CN206044553U - Narrow slit Shi Tuo robots - Google Patents
Narrow slit Shi Tuo robots Download PDFInfo
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- CN206044553U CN206044553U CN201620712013.6U CN201620712013U CN206044553U CN 206044553 U CN206044553 U CN 206044553U CN 201620712013 U CN201620712013 U CN 201620712013U CN 206044553 U CN206044553 U CN 206044553U
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- 238000004140 cleaning Methods 0.000 claims abstract description 167
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 239000004744 fabric Substances 0.000 claims description 48
- 238000004804 winding Methods 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 23
- 230000003749 cleanliness Effects 0.000 claims description 21
- 239000000428 dust Substances 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000002791 soaking Methods 0.000 claims description 15
- 101000794560 Arbacia punctulata Calmodulin-beta Proteins 0.000 claims description 14
- 230000007704 transition Effects 0.000 claims description 13
- 238000009736 wetting Methods 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000008844 regulatory mechanism Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- Electric Vacuum Cleaner (AREA)
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Abstract
A kind of narrow slit Shi Tuo robots, are related to a kind of domestic floor-mopping robot, including the wet dragging device of robot body, narrow slit, robot motion's driving means, control device, and the wet dragging device of narrow slit is connected with robot body by retractor device；The wet dragging device of narrow slit includes housing, the wet dragging device in housing, mop floor driving means, and housing is flat, the height of housing is less than or equal to 1cm, and housing is respectively provided on two sides with L-type opening；Wet dragging device, the input of the driving means that mop floor are connected with the outfan of control device respectively.Wet dragging device includes that rag, cleaning soak mechanism, humidity regulation mechanism.This utility model can carry out wet dragging operation into narrow slit, narrow slit can be cleared up well, the humidity of rag can be adaptively adjusted according to ambient temperature, humidity, floor cleaning degree, cleaning work can be completed, barrier is got around automatically can, its freedom of motion, flexibly, the features such as with high degree of automation, low production cost, it is easy to promote the use of.
Description
Technical Field
The utility model relates to a domestic robot that drags ground, especially a wet robot that drags in narrow slit.
Background
With the development of science and technology, various robots gradually enter families, and a household floor mopping robot is one of the robots, can relieve people from heavy cleaning housework, brings great convenience to life of people, but cannot well clean parts which are difficult to clean, such as corners of tables, bottoms of beds, narrow gaps and the like of families. Although a "floor mopping robot for automatically cleaning rags" with application publication No. CN104545709A also discloses a floor mopping robot capable of automatically cleaning rags, the above-mentioned problems still cannot be overcome, and the control effect of the robot on the rag humidity is not ideal, and the humidity of the rag cannot be adaptively adjusted according to the ambient temperature, humidity and the degree of cleaning the floor.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: the narrow-slit wet-mopping robot is provided to solve the problems that in the prior art, narrow slits are difficult to clean, and the effect of controlling the humidity of cleaning cloth is not ideal.
The technical scheme for solving the technical problems is as follows: a narrow-slit wet-dragging robot comprises a robot body, a robot motion driving device and a control device, wherein the robot motion driving device and the control device are installed at the bottom of the robot body; the narrow-slit wet mopping device comprises a shell, a wet mopping device and a mopping driving device, wherein the wet mopping device and the mopping driving device are positioned in the shell, the shell is flat, the height of the shell is less than or equal to 1cm, and L-shaped openings which are convenient for wet mopping of parts difficult to clean are respectively arranged on two sides of the shell; the input ends of the wet mopping device and the mopping driving device are respectively connected with the output end of the control device.
The utility model discloses a further technical scheme is: the wet mop device comprises a cleaning cloth, a cleaning and soaking mechanism, a humidity adjusting mechanism and a cleaning cloth transition supporting block; the cleaning and wetting mechanism, the humidity adjusting mechanism and the cleaning cloth transition supporting block are respectively arranged in the shell, and the input ends of the cleaning and wetting mechanism and the humidity adjusting mechanism are respectively connected with the output end of the control device; the cleaning cloth is supported by the cleaning cloth transition supporting block and respectively penetrates through the cleaning and soaking mechanism, the humidity adjusting mechanism and the cleaning cloth dragging opening to be coated at the bottom of the shell.
The utility model discloses a further technical scheme is again: the cleaning and soaking mechanism comprises a clean water tank, a cleaning tank and a rag dragging device; the rag dragging device comprises a rag dragging steering engine and a rag dragging rod, the input end of the rag dragging steering engine is connected with the control device, the output end of the rag dragging steering engine is connected with the rag dragging rod, and the rag dragging rod is connected with the rag.
The utility model discloses a further technical scheme is again: the humidity adjusting mechanism is arranged on one side of the cleaning box and comprises a humidity adjusting steering engine, a humidity adjusting transmission rod, a cam A, a cam B, a cam connecting rod, a humidity adjusting plate, a guide block, a ground cleanliness sensor, a temperature sensor and a humidity sensor; the guide block is provided with a transverse cleaning cloth opening for the cleaning cloth to pass through at the height corresponding to the cleaning cloth dragging opening; the guide block is also internally provided with a vertical guide groove, the humidity adjusting plate is arranged in the guide groove above the opening of the cleaning cloth, and the periphery of the humidity adjusting plate is in sliding fit with the inner wall of the guide groove; the cam A and the cam B are respectively and oppositely arranged in the guide grooves; the humidity adjusting steering engine is arranged outside the guide block, the input end of the humidity adjusting steering engine is connected with the control device, the output end of the humidity adjusting steering engine is connected with the humidity adjusting transmission rod, the humidity adjusting transmission rod penetrates through the guide block to be connected with the cam A, the cam A is connected with the cam B through the cam connecting rod, and the cam A and the cam B are respectively matched with two ends of the humidity adjusting plate; the ground cleanliness sensor is arranged at the front end of the shell, the temperature sensor and the humidity sensor are respectively arranged at two side corners of the L-shaped opening at the front end of the shell, and the output ends of the ground cleanliness sensor, the temperature sensor and the humidity sensor are respectively connected with the input end of the control device.
The utility model discloses a further technical scheme is: the mopping driving device comprises a double-shaft driving steering engine, a driving shaft and driving wheels, wherein the double-shaft driving steering engine is arranged in the middle of the shell, two ends of the double-shaft driving steering engine are connected with the two driving wheels through the driving shaft respectively, and the input end of the double-shaft driving steering engine is connected with the output end of the control device.
The utility model discloses a further technical scheme is: the telescopic device comprises a telescopic rod, a cable, a winding motor and a winding wheel; one end of the telescopic rod is connected with the narrow-slit wet-dragging device, and the other end of the telescopic rod is connected with the robot body; one end and the slot wet-dragging device of cable are connected, and the other end of cable is around on the reel, and the reel is connected with winding motor's output shaft, and winding motor's input and controlling means are connected, and winding motor, reel install respectively on the robot.
The utility model discloses a further technical scheme is: the robot also comprises a cleaning device, wherein the cleaning device comprises two cleaning mechanisms, a protective sheet and a cleaning motor, the protective sheet can prevent large-size garbage from entering the cleaning mechanisms; the protection plate is coaxially connected with the cleaning mechanism; the input end of the cleaning motor is connected with the control device, and the output shaft of the cleaning motor is connected with the cleaning mechanism.
The utility model discloses a further technical scheme is again: the robot also comprises a fine dust cleaning device used for cleaning the fine dust left by the cleaning device for the second time, and the input end of the fine dust cleaning device is connected with the control device; the robot body is in an oval shape which can make the robot more easily pass through a small space.
The utility model discloses a further technical scheme is: the robot further comprises a navigation detection device, the navigation detection device is installed on the robot body and comprises a detection sensor, and the output end of the navigation detection device is connected with the input end of the control device.
The utility model discloses a further technical scheme is again: the robot motion driving device comprises a forward and backward driving device, a transverse driving device and a universal balance wheel; the forward and backward driving device is provided with a forward and backward driving wheel and a forward and backward driving motor, and the forward and backward driving wheel is arranged at the output end of the forward and backward driving motor; the transverse driving device is provided with a transverse driving wheel and a transverse driving motor, and the transverse driving wheel is arranged on an output shaft of the transverse driving motor; the input ends of the forward and backward driving motor and the transverse driving motor are respectively connected with the control device.
Due to the adoption of the structure, the utility model discloses a wet robot that drags of slot compares with prior art, has following beneficial effect:
1. can clean up the narrow gap well:
the narrow-slit wet mopping robot comprises a robot body, a robot motion driving device and a control device, and also comprises a narrow-slit wet mopping device which is connected with the robot body through a telescopic device; the narrow-slit wet mopping device comprises a shell, a wet mopping device and a mopping driving device, wherein the shell is flat, the height of the shell is less than or equal to 1cm, and L-shaped openings are respectively arranged on two sides of the shell; the input ends of the wet mopping device and the mopping driving device are respectively connected with the output end of the control device. Because the shell of the utility model is designed to be flat and the height of the shell is designed to be less than or equal to 1cm, the bed bottom and the narrow gap of the cabinet bottom in a smaller space can be conveniently wet-dragged; meanwhile, the two sides of the shell are respectively provided with the L-shaped openings, so that the parts which are difficult to clean, such as table legs, chair legs and the like, can be conveniently wet-mopped. Therefore, the utility model discloses can independently get into the slot and carry out wet operation of dragging under dragging ground drive arrangement's drive, can clear up the slot well.
Furthermore, the utility model discloses still design into oval shape with the robot body, also can make the robot pass through narrow and small space more easily.
2. The mopping humidity can be well controlled:
the robot comprises a narrow-gap wet mopping device, the narrow-gap wet mopping device comprises a shell, a wet mopping device and a mopping driving device, and the wet mopping device comprises a cleaning cloth, a cleaning and soaking mechanism and a humidity adjusting mechanism; the humidity adjusting mechanism comprises a humidity adjusting steering engine, a humidity adjusting transmission rod, a cam A, a cam B, a cam connecting rod, a humidity adjusting plate and a guide block; the guide block is provided with a transverse cleaning cloth opening for the cleaning cloth to pass through at the height corresponding to the cleaning cloth dragging opening; a vertical guide groove is also arranged in the guide block, the humidity adjusting plate is arranged in the guide groove above the opening of the cleaning cloth, and the cam A and the cam B are respectively and oppositely arranged in the guide groove; the humidity control steering engine is connected with the cam A through the humidity control transmission rod, the cam A is connected with the cam B through the cam connecting rod, and the cam A3 and the cam B are matched with the two ends of the humidity control plate respectively. During the use, the humidity control steering wheel drives cam A, cam B rotation through the humidity control transfer line, can make the humidity control board along the guide way up-and-down motion of guide block to adjustable rag open-ended gap size can finally control well and drag ground humidity.
3. The humidity of the rag can be adaptively adjusted according to the environmental temperature, the humidity and the ground cleaning degree:
because the utility model discloses a humidity control mechanism is still including ground cleanliness sensor, temperature sensor, humidity transducer, and wherein ground cleanliness sensor sets up the front end at the casing, and temperature sensor, humidity transducer set up respectively in the L type opening both sides closed angle department of casing front end, and this ground cleanliness sensor, temperature sensor, humidity transducer's output is connected with controlling means's input respectively. Therefore, the utility model discloses a but face cleanliness sensor, temperature sensor, humidity transducer automated inspection ambient temperature, humidity, the clean degree of ground to reach controlling means with the data that detect, controlling means is according to the humidity of the data automatically regulated rag that detects.
4. Can realize the cleaning of the rag
The robot comprises a narrow-gap wet mopping device, the narrow-gap wet mopping device comprises a shell, a wet mopping device and a mopping driving device, and the wet mopping device comprises a cleaning cloth, a cleaning and soaking mechanism and a humidity adjusting mechanism; wherein the cleaning and soaking mechanism comprises a clean water tank, a cleaning tank and a rag dragging device; the rag dragging device comprises a rag dragging steering engine and a rag dragging rod, the input end of the rag dragging steering engine is connected with the control device, the output end of the rag dragging steering engine is connected with the rag dragging rod, and the rag dragging rod is connected with the rag. The rag dragging device drags the rag to sequentially pass through the cleaning box and the clean water box, and the cleaning and soaking operation can be completed.
5. Can be used for cleaning
The utility model also comprises a cleaning device which comprises two cleaning mechanisms, a protection sheet and a cleaning motor; two clean the mechanism under the drive of cleaning the motor, can clean the operation before dragging ground earlier, can also block the great rubbish debris of size to get into through the screening glass simultaneously and clean the mechanism to the smooth going on of cleaning the operation has been ensured.
In addition, the robot also comprises a fine dust cleaning device which can be used for cleaning the fine dust left by the cleaning device for the second time, thereby ensuring the complete completion of the cleaning operation.
6. Can automatically bypass the barrier
Because the robot also comprises the navigation detection device which is arranged at the front end or the rear end of the robot body, the detection of the surrounding environment can be completed, and signals are sent to the control device, if an obstacle is encountered, the control device can control the robot to move around the obstacle, and the damage to the robot caused by the direct collision of the obstacle is avoided.
7. Free and flexible movement
The utility model is provided with a robot motion driving device at the bottom of the robot body, and the robot motion driving device comprises a forward and backward driving device, a transverse driving device and a universal balance wheel; the robot motion driving device can realize the forward, backward and transverse motion of the robot and also can realize arbitrary steering, and the motion of the robot is free and flexible.
8. High automation degree
Because the utility model discloses a controlling means, but this controlling means automatic control whole narrow slit wet coordination work who drags the robot, including cleaning, washing wring out the rag, drag the ground etc. complete set clean and drag the ground operation, whole journey all need not manual operation, its degree of automation is very high.
9. Small volume
The utility model discloses the structure is small, can reach any corner in room, conveniently cleans wet operation of dragging.
10. Is easy to be popularized and used
The utility model has the advantages of simple structure, low in production cost, the appearance is pleasing to the eye moreover, convenient operation easily uses widely.
The technical features of the narrow slit wet mopping robot of the present invention will be further described with reference to the accompanying drawings and embodiments.
Drawings
FIG. 1: embodiment one is a front view of the narrow slit wet mopping robot of the utility model,
FIG. 2: in the view from below with reference to figure 1,
FIG. 3: embodiment a schematic three-dimensional structure of a narrow-slit wet mopping robot according to the present invention (from the top view direction),
FIG. 4: the structure of the narrow-slit wet-dragging device in the first embodiment is schematically shown;
FIG. 5: embodiment one partial structure of the humidity control mechanism enlarges the schematic diagram;
FIG. 6: embodiment one is a schematic three-dimensional structure diagram of the narrow-slit wet-mopping robot entering a bed bottom for wet-mopping operation;
FIG. 7: second embodiment the utility model provides a front view of a narrow slit wet mopping robot,
FIG. 8: in the view from below in accordance with figure 7,
FIG. 9: second embodiment the three-dimensional structure of the wet-mopping robot with narrow slit according to the present invention is schematically shown (from the top view direction),
FIG. 10: second embodiment said the utility model discloses a three-dimensional structure sketch map (from the direction of looking down on the back) of narrow slit wet-dragging robot;
FIG. 11: third embodiment the utility model discloses a front view of a narrow slit wet mopping robot,
FIG. 12: in the view from below in accordance with figure 11,
FIG. 13: third embodiment the three-dimensional structure of the wet-mopping robot with narrow slit according to the present invention is schematically shown (from the top view direction),
FIG. 14: third embodiment the utility model discloses a three-dimensional structure sketch map (from the bottom view direction) of the wet robot that drags of slot;
in the above drawings, the respective reference numerals are explained as follows:
1-a robot body, wherein the robot body is provided with a plurality of robots,
2-cleaning the device by a cleaning device,
21-cleaning mechanism, 22-protecting sheet, 23-cleaning motor,
3-a narrow-slit wet-dragging device,
31-the housing, and the housing,
311-L shaped opening, 312-wiper drag opening,
32-a wet-mop device, wherein,
321-a cleaning cloth, wherein the cleaning cloth is a cloth,
322-cleaning the wetting mechanism, and then cleaning the wetting mechanism,
3221-clean water tank, 3222-cleaning tank, 3223-rag dragging device,
32231-rag drag steering gear, 32232-rag drag rod,
323-a humidity-regulating mechanism which is,
3231-humidity adjusting steering engine, 3232-humidity adjusting transmission rod, 3233-cam A, 3234-cam B,
3235-cam link, 3236-humidity adjusting plate, 3237-guide block, 32371-rag opening,
3238-ground cleanliness sensor, 3239-temperature sensor, 3240-humidity sensor,
324-a wipe transition support block,
33-a means for driving the mopping floor,
331-double-shaft driving steering engine, 332-driving shaft, 333-driving wheel,
4-a fine dust cleaning device, wherein,
5-the navigation detection means are arranged to navigate through,
6-a robot movement driving device for driving the robot,
61-a forward and backward movement driving device,
611-forward and backward driving wheel, 612-forward and backward driving motor,
62-a transverse driving device, wherein the transverse driving device,
621-transverse drive wheel, 622-transverse drive motor,
63-a universal balance wheel, wherein the universal balance wheel is arranged on the frame,
7-controlling the device to be controlled,
8-a telescopic device is arranged at the lower part of the frame,
81-telescopic rod, 82-cable, 83-winding motor, 84-winding reel.
Detailed Description
Example one
Disclosed in fig. 1 is a narrow-gap wet-mopping robot, which comprises a robot body 1, a narrow-gap wet-mopping device 3, a robot motion driving device 6 and a control device 7; wherein,
the robot body 1 is in an elliptical shape, so that the robot can pass through a narrow space more easily;
the narrow-slit wet mopping device 3 comprises a shell 31, a wet mopping device 32 and a mopping driving device 33, wherein the wet mopping device 32 and the mopping driving device 33 are positioned in the shell 31, the shell 31 is flat and butterfly-shaped, the height of the shell is less than or equal to 1cm, and L-shaped openings 311 for conveniently performing wet mopping on parts difficult to clean are respectively arranged on two sides of the shell 31; the input ends of the wet mopping device 32 and the mopping driving device 33 are respectively connected with the output end of the control device 7, and the narrow-slit wet mopping device 3 is connected with the robot body 1 through the telescopic device 8.
The wet mop device 32 comprises a mop cloth 321, a cleaning and wetting mechanism 322, a humidity adjusting mechanism 323 and a mop cloth transition supporting block 324; the shell 31 is provided with a cleaning cloth dragging opening 312, the cleaning and soaking mechanism 322, the humidity adjusting mechanism 323 and the cleaning cloth transition supporting block 324 are respectively installed in the shell 31, and the input ends of the cleaning and soaking mechanism 322 and the humidity adjusting mechanism 323 are respectively connected with the output end of the control device 7; the cleaning cloth 321 is supported by the cleaning cloth transition support block 324 and respectively passes through the cleaning wetting mechanism 322, the humidity adjusting mechanism 323 and the cleaning cloth dragging opening 312 to be coated on the bottom of the shell 31.
The cleaning and wetting mechanism 322 comprises a clean water tank 3221, a cleaning tank 3222 and a rag dragging device 3223; the rag dragging device 3223 comprises a rag dragging steering gear 32231 and a rag dragging rod 32232, the input end of the rag dragging steering gear 32231 is connected with the control device 7, the output end of the rag dragging steering gear 32231 is connected with the rag dragging rod 32232, and the rag dragging rod 32232 is connected with the rag 321.
The humidity adjusting mechanism 323 is arranged on one side of the cleaning box 3222, and the humidity adjusting mechanism 323 comprises a humidity adjusting steering engine 3231, a humidity adjusting transmission rod 3232, a cam A3233, a cam B3234, a cam connecting rod 3235, a humidity adjusting plate 3236, a guide block 3237, a ground cleanliness sensor 3238, a temperature sensor 3239 and a humidity sensor 3240; the guide block 3237 is provided with a transverse rag opening 32371 for passing through the rag at a height corresponding to the rag dragging opening 312; a vertical guide groove is further formed in the guide block 3237, the humidity adjusting plate 3236 is arranged in the guide groove above the rag opening 32371, and the periphery of the humidity adjusting plate 3236 is in sliding fit with the inner wall of the guide groove; the cam A3233 and the cam B3234 are respectively and oppositely arranged in the guide groove; the humidity adjusting steering engine 3231 is installed outside the guide block 3237, the input end of the humidity adjusting steering engine 3231 is connected with the control device 7, the output end of the humidity adjusting steering engine 3231 is connected with the humidity adjusting transmission rod 3232, the humidity adjusting transmission rod 3232 penetrates through the guide block 3237 to be connected with the cam A3233, the cam A3233 is connected with the cam B3234 through the cam connecting rod 3235, and the cam A3233 and the cam B3234 are respectively matched with two ends of the humidity adjusting plate 3236; the ground cleanliness sensor 3238 is arranged at the front end of the shell 31, the temperature sensor 3239 and the humidity sensor 3240 are respectively arranged at two side corners of the L-shaped opening 311 at the front end of the shell 31, and output ends of the ground cleanliness sensor, the temperature sensor and the humidity sensor are respectively connected with an input end of the control device. When the floor cleanliness sensor 3238 detects that the floor is clean, or when the temperature sensor 3239 detects that the ambient temperature is low and the humidity sensor 3240 detects that the ambient humidity is wet, the control device automatically reduces the humidity of the cleaning cloth according to the data sent by the sensors; when the floor cleanliness sensor 3238 detects that the floor is dirty, or when the temperature sensor 3239 detects that the ambient temperature is high and the humidity sensor 3240 detects that the ambient humidity is dry, the control device automatically increases the humidity of the cleaning cloth according to the data sent by the sensors.
The floor mopping driving device 33 comprises a double-shaft driving steering engine 331, a driving shaft 332 and driving wheels 333, wherein the double-shaft driving steering engine 331 is installed in the middle of the shell 31, two ends of the double-shaft driving steering engine 331 are connected with the two driving wheels 333 through the driving shaft 332 respectively, and the input end of the double-shaft driving steering engine 331 is connected with the output end of the control device 7.
The telescopic device 8 comprises a telescopic rod 81, a cable 82, a winding motor 83 and a winding wheel 84; one end of the telescopic rod 81 is connected with the narrow-slit wet-dragging device 3, and the other end of the telescopic rod 81 is connected with the robot body 1; one end of the cable 82 is connected with the narrow-slit wet dragging device 3, the other end of the cable 82 is wound on a winding wheel 84, the winding wheel 84 is connected with an output shaft of a winding motor 83, an input end of the winding motor 83 is connected with the control device 7, and the winding motor 83 and the winding wheel 84 are respectively installed on the robot body 1.
The robot motion driving device 6 is arranged at the bottom of the robot body 1, and the robot motion driving device 6 comprises a forward and backward driving device 61, a transverse driving device 62 and a universal balance wheel 63; the forward and backward driving device 61 is provided with a forward and backward driving wheel 611 and a forward and backward driving motor 612, and the forward and backward driving wheel 611 is installed at the output end of the forward and backward driving motor 612; the transverse driving device 62 is provided with a transverse driving wheel 621 and a transverse driving motor 622, and the transverse driving wheel 621 is installed on an output shaft of the transverse driving motor 622; the input ends of the forward/backward driving motor 612 and the transverse driving motor 622 are respectively connected with the output end of the control device 7.
The control device 7 comprises a single chip microcomputer and a control circuit thereof, and is used for automatically controlling the coordination work of the whole narrow-slit wet-mopping robot, the control device 7 is a known technology, and detailed descriptions of the detailed structure are omitted here.
Example two
Fig. 2 discloses another narrow-gap wet-mopping robot, the basic structure of which, like the first embodiment, includes a robot body 1, a narrow-gap wet-mopping device 3, a robot motion driving device 6 mounted at the bottom of the robot body 1, and a control device 7, but the difference lies in that: the robot also comprises a cleaning device 2 and a fine dust cleaning device 4.
The cleaning device 2 comprises two cleaning mechanisms 21, a protective sheet 22 and a cleaning motor 23; the protecting sheet 22 is coaxially connected with the cleaning mechanism 21 and is used for preventing larger-size garbage from entering the cleaning mechanism; the input end of the cleaning motor 23 is connected with the control device 7, and the output shaft of the cleaning motor 23 is connected with the cleaning mechanism 21.
The fine dust cleaning device 4 is used for cleaning the fine dust left by the cleaning device 2 for the second time, and the input end of the fine dust cleaning device 4 is connected with the control device 7.
The cleaning mechanism 21 and the fine dust cleaning device 4 are of known structures, and the structures thereof will not be described.
EXAMPLE III (best mode)
Fig. 3 discloses another narrow-gap wet-mopping robot, the basic structure of which, like the second embodiment, comprises a robot body 1, a cleaning device 2, a narrow-gap wet-mopping device 3, a fine dust cleaning device 4, a robot motion driving device 6 mounted at the bottom of the robot body 1, and a control device 7, the difference lies in that: the robot further comprises a navigation detection device 5, the navigation detection device 5 is installed on the robot body 1, the navigation detection device 5 comprises a detection sensor, and the output end of the navigation detection device 5 is connected with the input end of the control device 7.
The specific structure of the narrow-slit wet-mopping robot in the third embodiment is as follows:
a narrow-gap wet-mopping robot comprises a robot body 1, a cleaning device 2, a narrow-gap wet-mopping device 3, a fine dust cleaning device 4, a navigation detection device 5, a robot motion driving device 6 and a control device 7; wherein,
the robot body 1 is in an elliptical shape, so that the robot can pass through a narrow space more easily;
the cleaning device 2 comprises two cleaning mechanisms 21, a protective sheet 22 and a cleaning motor 23; the protecting sheet 22 is coaxially connected with the cleaning mechanism 21 and is used for preventing larger-size garbage from entering the cleaning mechanism; the input end of the cleaning motor 23 is connected with the control device 7, and the output shaft of the cleaning motor 23 is connected with the cleaning mechanism 21.
The narrow-slit wet mopping device 3 comprises a shell 31, a wet mopping device 32 and a mopping driving device 33, wherein the wet mopping device 32 and the mopping driving device 33 are positioned in the shell 31, the shell 31 is flat and butterfly-shaped, the height of the shell is less than or equal to 1cm, and L-shaped openings 311 for conveniently performing wet mopping on parts difficult to clean are respectively arranged on two sides of the shell 31; the input ends of the wet mopping device 32 and the mopping driving device 33 are respectively connected with the output end of the control device 7, and the narrow-slit wet mopping device 3 is connected with the robot body 1 through the telescopic device 8. Because the shell of the utility model is designed into a flat butterfly shape and the height of the shell is designed to be less than or equal to 1cm, the wet dragging of narrow gaps at the bed bottom and the cabinet bottom in a smaller space is convenient; meanwhile, the two sides of the shell are respectively provided with the L-shaped openings, so that the parts which are difficult to clean, such as table legs, chair legs and the like, can be conveniently wet-mopped. Therefore, the utility model discloses can independently get into the slot and carry out wet operation of dragging under dragging ground drive arrangement's drive, can clear up the slot well.
The wet mop device 32 comprises a mop cloth 321, a cleaning and wetting mechanism 322, a humidity adjusting mechanism 323 and a mop cloth transition supporting block 324; the shell 31 is provided with a cleaning cloth dragging opening 312, the cleaning and soaking mechanism 322, the humidity adjusting mechanism 323 and the cleaning cloth transition supporting block 324 are respectively installed in the shell 31, and the input ends of the cleaning and soaking mechanism 322 and the humidity adjusting mechanism 323 are respectively connected with the output end of the control device 7; the cleaning cloth 321 is supported by the cleaning cloth transition support block 324 and respectively passes through the cleaning wetting mechanism 322, the humidity adjusting mechanism 323 and the cleaning cloth dragging opening 312 to be coated on the bottom of the shell 31.
The cleaning and wetting mechanism 322 comprises a clean water tank 3221, a cleaning tank 3222 and a rag dragging device 3223; the rag dragging device 3223 comprises a rag dragging steering gear 32231 and a rag dragging rod 32232, the input end of the rag dragging steering gear 32231 is connected with the control device 7, the output end of the rag dragging steering gear 32231 is connected with the rag dragging rod 32232, and the rag dragging rod 32232 is connected with the rag 321. The rag dragging device drags the rag to sequentially pass through the cleaning box and the clean water box, and the cleaning and soaking operation can be completed.
The humidity adjusting mechanism 323 is arranged on one side of the cleaning box 3222, and the humidity adjusting mechanism 323 comprises a humidity adjusting steering engine 3231, a humidity adjusting transmission rod 3232, a cam A3233, a cam B3234, a cam connecting rod 3235, a humidity adjusting plate 3236, a guide block 3237, a ground cleanliness sensor 3238, a temperature sensor 3239 and a humidity sensor 3240; the guide block 3237 is provided with a transverse rag opening 32371 for passing through the rag at a height corresponding to the rag dragging opening 312; a vertical guide groove is further formed in the guide block 3237, the humidity adjusting plate 3236 is arranged in the guide groove above the rag opening 32371, and the periphery of the humidity adjusting plate 3236 is in sliding fit with the inner wall of the guide groove; the cam A3233 and the cam B3234 are respectively and oppositely arranged in the guide groove; the humidity adjusting steering engine 3231 is installed outside the guide block 3237, the input end of the humidity adjusting steering engine 3231 is connected with the control device 7, the output end of the humidity adjusting steering engine 3231 is connected with the humidity adjusting transmission rod 3232, the humidity adjusting transmission rod 3232 penetrates through the guide block 3237 to be connected with the cam A3233, the cam A3233 is connected with the cam B3234 through the cam connecting rod 3235, and the cam A3233 and the cam B3234 are respectively matched with two ends of the humidity adjusting plate 3236; during the use, the humidity control steering wheel drives cam A, cam B rotation through the humidity control transfer line, can make the humidity control board along the guide way up-and-down motion of guide block to adjust the gap size of rag opening 32371, so that control well and drag ground humidity. The ground cleanliness sensor 3238 is arranged at the front end of the shell 31, the temperature sensor 3239 and the humidity sensor 3240 are respectively arranged at two side corners of the L-shaped opening 311 at the front end of the shell 31, and output ends of the ground cleanliness sensor, the temperature sensor and the humidity sensor are respectively connected with an input end of the control device. When the floor cleanliness sensor 3238 detects that the floor is clean, or when the temperature sensor 3239 detects that the ambient temperature is low and the humidity sensor 3240 detects that the ambient humidity is wet, the control device automatically reduces the humidity of the cleaning cloth according to the data sent by the sensors; when the floor cleanliness sensor 3238 detects that the floor is dirty, or when the temperature sensor 3239 detects that the ambient temperature is high and the humidity sensor 3240 detects that the ambient humidity is dry, the control device automatically increases the humidity of the cleaning cloth according to the data sent by the sensors.
The floor mopping driving device 33 comprises a double-shaft driving steering engine 331, a driving shaft 332 and driving wheels 333, wherein the double-shaft driving steering engine 331 is installed in the middle of the shell 31, two ends of the double-shaft driving steering engine 331 are connected with the two driving wheels 333 through the driving shaft 332 respectively, and the input end of the double-shaft driving steering engine 331 is connected with the output end of the control device 7.
The telescopic device 8 comprises a telescopic rod 81, a cable 82, a winding motor 83 and a winding wheel 84; one end of the telescopic rod 81 is connected with the narrow-slit wet-dragging device 3, and the other end of the telescopic rod 81 is connected with the robot body 1; one end of the cable 82 is connected with the narrow-slit wet dragging device 3, the other end of the cable 82 is wound on a winding wheel 84, the winding wheel 84 is connected with an output shaft of a winding motor 83, an input end of the winding motor 83 is connected with the control device 7, and the winding motor 83 and the winding wheel 84 are respectively installed on the robot body 1.
The fine dust cleaning device 4 is used for cleaning the fine dust left by the cleaning device 2 for the second time, and the input end of the fine dust cleaning device 4 is connected with the control device 7.
The navigation detection device 5 is respectively arranged at the front end and the rear end of the robot body 1, the navigation detection device 5 comprises a detection sensor, and the output end of the navigation detection device 5 is connected with the input end of the control device 7. The navigation detection device can detect the surrounding environment and send signals to the control device, if an obstacle is encountered, the control device can control the robot to move around the obstacle, and the robot is prevented from being damaged due to the fact that the robot directly collides with the obstacle.
The robot motion driving device 6 is arranged at the bottom of the robot body 1, and the robot motion driving device 6 comprises a forward and backward driving device 61, a transverse driving device 62 and a universal balance wheel 63; the forward and backward driving device 61 is provided with a forward and backward driving wheel 611 and a forward and backward driving motor 612, and the forward and backward driving wheel 611 is installed at the output end of the forward and backward driving motor 612; the transverse driving device 62 is provided with a transverse driving wheel 621 and a transverse driving motor 622, and the transverse driving wheel 621 is installed on an output shaft of the transverse driving motor 622; the input ends of the forward/backward driving motor 612 and the transverse driving motor 622 are respectively connected with the output end of the control device 7. Therefore, the robot motion driving device not only can realize the forward, backward and transverse motion of the robot, but also can realize arbitrary steering, and the motion of the robot is relatively free and flexible.
The control device 7 comprises a single chip microcomputer and a control circuit thereof, is used for automatically controlling the coordination work of the whole narrow-slit wet mopping robot, comprises the whole set of mopping operations of cleaning, wringing out cleaning rags, mopping the floor and the like, and has higher automation degree. The control device 7 is well known in the art and the detailed structure thereof will not be described in detail.
Claims (10)
1. The utility model provides a wet robot that drags of slot, includes robot body (1), installs robot motion drive arrangement (6), controlling means (7) in robot body (1) bottom, and the output and the robot motion drive arrangement (6) of controlling means (7) are connected, its characterized in that: the robot also comprises a narrow-gap wet-dragging device (3), wherein the narrow-gap wet-dragging device (3) is connected with the robot body (1) through a telescopic device (8); the narrow-slit wet mopping device (3) comprises a shell (31), a wet mopping device (32) and a mopping driving device (33), wherein the wet mopping device (32) is positioned in the shell (31), the shell (31) is flat, the height of the shell is less than or equal to 1cm, and L-shaped openings (311) which are convenient for wet mopping positions difficult to clean are respectively arranged on two sides of the shell (31); the input ends of the wet mopping device (32) and the mopping driving device (33) are respectively connected with the output end of the control device (7).
2. The narrow-slit wet-mopping robot of claim 1, wherein: the wet mop device (32) comprises a cleaning cloth (321), a cleaning and wetting mechanism (322), a humidity adjusting mechanism (323) and a cleaning cloth transition supporting block (324); the cleaning cloth dragging opening (312) is formed in the shell (31), the cleaning and soaking mechanism (322), the humidity adjusting mechanism (323) and the cleaning cloth transition supporting block (324) are respectively installed in the shell (31), and the input ends of the cleaning and soaking mechanism (322) and the humidity adjusting mechanism (323) are respectively connected with the output end of the control device (7); the cleaning cloth (321) is supported by the cleaning cloth transition supporting block (324) and respectively penetrates through the cleaning soaking mechanism (322), the humidity adjusting mechanism (323) and the cleaning cloth dragging opening (312) to be coated at the bottom of the shell (31).
3. The narrow-slit wet-mopping robot of claim 2, wherein: the cleaning and wetting mechanism (322) comprises a clean water tank (3221), a cleaning tank (3222) and a rag dragging device (3223); the rag dragging device (3223) comprises a rag dragging steering gear (32231) and a rag dragging rod (32232), the input end of the rag dragging steering gear (32231) is connected with the control device (7), the output end of the rag dragging steering gear (32231) is connected with the rag dragging rod (32232), and the rag dragging rod (32232) is connected with the rag (321).
4. The narrow-slit wet-mopping robot of claim 2, wherein: the humidity adjusting mechanism (323) is arranged on one side of the cleaning box (3222), and the humidity adjusting mechanism (323) comprises a humidity adjusting steering engine (3231), a humidity adjusting transmission rod (3232), a cam A (3233), a cam B (3234), a cam connecting rod (3235), a humidity adjusting plate (3236), a guide block (3237), a ground cleanliness sensor (3238), a temperature sensor (3239) and a humidity sensor (3240); the guide block (3237) is provided with a transverse cleaning cloth opening (32371) for penetrating through the cleaning cloth at the height corresponding to the cleaning cloth dragging opening (312); a vertical guide groove is further formed in the guide block (3237), the humidity adjusting plate (3236) is arranged in the guide groove above the rag opening (32371), and the periphery of the humidity adjusting plate (3236) is in sliding fit with the inner wall of the guide groove; the cam A (3233) and the cam B (3234) are respectively and oppositely arranged in the guide groove; the humidity adjusting steering engine (3231) is installed outside the guide block (3237), the input end of the humidity adjusting steering engine (3231) is connected with the control device (7), the output end of the humidity adjusting steering engine (3231) is connected with the humidity adjusting transmission rod (3232), the humidity adjusting transmission rod (3232) penetrates through the guide block (3237) to be connected with the cam A (3233), the cam A (3233) is connected with the cam B (3234) through the cam connecting rod (3235), and the cam A (3233) and the cam B (3234) are respectively matched with two ends of the humidity adjusting plate (3236); the ground cleanliness sensor (3238) is arranged at the front end of the shell (31), the temperature sensor (3239) and the humidity sensor (3240) are respectively arranged at two side corners of the L-shaped opening (311) at the front end of the shell (31), and output ends of the ground cleanliness sensor, the temperature sensor and the humidity sensor are respectively connected with an input end of the control device.
5. The narrow-slit wet-mopping robot of claim 1, wherein: the floor mopping driving device (33) comprises a double-shaft driving steering engine (331), a driving shaft (332) and driving wheels (333), wherein the double-shaft driving steering engine (331) is installed in the middle of the shell (31), two ends of the double-shaft driving steering engine (331) are connected with the two driving wheels (333) through the driving shaft (332), and the input end of the double-shaft driving steering engine (331) is connected with the output end of the control device (7).
6. The narrow-slit wet-mopping robot of claim 1, wherein: the telescopic device (8) comprises a telescopic rod (81), a cable (82), a winding motor (83) and a winding wheel (84); one end of the telescopic rod (81) is connected with the narrow-slit wet-dragging device (3), and the other end of the telescopic rod (81) is connected with the robot body (1); one end of a cable (82) is connected with the narrow-slit wet dragging device (3), the other end of the cable (82) is wound on a winding wheel (84), the winding wheel (84) is connected with an output shaft of a winding motor (83), an input end of the winding motor (83) is connected with a control device (7), and the winding motor (83) and the winding wheel (84) are respectively installed on the robot body (1).
7. The narrow-slit wet-mopping robot of claim 1, wherein: the robot also comprises a cleaning device (2), wherein the cleaning device (2) comprises two cleaning mechanisms (21), a protective sheet (22) and a cleaning motor (23), the protective sheet can prevent large-size garbage from entering the cleaning mechanisms; the protective sheet (22) is coaxially connected with the cleaning mechanism (21); the input end of the cleaning motor (23) is connected with the control device (7), and the output shaft of the cleaning motor (23) is connected with the cleaning mechanism (21).
8. The narrow-slit wet-mopping robot of claim 7, wherein: the robot also comprises a fine dust cleaning device (4) used for carrying out secondary cleaning on fine dust left by the cleaning device (2), and the input end of the fine dust cleaning device (4) is connected with a control device (7); the robot body (1) is in an oval shape which enables the robot to pass through a small space more easily.
9. The narrow-slit wet-mopping robot of claim 1, wherein: the robot further comprises a navigation detection device (5), the navigation detection device (5) is installed on the robot body (1), the navigation detection device (5) comprises a detection sensor, and the output end of the navigation detection device (5) is connected with the input end of the control device (7).
10. A narrow gap wet mopping robot according to any one of claims 1 to 9, wherein: the robot motion driving device (6) comprises a forward and backward driving device (61), a transverse driving device (62) and a universal balance wheel (63); the forward and backward driving device (61) is provided with a forward and backward driving wheel (611) and a forward and backward driving motor (612), and the forward and backward driving wheel (611) is arranged at the output end of the forward and backward driving motor (612); the transverse driving device (62) is provided with a transverse driving wheel (621) and a transverse driving motor (622), and the transverse driving wheel (621) is arranged on an output shaft of the transverse driving motor (622); the input ends of the forward and backward driving motor (612) and the transverse driving motor (622) are respectively connected with the control device (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620712013.6U CN206044553U (en) | 2016-07-07 | 2016-07-07 | Narrow slit Shi Tuo robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620712013.6U CN206044553U (en) | 2016-07-07 | 2016-07-07 | Narrow slit Shi Tuo robots |
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| CN206044553U true CN206044553U (en) | 2017-03-29 |
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| CN201620712013.6U Withdrawn - After Issue CN206044553U (en) | 2016-07-07 | 2016-07-07 | Narrow slit Shi Tuo robots |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105942932A (en) * | 2016-07-07 | 2016-09-21 | 广西科技大学鹿山学院 | Narrow gap wet mopping robot |
| CN107260075A (en) * | 2017-08-13 | 2017-10-20 | 杭州云蜂工业设计有限公司 | A kind of floor-mopping robot |
| CN108403019A (en) * | 2018-02-13 | 2018-08-17 | 北京小米移动软件有限公司 | floor cleaning control method and device |
| CN109199263A (en) * | 2017-07-06 | 2019-01-15 | 中弘智能高科技（深圳）有限公司 | From walking floor cleaning machine |
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
| CN114587198A (en) * | 2018-12-21 | 2022-06-07 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method |
-
2016
- 2016-07-07 CN CN201620712013.6U patent/CN206044553U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105942932A (en) * | 2016-07-07 | 2016-09-21 | 广西科技大学鹿山学院 | Narrow gap wet mopping robot |
| CN105942932B (en) * | 2016-07-07 | 2018-07-03 | 广西科技大学鹿山学院 | Narrow slit Shi Tuo robots |
| CN109199263A (en) * | 2017-07-06 | 2019-01-15 | 中弘智能高科技（深圳）有限公司 | From walking floor cleaning machine |
| CN107260075A (en) * | 2017-08-13 | 2017-10-20 | 杭州云蜂工业设计有限公司 | A kind of floor-mopping robot |
| CN108403019A (en) * | 2018-02-13 | 2018-08-17 | 北京小米移动软件有限公司 | floor cleaning control method and device |
| CN114587198A (en) * | 2018-12-21 | 2022-06-07 | 苏州宝时得电动工具有限公司 | Cleaning robot and control method |
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
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