, and in the dust ring cavity when not working
  • the pressure is maintained in a negative pressure state; the purpose of opening the dust ring cavity on the outer fixing ring is to suck the dust on the ground; when the cleaning robot is linearly cleaned, the first push plate presses one of the first triangular plates, and the first triangular plate is adjacent to the first triangular plate.
  • the first triangular plate will have a gap, and the moisture in the humidity ring will come out of the gap, and then pass to the wet air chamber, the connecting hole, the gas storage chamber, and the atomizing pipe, thereby humidifying the unabsorbed under the first connecting plate. Dust; at the same time, the second push plate will press one of the second triangular plates, the second triangle There shall be a gap between the plate and the adjacent second triangular plate, and the dust on the ground below the first connecting plate sequentially passes through the dust groove, the dust collecting hole, the dust passage, the connecting hole, the dust chamber, the second triangular plate and the adjacent second triangular plate.
  • the purpose of the plurality of dust collecting holes on the third dust collecting surface and the fourth dust collecting surface of the dust collecting block is that the dust not sucked by the dust collecting groove is adsorbed on the third dust collecting surface and the fourth vacuuming surface.
  • the dust collecting hole absorbs the dust adsorbed on the third dust collecting surface and the fourth dust collecting surface, and reduces the dust floating in the air;
  • the vacuum passage is designed to reduce the vacuum ring cavity.
  • the pressure is evenly distributed in the dust storage cavity; the purpose of the dust suction channel is to make the negative pressure in the dust storage cavity more uniform, so that the dust storage cavity can more uniformly absorb the dust on the ground;
  • the spring is first in a freely telescopic state, the first hard spring engaged with the first push rod is in a compressed state, and the remaining first hard spring is in a freely telescopic state; the second hard spring engaged with the second push rod is in compression State, the remaining second hard spring is 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 dust suction 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 under the action of gravity; the dust on the ground under the first connecting plate will reach the dust passage through the dust suction groove under the action of the dust ring cavity.
  • the dust entering the dust storage cavity enters the dust storage cavity, and the dust entering the dust storage cavity is sucked away by the dust ring cavity; the unabsorbed dust will fly into the air, the third vacuuming surface and the fourth vacuuming The surface will block a part of the dust, and the flying dust will adhere to the third dust-absorbing surface and the fourth dust-absorbing surface, and the sucked dust will be sucked into the dust storage cavity through the dust-collecting hole; at the same time, the moisture in the humidity ring cavity will be From the wet air chamber to the connecting hole, the gas storage chamber, and the atomizing pipe, the moisture will come out from the outlet pipe of the atomizing pipe.
  • the dust suction groove reaches the connection gap, enters the dust passage through the connection gap, and sequentially passes through the second dust discharge pipe, the hose, and the first dust discharge pipe to reach the dust on the first connection plate on the adjacent cleaning mechanism unit.
  • the dust enters the connection hole through the dust storage chamber and enters the dust chamber.
  • the dust in the dust chamber enters the dust ring cavity through the gap between the second triangular plate and the adjacent second triangular plate, and finally the vacuum pump is again Under the action, it reaches the dust box on the dust collecting unit; the dust that is not absorbed will fly into the air, and under the action of the atomizing dust collecting device, the flying dust is reduced; when the sensor is mounted on the driving device, the sensing piece is sensed.
  • the sweeping robot Under the control of the driving device, the sweeping robot reaches the foot of the table, and the guiding wheel contacts the outer edge of the table leg, so that the cleaning structure installed at one end of the rotating shaft starts to clean around the table legs.
  • the humidifying structure on the inner fixing ring does not work, and the humidifying structure on the outer fixing ring works;
  • the cleaning mechanism unit slides on the circular guide block on the first connecting plate, the first push plate Under the action, there is a gap between the first triangular plate and the adjacent first triangular plate; moisture enters the atomizing pipe through the air storage chamber on the first connecting plate, and the atomization of the second connecting plate cooperates with the third humidifying surface
  • the pipeline does not work, and the atomizing pipeline cooperates with the fourth humidifying surface to humidify the flying dust;
  • the sweeping robot that sweeps the table foot will continue to move forward, and the humidifying structure of the sweeping robot cooperates with the first humidifying surface at this time Not working, the humidifying structure working with the second humidifying surface works, so that the dust of the uncleaned structure cavity and the dust collecting hole falls on the ground, reducing the flying dust; after the cleaning robot is cleaned, the driving device is driven Under control, leaving the legs to continue working.
  • the humidifying structure matched with the first humidifying surface does not work, and the humidifying structure cooperates with the second humidifying surface;
  • the atomizing pipe matched with the fourth humidifying surface does not work, and cooperates with the third humidifying surface.
  • the atomizing pipe works.
  • 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.
  • Fig. 3 is a schematic view showing the mounting structure of the second connecting plate.
  • Figure 4 is a schematic view showing the structure of the outer fixing ring.
  • Fig. 5 is a schematic view showing the mounting structure of the first triangular plate and the second triangular plate.
  • Fig. 6 is a schematic view showing the mounting structure of the first connecting plate.
  • Fig. 7 is a schematic view showing the installation structure of the atomizing dust suction device.
  • Figure 8 is a schematic view showing the structure of the second connecting plate.
  • Figure 9 is a schematic view showing the installation structure of the second dust discharge pipe.
  • Figure 10 is a schematic view of an atomizing and vacuuming structure.
  • Figure 11 is a schematic view showing the installation structure of the atomizing pipe.
  • Figure 12 is a schematic view showing the working principle of the first triangular plate.
  • Figure 13 is a schematic view showing the working principle of the second triangular plate.
  • Fig. 14 is a schematic view showing a structure of a moisture ring connection.
  • Figure 15 is a schematic view showing the distribution of the entire components of the cleaning mechanism unit.
  • Figure 16 is a schematic view showing the mounting structure of the table foot cleaning mechanism.
  • Figure 17 is a schematic view showing the structure of the suction structure chamber.
  • Figure 18 is a schematic view showing the structure of the traveling mechanism.
  • Figure 19 is a schematic view of the table cleaning mechanism.
  • Figure 20 is a schematic view of the humidifying mechanism.
  • Figure 21 is a schematic view showing the installation structure of the air suction device.
  • Figure 22 is a schematic view showing the installation structure of the moisture outlet pipe.
  • Figure 23 is a schematic view showing the mounting structure of the ultrasonic generator.
  • Figure 24 is a schematic view of the structure of the water tank.
  • Figure 25 is a schematic view showing the structure of a circular outer casing.
  • Figure 26 is a schematic view of the dust suction mechanism.
  • Figure 27 is a schematic view showing the structure of the slider mounting.
  • FIGS. 1 and 2 it includes a cleaning mechanism unit 93 and a connection structure 94, as shown in FIGS. 1 and 2, in which a plurality of cleaning mechanism units 93 are connected by a connection structure 94.
  • the cleaning mechanism unit 93 includes a traveling mechanism 40, a humidifying mechanism 41, a dust collecting mechanism, and a table cleaning mechanism 45, wherein the humidifying mechanism 41, the traveling mechanism 40, and the dust collecting mechanism are notched.
  • the humidifying mechanism 41 is mounted on the dust collecting mechanism; as shown in FIGS. 15 and 16, the traveling mechanism 40 is mounted on the dust collecting mechanism and located on the upper side of the humidifying mechanism 41;
  • the nine table foot cleaning mechanisms 45 are uniformly mounted on the dust suction mechanism in a circumferential direction; as shown in Figs. 15 and 16, the table foot cleaning mechanism 45 is located inside the ring of the humidifying mechanism 41 and the dust suction mechanism.
  • the dust collecting mechanism 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, and an inner fixing ring 15. a first suction surface 16, a second suction surface 47, a first humidification surface 43, a second humidification surface 46, a suction structure chamber 17, a fan housing chamber 25, a water tank chamber 36, a suction slit 37, a dust storage chamber 38, as shown in FIG. 17, 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 is gradually contracted downward; as shown in FIGS.
  • FIGS. 25, and 26, a circular shape is shown.
  • An annular storage dust chamber 38 is circumferentially opened, and the dust storage chamber 38 is located on the upper side of the suction structure chamber 17; as shown in FIGS. 20, 25 and 26, the upper side of the cleaning structure chamber 17 is circumferentially opened with a circular suction slit 37.
  • the dust suction joint 37 penetrates with the dust storage chamber 38; as shown in FIGS. 25 and 26, the circular outer casing 5 has an annular water tank chamber 36 circumferentially opened, and the water tank chamber 36 is located on the upper side of the dust storage chamber 38; as shown in FIG. , the end surface of the circular outer casing 5 is uniformly circumferentially opened with four dust suction unit accommodating chambers 14; as shown in FIG.
  • the four dust suction unit accommodating chambers 14 are close to the inner circular surface of the circular outer casing 5.
  • the lower end of the outer side of the cavity wall of the suction structure chamber 17 has a first suction surface 16 and a second suction surface 47.
  • the first suction surface 16 and the second suction surface 47 are circumferentially opened with many suctions.
  • the first humidifying surface 43 is located on the upper side of the first dust collecting surface 16; as shown in FIG. 17, the second humidifying surface 46 is located on the upper side of the second dust collecting surface 47; 17, the first humidifying surface
  • the tangential line is vertically downward at the intersection of the first humidifying surface 43 and the first suction surface 16; as shown in FIG.
  • the tangential line of the second humidifying surface 46 is intersected by the second humidifying surface 46 and the second suction surface 47.
  • the end surface of the outer fixing ring 11 has three transmission mechanism holes 44 in the circumferential direction, and the outer fixing ring 11 has nine outer fixing holes 18 on the end surface; as shown in FIG.
  • the outer fixing ring 11 is mounted on the outer circular surface of the circular outer casing 5; as shown in FIGS. 15 and 16, the end surface of the inner fixing ring 15 has eight through holes uniformly circumferentially, and the inner fixing ring 15 is mounted.
  • the dust suction unit 1 includes a dust suction pump and a dust box.
  • the traveling mechanism 40 includes a driving device 6, an induction 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; as shown in FIG.
  • Three transmission mechanisms 7 are mounted in the three transmission mechanism holes 44; as shown in Figures 15 and 16, three servo motors 2 are mounted on the outer circumference of the drive unit 6 and cooperate with the three transmission mechanisms 7;
  • three driving wheels 10 are mounted on the lower end of the transmission mechanism 7; as shown in Fig. 15, two sensing pieces 48 are respectively mounted on the outer circumferential surface of the driving device 6, and are located at the annular notch of the traveling mechanism 40.
  • the above-described driving device 6 includes a control chip and a battery.
  • the humidification mechanism 41 includes a water tank 27, a moisture outlet pipe 24, an air storage pipe 26, an air outlet pipe 29, an intake pipe 30, an air suction device 31, a gas storage pipe 26 housing cavity, a gas storage pipe support block 33, and an ultrasonic wave.
  • the five gas storage tube supporting blocks 33 are circumferentially uniformly installed on the bottom surface in the water tank 27, and the gas storage tube 26 is provided.
  • four air outlet pipes 29 are respectively mounted on the upper end faces of the four air suction devices 31; as shown in FIG. 21, four air intake pipes 30 are mounted on the outer circumferential surface of the air storage pipe 26 and pass through the water tank.
  • the air outlet pipe 29 and the corresponding intake pipe 30 are connected by a hose; as shown in Figures 15, 16, 20, nine humidification
  • the structure 8 is 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. 15, 16, 20, the eight humidifying structures 8 are mounted on Among 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 FIG. 21, nine moisture outlet pipes 24 are installed on the outer circular surface of the gas storage pipe 26. Up and through the water tank 27, the nine humidification structures 8 are connected to the nine moisture outlet pipes 24 through a hose; As shown in Fig. 22, 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 hoses.
  • 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 sleeves 39 are symmetrically opened on the two sides of the sliding sleeve 22, and the sliding slots 39 do not pass through the end faces of the sliding sleeves 22; one end of the sliding sleeve 22 is mounted on the inner circular surface of 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 has a through hole at one end away from the mounting slider 21; As shown, the slider 20 is mounted in the sliding sleeve 22 by the cooperation of the slider 21 and the sliding groove 39; as shown in Figs. 19 and 27, the rotating shaft 12 is mounted in the hole in the sliding rod 20; as shown in Figs.
  • the guide wheel 3 is mounted on the upper end of the rotating shaft 12; as shown in Figs. 19 and 27, the cleaning structure 9 is mounted on the lower end of the rotating shaft 12; as shown in Fig. 19, the spring 4 passes through the sliding rod 20 and the sliding sleeve 22, and one end is mounted at The inner circumference of the inner fixing ring 15 and the other end are engaged with the rotating shaft 12.
  • the connecting structure 94 includes a first connecting plate 49, a second connecting plate 50, a first dust discharging pipe 51, a second dust discharging pipe 52, a dust ring cavity 53, and a ring groove 54, a moisture ring chamber 55, a connecting groove 77, a ring guide block 56, a humidifying gas pipe 74, a moisture exhaust pipe 63, a dust introducing structure, a first triangular plate 57, a connecting hole 73, a moisture outlet pipe 92, a second triangular plate 58, a through hole 81, a second through hole 82, a first push plate 59, a second push plate 60, a partition plate 61, a hard spring 4, an outflow air pipe 63, a connection gap 78, an air storage chamber 64, a dust suction passage 65,
  • the dust storage chamber 66 is as shown in FIG.
  • the outer circular surface of the outer fixing ring is provided with a dust ring cavity 53; as shown in FIG. 4, the outer ring surface of the outer fixing ring is provided with a humid air ring cavity 55.
  • the moisture ring cavity 55 is located on the lower side of the dust ring cavity 53; as shown in FIG. 14, the moisture ring cavity 55 is connected to the gas storage pipe 26 through a pipe; as shown in FIG. 14, the dust ring cavity 53 passes through the pipe and the dust storage.
  • the chambers 38 are connected; as shown in FIG. 4, two annular grooves 54 are symmetrically opened on both end faces of the outer fixing ring; as shown in FIG. 6, a plurality of first triangular plates 57 are circumferentially uniformly installed in the dust ring cavity 53.
  • Adjacent first triangular plates 57 are in close contact with each other.
  • one end of the first hard spring 62 is mounted on the inner circular surface of the dust ring cavity 53, and the other end is mounted on the first triangular plate 57;
  • the second triangular plate 58 is mounted on In the humidity ring chamber 55;
  • one end of the second hard spring 72 is mounted on the inner circular surface of the humid air ring cavity 55, and the other end is mounted on the second triangular plate 58; as shown in FIG.
  • One end of the connecting plate 49 is provided with a moisture chamber 71; as shown in FIG.
  • the first connecting plate 49 is provided with a dust chamber 70, and a connecting hole 73 is opened at the end surface of the dust chamber 70; as shown in FIG.
  • Two suction gaps are symmetrically formed on the lower end surface of the connecting plate 49, and the two suction gaps communicate with the dust chamber 70; as shown in FIG. 3, the side of the first connecting plate 49 is provided with a connecting groove 77, and is connected A guide groove 67 is formed on both sides of the groove 77; as shown in FIG.
  • one end of the partition plate 61 is mounted on the bottom surface of the dust chamber 70, and the partition plate 61 is located between the dust chamber 70 and the moisture chamber 71;
  • An annular guide block 56 is mounted on the upper side of the humid chamber 71, and an annular guide block 56 is mounted on the lower side of the dust chamber 70.
  • the first connecting plate 49 is fixed to the outside through the two annular guide blocks 56.
  • the two ring grooves 54 on the ring are fitted together; as shown in FIGS. 5, 6, and 7, the inside of the first connecting plate 49 is provided with a dust storage chamber 66, and the dust storage chamber 66 communicates with the connecting hole 73 on the upper side of the partition 61.
  • FIG. 1 the first connecting plate 49 is fixed to the outside through the two annular guide blocks 56.
  • the two ring grooves 54 on the ring are fitted together; as shown in FIGS. 5, 6, and 7, the inside of the first connecting plate 49 is provided with a dust storage chamber 66, and the dust storage chamber 66 communicates with the connecting
  • the inner side of the first connecting plate 49 is provided with an air storage chamber 64, and the air storage chamber 64 communicates with the lower side connecting hole 73 of the partition plate 61; as shown in FIG. 5, the air storage chamber 64 is located.
  • the upper side of the dust storage chamber 66; as shown in FIG. 7, the two inner walls of the air storage chamber 64 are symmetrically mounted with a plurality of moisture pipes 63, and the moisture pipe 63 passes through the first connecting plate 49; as shown in FIGS.
  • the first push plate 59 is mounted on the end surface of the dust chamber 70, and passes through the connecting hole 73. The first push plate 59 cooperates with the first triangular plate 57; as shown in FIGS.
  • the second push plate 60 is mounted on The connecting hole 73 is engaged with the second triangular plate 58; as shown in FIG. 5, the first triangular plate 57 and the second triangular plate 58 are respectively located at two sides of the partition 61; as shown in FIG. 8, the second connecting plate 50 is There is a moisture passage 79, and a plurality of moisture pipes 63 are symmetrically mounted on both sides of the inner wall of the moisture passage 79, and the outlet pipe 63 passes through the second connecting plate 50; as shown in Figs. A dust passage 80 is opened, and the dust passage 80 is located on the upper side of the moisture passage 79; as shown in FIG.
  • the lower end surface of the second connecting plate 50 is provided with a connection gap 78, and the connection gap 78 communicates with the dust passage 80;
  • two guide blocks 68 are respectively installed at two ends of the second connecting plate 50, and two guide blocks 68 of an arbitrary group are distributed and installed on the two connecting plates 50.
  • one end of the second connecting plate 50 is fitted with two guiding blocks 68 at the same end and two guiding grooves 67 on the first connecting plate 49, and the other end passes through two guiding blocks 68 at the same end.
  • the two guiding grooves 67 on the first connecting plate 49 of the outer fixing ring 11 of the adjacent cleaning mechanism unit 93 are fitted together; as shown in FIG.
  • the upper end of the second connecting plate 50 is opened with a first through hole 81, the first pass The hole 81 communicates with the moisture passage 79; as shown in FIG. 9, the second connecting plate 50 has a second through hole 82 at its upper end, and the second through hole 82 is connected with the dust passage 80.
  • the first connecting plate 49 on the outer fixing ring 11 of the adjacent cleaning mechanism unit 93 is mounted with a moisture outlet pipe 92 and a first dust discharging pipe 51, and the first dust discharging pipe 51 and the first The two dust discharge pipes 52 are connected by a hose; the moisture outlet pipe 92 is connected to the wet gas pipe 74 through a hose; as shown in FIG.
  • two atomizing dust suction devices 76 are symmetrically mounted at the lower end of the first connecting plate 49. And matching with the two suction gaps; as shown in FIG. 1 and FIG. 2, the atomizing dust suction device 76 is mounted at the lower end of the second connecting plate 50 and cooperates with the connection gap 78.
  • the atomizing device (76) includes an atomizing duct 83, a dust collecting block 91, a dust tank 84, a third humidifying surface 85, a third dust collecting surface 86, and a fourth dust collecting surface 87.
  • the fourth humidifying surface 88, the dust collecting hole 89, and the dust collecting hole 90 are as shown in FIG. 10, wherein the upper end of the dust suction block 91 is provided with a dust groove 84, and the dust groove 84 is contracted downward; as shown in FIG. a dust suction hole 89 is opened at a lower end of the dust suction block 91, and the dust suction hole 89 communicates with the dust groove 84; As shown in FIG.
  • the lower end faces of the dust suction block 91 are symmetrically opened with a third suction surface 86 and a fourth suction surface 87, and the third suction surface 86 and the fourth suction surface 87 are opened with many suctions.
  • the third humidifying surface 85 is located on the upper side of the third dust collecting surface 86; as shown in FIG. 11, the fourth humidifying surface 88 is located on the upper side of the fourth dust collecting surface 87;
  • the tangent line of the third humidifying surface 85 is vertically downward at the intersection of the third humidifying surface 85 and the third dust collecting surface 86; as shown in FIG. 11, the fourth humidifying surface 88 is tangent to the fourth humidifying surface 88.
  • the intersection with the fourth suction surface 87 is vertically downward; as shown in FIG. 11, the same number of atomization pipes 83 are installed on both sides of the dust suction block 91, and the atomization pipes 83 on both sides are connected to the first connection.
  • the corresponding wet gas pipe 63 on the plate 49 and the second connecting plate 50 is connected by a hose.
  • the above-described guide wheel 3 is mounted on the rotating shaft 12 via a bearing.
  • the spring 4 is a compression spring 4.
  • the table cleaning mechanism 45 is ten.
  • the above-mentioned sensor sheet 48 is a photoelectric distance sensor.
  • the invention designs a 360 degree non-dead cleaning robot for a restaurant, 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 cleaning robot;
  • the purpose of the humidifying mechanism 41 is that when the robot is vacuuming Most of the dust caused by the negative pressure of the suction 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 air.
  • the dust drifting to the surrounding area 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 connecting structure 94 of the present invention has the function of connecting the cleaning mechanism and the adjacent cleaning mechanism.
  • 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 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 humidification Structure 8; the purpose of opening a plurality of dust suction holes 13 on the first dust suction surface 16 is that the dust that has not been sucked up by the dust suction structure chamber 17 is adsorbed on the dust suction surface, and the dust suction holes 13 will be adsorbed in the first The dust on the suction surface 16 and the second suction surface 47 is sucked away to reduce the dust floating in the air; the suction chamber is designed to evenly distribute the negative pressure of the four vacuuming units 1 in the suction 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 The function of the box 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.
  • the droplet bonding occurs after 26, which affects the dust removing effect;
  • the purpose of the water tank square hole 35 of the end face of the water tank 27 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.
  • the purpose of the tangential line of the first humidifying surface 43 at the intersection of the first humidifying surface 43 and the first cleaning surface 16 is to make the outlet of the humidifying structure 8 Directly facing the first humidifying surface 43, moisture will hit the first humidifying surface 43, instead of directly contacting the dust, preventing dust from blocking the outlet of the humidifying structure 8;
  • the second humidifying surface 46 is tangent to the second humidifying surface 46 and
  • the purpose of the vertical intersection of the two suction surfaces 47 is such that the outlet of the humidifying structure 8 faces the second humidifying surface 46, and moisture will hit the second humidifying surface 46 instead of directly contacting the dust, avoiding Dust blocks the outlet of the humidifying structure 8; hits the first humidifying surface 43
  • the moisture on the second humidifying surface 46 rebounds, and the rebounded moisture meets the dust that has not been sucked up by the suction structure chamber 17 and the suction hole 13.
  • the moisture entrained dust increases the mass of the dust, causing the dust to fall to the ground. Upper, thereby reducing dust floating in the air; achieving the effect of reducing dust in the air; the purpose of the ultrasonic generator 34 is to generate atomized micro water droplets; the purpose of the air extracting device 31 is to extract moisture in the water tank 27.
  • 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 connecting structure 94 in the present invention functions as a connection cleaning mechanism and an adjacent cleaning mechanism;
  • the function of the first hard spring 62 is to provide the first triangular plate 57 with the restoring force when returning, and on the other hand, when the first push When the plate 59 pushes the first triangular plate 57 to move in the humid air chamber 55, the first hard spring 62 has sufficient hardness to move the first triangular plate 57 only in the radial direction, and does not move the first triangular plate 57 in the circumferential direction;
  • the function of the second hard spring 72 is to provide the second triangular plate 58 with the restoring force when returning to the position, and on the other hand, when the second push plate 60 pushes the second triangular plate 58 to move within the dust ring cavity 53, the second hard spring 72 has sufficient hardness to move the second triangular plate 58 only in the radial direction, and does not move the second triangular plate 58 in the circumferential direction; as shown in Fig.
  • the first triangular plate 57 functions as a plurality of first triangular plates 57 and The first hard spring 62 cooperates to block the hole of the moisture ring cavity 55, and the moisture in the moisture ring cavity 55 does not leak when not working; as shown in FIG. 12, the function of the second triangular plate 58 is that many The second triangular plate 58 cooperates with the second hard spring 72 to connect the dust ring Hole 53 is blocked, when the dust is not working air pressure within the annulus 53 to maintain the negative pressure state; object opening dust annulus 53 on the outer ring 11 is fixed, ground to dust suction; As shown in FIG.
  • the first push plate 4 presses one of the first triangular plates 57, and under the action of the spring 4, the first triangular plate 57 and the adjacent first triangular plate 57 have a gap, moisture.
  • the moisture in the annular cavity 55 will flow out from the gap, and then pass to the wet air chamber 71, the connecting hole 73, the gas storage chamber 64, and the atomizing duct 83, thereby humidifying the unabsorbed dust under the first connecting plate 49; 13a, at the same time, the second push plate 4 presses one of the second triangular plates 58.
  • the first triangular plate 57 in the humidity ring chamber 55 is in contact with the first push plate 59, A triangular plate 57 is separated from the adjacent first triangular plate 57 by the first push plate 59, so that the moisture in the gas storage pipe 26 enters the wet air chamber 71 and finally passes into the atomizing pipe 83 to reach The function of humidifying dust; as shown in FIG. 13b, the second triangular plate 58 installed in the dust ring chamber 53 is in contact with the second push plate 60, and the second triangular plate 58 is adjacent to the second push plate 60.
  • the second triangular plate 58 has a gap to allow dust to enter the dust ring cavity 53; as shown in Figures 12c and 13c, after cleaning the table legs, the first push plate 59, the second push plate 60, the first triangular plate 57, and the second The triangular plate 58 returns to the position where the straight cleaning is performed; after the dust is cleaned, the cleaning robot continues to clean the ground forward under the control of the driving device 6.
  • the purpose of the plurality of dust collecting holes 90 on the third dust collecting surface 86 and the fourth dust collecting surface 87 of the dust suction block 91 is that the dust that has not been sucked up by the dust suction groove is adsorbed on the third dust collecting surface 86.
  • the dust suction passage 65 The design is to uniformly distribute the negative pressure of the suction ring cavity in the dust storage cavity 66; the purpose of the dust suction passage 65 is to make the negative pressure in the dust storage cavity 66 more uniform, so that the dust storage cavity 66 can be more uniformly absorbed. Dust on the ground;
  • the spring 4 is in a freely telescopic state
  • the first hard spring 62 engaged with the first push rod is in a compressed state
  • the remaining first hard springs 62 are in a freely stretchable state
  • the second hard spring is engaged with the second push rod.
  • 72 is in a compressed state
  • the remaining second hard springs 72 are in a freely telescopic state; when the sweeping robot is in operation, dust on the ground passes through the suction structure chamber 17 to the suction slits 37 on the dust storage chamber 38, and enters through the suction slits 37.
  • the dust entering the dust storage chamber 38 is sucked away by the dust suction unit 1; and the unabsorbed dust will fly into the air, the first suction surface 16 and the second suction surface 47 will block a part of the dust, and the flying dust will adhere to the first dust collecting surface 16 and the second dust collecting surface 47, and the sucked dust is sucked into the dust storage chamber through the dust collecting hole 13.
  • the super-wave generator atomizes the water in the water tank 27, and the moisture in the water tank 27 draws moisture into the gas storage pipe 26 under the action of the air suction device 31, and the moisture outlet pipe 24 will store the gas storage pipe.
  • the moisture in 26 is transferred to the humidifying structure 8, and the moisture will flow out from the outlet pipe of the humidifying structure 8 to the first humidifying surface 43 and the second humidifying surface 46; the rebounded moisture will humidify the flying dust and humidify
  • the dust falls to the ground under the action of gravity; the dust on the ground under the first connecting plate 49 passes through the dust suction chamber 53 and reaches the dust passage 80 through the dust suction groove, and enters the dust storage chamber through the dust suction passage 65. 66, the dust entering the dust storage chamber 66 is sucked away by the dust ring chamber 53; the unabsorbed dust will fly into the air, and the third suction surface 86 and the fourth suction surface 87 will block.
  • the moisture will be sequentially transferred from the moisture chamber 71 to the connection hole 73, the gas storage chamber 64, and the atomization conduit 8. 3.
  • the moisture will flow out from the outlet pipe of the atomizing pipe 83 to the third humidifying surface 85 and the fourth humidifying surface 88; the rebounding moisture will humidify the flying dust, and the humidified dust falls to the ground by gravity.
  • the dust on the ground under the second connecting plate 50 passes through the dust collecting chamber 53 and reaches the connecting gap 78 through the dust collecting groove, enters the dust passage 80 through the connecting gap 78, and sequentially passes through the second dust collecting pipe and the hose.
  • the first dust exhaust pipe reaches the dust storage cavity 66 on the first connecting plate 49 of the adjacent cleaning mechanism unit 93, and the dust enters the connecting hole 73 from the dust storage cavity 66 to enter the dust cavity 70, and the dust cavity 70 is inside.
  • the dust enters the dust ring cavity 53 through the gap between the second triangular plate 58 and the adjacent second triangular plate 58, and finally reaches the dust box of the dust suction unit 1 by the action of the vacuum pump;
  • the dust will fly into the air, and under the action of the atomizing and dusting device 76, the flying dust is reduced;
  • the sensing piece 48 mounted on the driving device 6 senses that there is a table leg in front, under the control of the driving device 6,
  • the sweeping robot arrives at the foot of the table, the guide wheel 3
  • the outer edge of the table foot contacts, so that the cleaning structure 9 installed at one end of the rotating shaft 12 starts to clean the dust around the table legs; when the size of the table legs is too large, the outer edge of the table legs presses the guiding wheel 3 to move the rotating shaft 12,
  • the spring 4 is compressed, and the compressed spring 4 surrounds the guide wheel 3 around the table leg, so that the function around the clean legs of the 360 degree dead angle can be achieved.
  • the humidifying structure 8 on the inner fixing ring 15 does not work, and the outer fixing ring
  • the humidifying structure 8 on 11 operates; when the cleaning mechanism unit 93 slides on the annular guide block 56 on the first connecting plate 49, the first triangular plate 57 and the adjacent first triangular plate 57 are acted upon by the first push plate 59.
  • the moisture enters the atomizing duct 83 through the air storage chamber 64 on the first connecting plate 49, and the atomizing duct 83 on the second connecting plate 50 that cooperates with the third humidifying surface 85 does not work, and
  • the atomizing pipe 83 cooperates with the fourth humidifying surface 88 to humidify the flying dust;
  • the sweeping robot that sweeps the table legs will continue to move forward, and the humidifying structure 8 on the sweeping robot that cooperates with the first humidifying surface 43 is not Work, humidification structure with the second humidification surface 46
  • the structure is not vacuum chamber 17 and the dust suction hole 13 fall to the ground, reducing the flying ash Dust; after the cleaning robot is cleaned, under the control of the driving device 6, the table legs are continued to work.
  • the humidifying structure 8 cooperated with the first humidifying surface 43 does not work, and the humidifying structure 8 cooperates with the second humidifying surface 46; the atomizing duct 83 cooperated with the fourth humidifying surface 88 does not work, and The atomizing duct 83 in cooperation with the third humidifying surface 85 operates.

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

Abstract

L'invention concerne un robot de nettoyage complet à 360 degrés pour un restaurant, le robot de nettoyage comprenant des unités de mécanisme de nettoyage (93) et une structure de liaison (94), une pluralité des unités de mécanisme de nettoyage (93) étant reliée au moyen de la structure de liaison (94). Un mécanisme de déplacement (40) peut entraîner et commander le mouvement du robot de nettoyage. Lorsque le robot de nettoyage collecte la poussière, la majeure partie du nuage de poussière soulevé 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 autour, et un mécanisme d'humidification (41) peut retirer la poussière flottant autour dans l'air, faisant tomber la poussière sur le sol. Des mécanismes de nettoyage de pied de table (45) peuvent effectuer le nettoyage à 360 degrés tout autour de pieds de table.
PCT/CN2017/095021 2017-04-27 2017-07-28 Robot de nettoyage complet à 360 degrés pour restaurant WO2018196204A1 (fr)

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CN201710286516.0 2017-04-27
CN201710286516.0A CN107049156B (zh) 2017-04-27 2017-04-27 一种用于餐厅360度无死角清扫机器人

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CN112022006B (zh) * 2020-09-04 2021-10-29 深圳市精灵机器人自动化有限公司 一种可变形扫地机器人

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EP4364630A1 (fr) 2022-11-04 2024-05-08 BSH Hausgeräte GmbH Procédé de fonctionnement d'un engin mobile automoteur

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CN107049156A (zh) 2017-08-18
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