WO2018196199A1 - Adaptive restaurant floor cleaning robot based on plc control - Google Patents
Adaptive restaurant floor cleaning robot based on plc controlDownload PDFInfo
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- WO2018196199A1 WO2018196199A1PCT/CN2017/095015CN2017095015WWO2018196199A1WO 2018196199 A1WO2018196199 A1WO 2018196199A1CN 2017095015 WCN2017095015 WCN 2017095015WWO 2018196199 A1WO2018196199 A1WO 2018196199A1
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- Prior art keywords
- block
- limiting
- spring
- dust
- dust suction
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- 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
- A47L11/4063—Driving means; Transmission means 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
- A47L11/4072—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
- 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 inventionbelongs to the technical field of restaurant clearland robots, and in particular relates to an adaptive restaurant clearing robot based on PLC control.
- the cleaning work of the restaurantis often carried out for manpower cleaning, and the robot is rarely used; and the cleaning of the restaurant is inefficient and costly; in the process of human cleaning, the dust at the corners is often ignored, so that the cleaning is not clean enough;
- the support legs at the lower end of the table and chairwill affect the cleaning process. Therefore, it is necessary to design a cleaning robot that can improve the efficiency and clean the dust at the support legs at the lower end of the table and chair. Very necessary.
- the inventiondesigns an adaptive restaurant clearing robot based on PLC control to solve the above problems.
- the present inventiondiscloses an adaptive restaurant clearing robot based on PLC control, which is implemented by the following technical solutions.
- An adaptive restaurant clearing robot based on PLC controlcharacterized in that it comprises a driving mechanism, a running mechanism, a wiping device, a dust collecting device, a first casing, a tension spring and a sensor, wherein two sensors are respectively installed at Both ends of the first casing are respectively located at two sides of the first casing; the dust suction device is installed inside the first casing; the wiping device is installed inside the dust suction device; the traveling mechanism is located at the center of the inner side of the wiping device, And the outer surface of the traveling mechanism and the four planes on the inner side of the wiping device are respectively connected by a tension spring; the driving mechanism is mounted on the upper side of the traveling mechanism.
- the driving mechanismcomprises a block, a compression block, a guiding arc plate, a first telescopic rod, a fixed shaft, a sleeve, a scroll spring, a first ring column, a second ring column, a base circular groove, a third limit block, and a Second limiting slot, base, pushing block, connecting block, first limiting block, compression spring, first spring cavity, second spring cavity, second limiting block, top cover, second housing, first The annular column groove and the first limiting groove, wherein the center of the upper end of the base is provided with a circular groove at the center; the four first limiting blocks each have a square notch; the four first limiting blocks are uniformly installed circumferentially On the upper end surface of the base, the outer ends of the four first limiting blocks are located outside the outer circular surface of the base; one end of the fixed shaft is installed at the center of the circular groove of the base; the inner circular surface of the sleeve is installed outside the fixed shaft a circular surface; the inner circular
- the walking mechanismcomprises a walking structure, a walking wheel, a first dust collecting pipe and an outlet pipe, wherein a functional motor, a PLC chip, a vacuum pump, a water tank and a dust box are installed on the inner side of the walking structure; the upper end surface of the walking structure is installed on the chassis On the lower end surface, three traveling wheels are circumferentially evenly mounted on the lower end of the walking structure; four first suction pipes are circumferentially evenly mounted on the outer circumference of the walking structure; the four outlet pipes are axially evenly mounted on The outer circular surface of the walking structure, and four outlet pipes are respectively adjacent to the four first dust suction pipes.
- the dust collecting devicecomprises a dust box, a dust suction hole and a second dust suction pipe, wherein the lower end of the dust box has a plurality of dust suction holes; the four second dust suction pipes are respectively installed on the upper end faces of the four sides of the dust box.
- the wiping deviceincludes a wiping block and an inlet pipe, wherein the wiping block is mounted on the inner side of the dust collecting device; and four inlet pipes are respectively mounted on the upper end faces of the four sides of the wiping block.
- the second dust suction pipeis connected to the first dust suction pipe through a hose; the first dust suction pipe is connected to the dust storage box in the traveling mechanism by the dust suction pump.
- the first inlet pipeis connected to the outlet pipe through a hose, and the outlet pipe is connected to the water tank in the traveling mechanism.
- the other end of the guiding arc plateis mounted with a fourth limiting block, and the fourth limiting block plays a limiting role for fast compression.
- the above-described scheme for replacing three traveling wheelsis four traveling wheels.
- the above sensoris a piezoelectric sensor.
- the above sensoris a photoelectric distance sensor.
- the restaurant clearing robot designed in the present inventionis composed of a driving mechanism, a running mechanism, a wiping device, and a dust collecting device, and has a walking function, a dust removing function, and a wiping function.
- the traveling mechanismhas a walking function; the functional motor installed in the traveling mechanism can provide power to the restaurant clearing robot; the function of the vacuum pump is to provide a negative pressure to the dust box; the dust box can absorb the dust from the dust.
- the storage tankis convenient for uniform cleaning; the water tank can supply the water source to the wiping device; the PLC chip in the functional mechanism of the invention can control the rotation and rotation of the walking wheel, thereby achieving the purpose of controlling walking and changing direction, so that the cleaning robot can reach the need The place to clean up; the effect of intelligent cleaning robot is realized.
- the wiping devicecan wipe the ground.
- the water in the water storage tank in the walking structureflows into the wiping block through the outlet pipe and the inlet pipe, so that the wiping block is semi-dry and semi-wet, and the cleaning robot is in the clearing state.
- the groundis wiped and cleaned by the wiping block, so that the ground is more clean;
- the dust collecting device designed in the inventionhas the function of vacuuming;
- the lower end of the dust boxhas a plurality of dust collecting holes in the circumferential direction, and the function is to use the dust box.
- the suction force of the dust suction box on the groundcan be averaged through the plurality of dust suction holes, and the negative pressure in the dust suction box is adjusted To keep the pressure inside the vacuum box constant.
- the cleaned dustis sucked into the dust box through the dust suction hole, and the dust in the dust box is moved to the dust box in the walking structure through the first dust suction pipe and the second dust suction pipe; thereby achieving dust cleaning Effect.
- the sensor mounted on the first casing in the present inventioncan control the movement of the clearing robot; when the clearing machine When the person touches the table leg in the middle side of the moving process, the clearing robot automatically adjusts to make it move laterally and continuously approach the table leg through the walking structure, and the table leg will give a reaction force to the second casing.
- the second housingcontinues to rotate, and the first housing continues to rotate around the table leg by the four tension springs while the second housing rotates, until the other side of the table leg is rotated, thereby achieving the purpose of cleaning the table legs.
- the sensorsenses the front leg and transmits the signal to the walking structure, the walking structure is laterally close to the table leg; and the table leg gives a reaction force to the second casing.
- the second housingcontinues to rotate, and the first housing continues to rotate around the table leg by the four tension springs while the second housing rotates, until the other side of the table leg is rotated, thereby achieving the purpose of cleaning the table legs.
- the second casing designed by the inventionis rotated by ninety degrees by the action of the restaurant table legs, and then continues to rotate by ninety degrees by the force of the scroll spring; since the scroll spring only has a rotation angle of ninety in the second casing
- the second casingcontinues to rotate in the original direction, and the second casing is rotated by the scroll spring to rotate in the opposite direction; the present invention rotates twice by 90 degrees by designing the second casing.
- the second housingcan rotate the first housing around the restaurant table leg by the tension spring while rotating twice; thereby cleaning the dust around the table legs.
- the baseplays a supporting role on the fixed shaft; and the first limiting block mounted on the upper side thereof has a fixed function; one end of the clamping block is installed on the inner side of the second spring cavity, and is mounted on the clamping block and
- the compression spring between the second spring chamberscan provide a restoring force to the block when the compression state is in a compressed state;
- the lower end of the blockhas a first limit groove, and the push block can pass from the first limit groove from one side of the block Moving to the other side;
- the lower end of the blockis mounted with a compression block; one end of the first telescopic rod is mounted inside the first spring cavity; when the compression spring installed between the first spring cavity and the first telescopic rod is in a compressed state
- the first telescopic rodcan provide a restoring force;
- the upper end of the first telescopic rodis provided with a guiding arc plate, and when the block moves toward the inner side of the second spring cavity, the compressing block will push the guiding arc plate
- the width of the pushing block designed by the inventionis the same as the width of the first limiting slot, and the upper end surface of the pushing block is flush with the upper side of the first limiting slot, so that the pushing speed can be smoothly at the first limit. Move in the bit slot.
- the compression spring installed between the first telescopic rod and the first spring chamberis in a freely telescopic state, and the compression spring installed between the block and the second spring chamber is in a freely telescopic state, and the scroll spring In a free state;
- the blockis located on the front side of the first telescopic rod in a circumferential clockwise direction; the first telescopic rod is in contact with the first limit block; one of the four push blocks is in contact with the block, and the push The block and the first limiting slot on the block are offset from each other in a radial direction;
- a sensoris mounted on the outer side of the first housing;
- the clearing robotis controlled by the functional motor and the PLC chip in the traveling mechanism to perform mobile cleaning; when the clearing robot is When the table legs on the ground are encountered during the cleaning process, the legs will block the movement of the clearing robot, and give a reaction force to the second casing on the clearing robot; make it rotate; because the four push blocks are installed in the first The inside of the two casing
- the push blockgradually moves out of the block from the square shape portion of the first limit groove through the inclined portion.
- the casingcan be rotated around the table legs while moving forward; the sides of the legs are cleaned by the dust suction device and the wiping device while rotating; after the cleaning is completed, due to the cleaning
- the robothas been moved to the other side of the legs, the legs do not move to clear the robot impact; clear the robot can continue to clean up dirt on another ground.
- Figure 1is a schematic view of the appearance of an integral part.
- Figure 2is a schematic view of the installation of the drive mechanism.
- Figure 3is a schematic view of the internal structure of the drive mechanism.
- FIG. 4is a schematic view showing the installation of the first telescopic rod.
- Figure 5is a schematic view of the block installation.
- Figure 6is a schematic view of the structure of the card block.
- Figure 7is a schematic view of the second housing mounting.
- Figure 8is a schematic view showing the installation of the second limit block.
- Figure 9is a schematic view showing the structure of the first limiting groove.
- Figure 10is a schematic view showing the mounting of the wiping block.
- Figure 11is a schematic view showing the structure of the dust box.
- Figure 12is a schematic view showing the distribution of the first telescopic rod and the block.
- Figure 13is a schematic diagram of the working principle of the card block.
- Figure 14is a schematic view showing the working principle of the first telescopic rod.
- Figure 15is a schematic diagram of the working principle of the clearing robot.
- Figure 16is a schematic view of the force of the guide arc plate.
- FIG. 1 and 2it comprises a driving mechanism 37, a running mechanism 38, a wiping device 40, a dust suction device 39, a first housing 3, a tension spring 10, and a sensor 1, wherein as shown in FIG.
- the sensors 1are respectively installed at both ends of the first casing 3 and are respectively located at two sides of the first casing 3; the dust suction device 39 is installed inside the first casing 3; and the wiping device 40 is installed inside the dust suction device 39.
- the running mechanism 38is located at the center of the inner side of the wiping device 40, and the outer circular surface of the traveling mechanism 38 and the four planes inside the wiping device 40 are respectively connected by a tension spring 10; as shown in FIG. 2, the driving mechanism 37 is mounted on the walking. The upper side of the mechanism 38.
- the drive mechanism 37includes a block 11, a compression block 13, a guide arc plate 14, a first telescopic rod 15, a fixed shaft 16, a sleeve 17, a scroll spring 18, and a first ring post 19.
- a base circular groove 21is defined in the center of the upper end of the base 22; one end of each of the four first limiting blocks 25 is formed with a square notch; the four first limiting blocks 25 are circumferentially uniformly mounted on the upper end surface of the base 22, The outer ends of the four first limiting blocks 25 are located outside the outer circular surface of the base 22; as shown in FIG. 3, one end of the fixed shaft 16 is installed at the center of the circular groove 21; the inner circular surface of the sleeve 17 is installed.
- the inner circular surface of the second annular post 20is fixedly mounted on the outer circular surface of the lower end of the sleeve 17; as shown in FIG. 4, the outer circular surface of the second annular post 20 is opened.
- a second spring cavity 28is formed on the outer circular surface of the lower end of the first annular column 19; the inner circular surface of the second spring cavity 28 is symmetrical There are two second limiting slots 43; and the two second limiting slots 43 do not pass through the outer circular surface of the first annular post 19; as shown in FIG. 5, the lower side of one end of the latch 11 has a first a limiting slot 36, and as shown in Figures 6 and 9, the first limiting slot 36 is composed of a square portion and a slanted portion, and the intersection of the square shaped portion and the inclined portion is formed. As shown in FIG.
- two third limiting blocks 42are symmetrically mounted on both sides of the block 11; one end of the blocking block 11 passes through the two third limiting blocks 42 and the two second limiting slots 43 Fitted to fit inside the second spring cavity 28; as shown in FIG. 6, a compression spring 26 is mounted between the block 11 and the second spring cavity 28; one end of the compression spring 26 is mounted at one end of the block 11, and One end is mounted on the inner end surface of the second spring cavity 28; as shown in FIG. 6, the upper end of the compression block 13 is mounted on the lower side of the block 11, and the compression block 13 is located at the first limiting groove 36 and the first annular column.
- the compression block 13cooperates with the guiding arc plate 14 and the fourth limiting block 44; as shown in FIG. 8, the top cover 30 is mounted on the upper end of the fixed shaft 16; one end of the second limiting block 29 is The arc shape is as shown in FIG. 8.
- the four second limiting blocks 29are circumferentially uniformly mounted on the lower end surface of the top cover 30, and the non-arc-shaped one ends of the four second limiting blocks 29 are located on the top cover. 30, the outer side of the outer circular surface; as shown in FIG. 7, the inner circumference of the second casing 12 is provided with an annular groove 41, and the second casing 12 is matched with the second limiting block 29 through the upper end surface of the annular groove 41.
- the second housing 12is mounted on the outer circumference of the base 22 by the engagement of the lower end surface of the annular groove 41 with the first limiting block 25; as shown in FIG.
- One end of the connecting block 24is circumferentially evenly mounted on the inner circular surface of the annular groove 41 of the second casing 12, and the other end of the four connecting blocks 24 is mounted with a pushing block 23; as shown in FIG.
- the width of the first limiting slot 36is the same as the width of the first limiting slot 36, and the upper end surface of the pushing block 23 is matched with the upper surface of the first limiting slot 36.
- the mounting positions of the four first limiting blocks 25are respectively The four second limiting blocks 29 are fitted in a matching position.
- the traveling mechanism 38includes a walking structure 4, a traveling wheel 6, a first dust suction pipe 8, and an outlet pipe 9, wherein a functional motor, a PLC chip, a suction pump, a water tank, and the inside of the walking structure 4 are installed.
- a dust boxthe upper end surface of the walking structure 4 is mounted on the lower end surface of the chassis, as shown in Figs. 1 and 2, the three traveling wheels 6 are circumferentially evenly mounted at the lower end of the walking structure 4; the four first dust suction pipes 8
- the outer circumferential surface of the circumferentially uniform mounted walking structure 4; the four outlet pipes 9are axially evenly mounted on the outer circular surface of the walking structure 4, and the four outlet pipes 9 and the four first dust suction pipes are respectively 8 adjacent.
- the dust collecting device 39includes a dust box 5, a dust suction hole 2, and a second dust suction pipe 32.
- the lower end of the dust box 5is provided with a plurality of dust suction holes 2;
- the tubes 32are respectively mounted on the upper end faces of the four sides of the dust box 5; the dust box 5 is mounted on the inner side of the lower end of the first casing 3.
- the wiping device 40includes a wiping block and an inlet pipe 33, wherein the wiping block is mounted inside the dust suction device 39; and four inlet pipes 33 are respectively mounted on the upper end faces of the wiper block.
- the second dust suction pipe 32is connected to the first dust suction pipe 8 through a hose; the first dust suction pipe 8 is connected to the dust storage box in the traveling mechanism 38 by a dust suction pump.
- the first inlet pipe 33is connected to the outlet pipe 9 via a hose, and the outlet pipe 9 is connected to the water tank in the traveling mechanism 38.
- the other end of the guiding arc plate 14is mounted with a fourth limiting block 44, and the fourth limiting block 44 limits the compression.
- the above-described scheme for replacing the three traveling wheels 6is four traveling wheels 6.
- the above sensor 1is a piezoelectric sensor 1.
- the above sensor 1is a photoelectric distance sensor 1.
- the restaurant clearing robot designed in the present inventionis composed of a drive mechanism 37, a traveling mechanism 38, a wiping device 40, and a dust suction device 39, and has a walking function, a dust removing function, and a wiping function.
- the traveling mechanism 38has a walking function; the functional motor installed in the traveling mechanism 38 can provide power to the restaurant clearing robot; the function of the vacuum pump is to provide negative pressure to the dust box 5; the dust box can absorb The dust is stored for convenient cleaning, and the water tank can supply the water source to the wiping device 40.
- the PLC chip in the functional mechanism of the present inventioncan control the rotation and rotation of the traveling wheel 6, thereby achieving the purpose of controlling walking and changing direction, so that The cleaning robot can reach the place where it needs to be cleaned; it realizes the effect of intelligent cleaning robot.
- the wiping device 40can wipe the ground.
- the water in the water storage tank of the walking structure 4flows into the wiping block through the water outlet pipe 9 and the water inlet pipe 33, so that the wiping block is semi-dry and semi-wet. After the cleaning of the clearing robot is completed, wipe the ground with a wiping block.
- the cleaning device 39 designed in the present inventionhas a dust suction function; the lower end of the dust box 5 has a plurality of dust suction holes 2 in the circumferential direction, and the function is that when the dust box 5 passes the suction pump, the first When the dust suction pipe 8 and the second dust suction pipe 32 absorb the dust on the ground, the suction force of the dust suction box 5 on the ground can be averaged through the plurality of dust suction holes 2, and the negative pressure in the dust suction box 5 can be adjusted.
- the pressure inside the dust box 5is kept constant.
- the cleaned dustis sucked into the dust box 5 through the dust suction hole 2, and the dust in the dust box 5 is moved to the dust box in the walking structure 4 through the first dust suction pipe 8 and the second dust suction pipe 32. ; thus achieving the effect of vacuum cleaning.
- the sensor 1 mounted on the first casing 3 of the present inventioncan control the movement of the clearing robot; when the clearing robot touches the table leg at the position of the middle side of the moving process, as shown in FIG. 15a,
- the ground robotautomatically adjusts so that it moves laterally and continuously approaches the table leg through the walking structure, and as shown in Fig. 15b, the table leg gives a reaction force to the second casing 12 to rotate it; the second casing 12 rotates.
- the first housing 3is driven to rotate around the table leg by the four tension springs 10; as shown in FIG. 15c, after the second housing 12 is rotated by ninety degrees, the second force is driven by the force of the scroll spring 18
- the housing 12continues to rotate, as shown in FIG.
- the second housing 12is driven to continue to rotate by the urging force of the scroll spring 18, and four tension springs are passed while the second housing 12 is rotated.
- 10drives the first housing to continue to rotate around the table legs, as shown in FIG. h, until it is rotated to the other side of the table legs, thereby achieving the purpose of cleaning the table legs.
- the second casing 12 designed by the present inventionis rotated by ninety degrees by the action of the restaurant table legs, and then continues to rotate by ninety degrees by the force of the scroll spring 18; since the scroll spring 18 is only rotated in the second casing 12.
- the second housing 12When the angle reaches ninety degrees, the second housing 12 continues to rotate in the original direction, whereas the second housing 12 is rotated by the scroll spring 18 in the opposite direction; the present invention designs the second housing 12
- the rotation of the second housing 12 by the tension spring 10allows the first housing 3 to be rotated around the restaurant table leg by two times while rotating twice; thereby cleaning the dust around the table legs.
- the base 22plays a supporting role for the fixed shaft 16; and plays a fixed role on the first limiting block 25 mounted on the upper side thereof; one end of the locking block 11 is mounted on the inner side of the second spring chamber, and is mounted.
- the compression spring 26 between the block 11 and the second spring chamberis in a compressed state, the clamping block 11 can be provided with a restoring force; the lower end of the block 11 has a first limiting slot 36, and the pushing block 23 can pass the first A limiting slot 36 moves from one side of the latching block 11 to the other side; a lower end of the latching block 11 is mounted with a compressing block 13; one end of the first telescopic rod 15 is mounted inside the first spring cavity 27;
- the compression spring 26 between the spring chamber and the first telescopic rod 15is in a compressed state, the first telescopic rod 15 can be provided with a restoring force; the upper end of the first telescopic rod 15 is mounted with the guiding arc plate 14 when the block 11 is oriented
- the compression block 13moves the push guide arc plate 14; the guide arc plate 14 causes the first telescopic rod 15 to move toward the inner side of the first spring cavity, while moving.
- the guide arc plateis an arc plate with a gradually increasing arc, which can The force of the compression block is decomposed into the direction of the first telescopic rod to transmit the force of the compression block to the first telescopic rod; the second limit block 29 acts as a limit for the block 11; the second limit block 29 is A telescopic rod 15 acts as a limit; the scroll spring 18 mounted between the sleeve 17 and the first annular post 19 can provide a restoring force to the sleeve 17, and the width and first limit of the push block 23 designed in accordance with the present invention
- the width of the bit groove 36is the same, and the upper end surface of the pushing block 23 is flush with the upper side surface of the first limiting groove 36, so that the pushing speed can smoothly move in the first limiting groove 36.
- the scroll spring 18In the freely telescopic state, the scroll spring 18 is in a free state; the block 11 is located on the front side of the first telescopic rod 15 in the circumferential clockwise direction; the first telescopic rod 15 is in contact with the first limiting block 25; four push blocks 23 One of the push blocks 23 is in contact with the block 11, and the push block 23 and the first limit groove 36 on the block 11 are offset from each other; the outer side of the first housing 3 is mounted with the sensor 1;
- the function motor and PLC chipcontrol the clearing robot for mobile cleaning; when the clearing robot touches the table legs on the ground during the cleaning process, the table legs will block the clearing robot from advancing, giving the first shell on the clearing robot a reaction force of the body 3; the second housing 12 is driven to rotate by the mounted sensor 1 on the first housing 3 and the four tension springs 10 mounted between the first housing 3 and the second housing 12; Because the four push blocks 23 are installed The inside of the second housing 12, so that the second housing 12 rotates while driving the four push blocks 23 to rotate
- the slider 11will rotate with a certain angle and then the second The position block 29 is in contact, and the other of the four blocks 11 is moved to a position close to the first telescopic rod 15; since the contact between the second limit block 29 and the block 11 is arc-shaped, Therefore, the card block 11 is in contact with the second limiting block 29, and the card is given a reaction force due to the second limiting block 29, the card The block 11 will move toward the side close to the fixed shaft 16 under this reaction force; during its movement, the compression block 13 will push the guide arc plate 14 mounted on the first telescopic rod 15 toward the side close to the fixed shaft 16. Moving, the guiding arc plate 14 moves while driving the first telescopic rod 15; as shown in FIG.
- the other pushing block 23gradually approaches the first telescopic rod 15 and is clockwise in the circumferential direction.
- the upper side of the first telescopic rod 15is located on the rear side of the first telescopic rod 15; as shown in FIG. 13b, the contact area of the port of the first limiting slot 36 and the pushing block 23 is continuously increased in the movement of the block 11; as shown in FIG. 14b, A telescopic rod 15 gradually moves away from the control of the first limiting block 25, and the other pushing block 23 gradually moves from one side of the first limiting block 25 to the first limiting block through the square notch on the first limiting block 25.
- the pushing block 23gradually moves out of the block 11 from the square shape portion of the first limiting groove 36 through the inclined portion, on the front side of the block 11; due to the force of the scroll spring 18,
- the first telescopic rod 15will push the other pushing block 23 located at the front thereof to move; thereby driving the second housing to rotate; sequentially driving, the second housing will be in a state of constant rotation; the second housing is rotated while being installed
- Four tension springs 10 between the second housing and the first housingdrive the first housing to move while controlling the moving direction of the first housing by the sensor 1 such that the first housing moves forward while Can be rotated around the table legs of the restaurant;
- both sides of the legare cleaned by the dust collecting device 39 and the wiping device 40; after the cleaning is completed, since the clearing robot has moved to the other side of the leg, the leg does not cause movement of the clearing robot Impact; Qingdi robots can continue to clean other dust on the ground.
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Abstract
Description
Translated fromChinese本发明属于餐厅清地机器人技术领域，尤其涉及一种基于PLC控制的适应型餐厅清地机器人。The invention belongs to the technical field of restaurant clearland robots, and in particular relates to an adaptive restaurant clearing robot based on PLC control.
目前对于餐厅的清扫工作常为人力进行清扫，很少使用机器人；且人为对餐厅进行清扫时效率低下，成本较高；在人为清扫过程中经常会忽略边角处的尘土使得清扫不够干净；而且餐厅中安放有许多桌椅，在清扫过程中桌椅下端支撑腿会对清理过程造成影响；所以需要设计一种既能提高效率又能对桌椅下端的支撑腿处的尘土进行清理的清扫机器人非常有必要的。At present, the cleaning work of the restaurant is often carried out for manpower cleaning, and the robot is rarely used; and the cleaning of the restaurant is inefficient and costly; in the process of human cleaning, the dust at the corners is often ignored, so that the cleaning is not clean enough; There are many tables and chairs in the restaurant. During the cleaning process, the support legs at the lower end of the table and chair will affect the cleaning process. Therefore, it is necessary to design a cleaning robot that can improve the efficiency and clean the dust at the support legs at the lower end of the table and chair. Very necessary.
本发明设计一种基于PLC控制的适应型餐厅清地机器人解决如上问题。The invention designs an adaptive restaurant clearing robot based on PLC control to solve the above problems.
发明内容Summary of the invention
为解决现有技术中的上述缺陷，本发明公开一种基于PLC控制的适应型餐厅清地机器人，它是采用以下技术方案来实现的。In order to solve the above-mentioned drawbacks in the prior art, the present invention discloses an adaptive restaurant clearing robot based on PLC control, which is implemented by the following technical solutions.
一种基于PLC控制的适应型餐厅清地机器人，其特征在于：它包括驱动机构、行走机构、擦拭装置、吸尘装置、第一壳体、拉伸弹簧、传感器，其中两个传感器分别安装在第一壳体的两端且分别位于第一壳体的两侧；吸尘装置安装在第一壳体的内侧；擦拭装置安装在吸尘装置的内侧；行走机构位于擦拭装置内侧的中心处，且行走机构外圆面与擦拭装置内侧的四个平面分别通过一个拉伸弹簧连接；驱动机构安装在行走机构的上侧。An adaptive restaurant clearing robot based on PLC control, characterized in that it comprises a driving mechanism, a running mechanism, a wiping device, a dust collecting device, a first casing, a tension spring and a sensor, wherein two sensors are respectively installed at Both ends of the first casing are respectively located at two sides of the first casing; the dust suction device is installed inside the first casing; the wiping device is installed inside the dust suction device; the traveling mechanism is located at the center of the inner side of the wiping device, And the outer surface of the traveling mechanism and the four planes on the inner side of the wiping device are respectively connected by a tension spring; the driving mechanism is mounted on the upper side of the traveling mechanism.
上述驱动机构包括卡块、压缩块、导向弧板、第一伸缩杆、固定轴、轴套、涡卷弹簧、第一环形柱、第二环形柱、底座圆槽、第三限位块、第二限位槽、底座、推动块、连接块、第一限位块、压缩弹簧、第一弹簧腔体、第二弹簧腔体、第二限位块、顶盖、第二壳体、第一环形柱槽、第一限位槽，其中底座上端的中心处开有底座圆槽；四个第一限位块的一端均开有一个方形缺口；四个第一限位块周向均匀地安装在底座上端面上，且四个第一限位块的外端均位于底座外圆面外侧；固定轴的一端安装在底座圆槽的中心处；轴套的内圆面安装在固定轴的外圆面上；第二环形柱的內圆面固定安装在轴套下端的的外圆面上；第二环形柱的外圆面上开有第一弹簧腔体；第一伸缩杆的一端安装在第一弹簧腔体内侧，第一伸缩杆与第一弹簧腔体之间安装有一个压缩弹簧；压缩弹簧的一端安装在第一伸缩杆上位于第一弹簧腔内侧的一端的端面上，另一端安装在第一弹簧腔体内侧的端面上；导向弧板的一端安装在第一伸缩杆的上端；第一环形柱的内圆面安装在轴套上端的外圆面上；第一环形柱的上端开有第一环形柱槽；涡卷弹簧位于第一环形柱槽内；涡卷弹簧的內端安装在轴套的外圆面上，外端安装在第一环形柱槽的内圆面上；第一环形柱下端的外圆面上开有第二弹簧腔体；第二弹簧腔体的内圆面上对称开有两个第二限位槽；且两个第二限位槽均没有穿出第一环形柱的外圆面；卡块一端的下侧开有第一限位槽，且第一限位槽由方形部分和倾斜状部分组成，方形状部分与倾斜状部分的交接处成一台阶；卡块的两侧对称安装有两个第三限位块；卡块的一端通过两个第三限位块与两个第二限位槽的配合安装在第二弹簧腔体内侧；卡块与第二弹簧腔体之间安装有一个压缩弹簧；压缩弹簧的一端安装在卡块的一端，另一端安装在第二弹簧腔体内侧的端面上；压缩块的上端安装在卡块的下侧，且压缩块位于第一限位槽与第一环形柱外圆面之间；压缩块与导向弧板和第四限位块配合；顶盖安装在固定轴的上端；第二限位块的一端为圆弧状，四个第二限位块周向均匀的安装在顶盖下端面上，且四个第二限位块非圆弧状的一端均位于顶盖外圆面的的外侧；第二壳体的內圆上开有一个环形槽，第二壳体通过环形槽上侧端面与第二限位块配合安装在顶盖的外圆面上；第二壳体通过环形槽下侧端面与第一限位块的配合安装在底座的外圆面上；四个连接块的一端周向均匀的安装在第二壳体环形槽的内圆面上，四个连接块的另一端均安装有一个推动块；推动块的宽度与第一限位槽的宽度相同，且推动块的上端面与第一限位槽的上侧面配合；四个第一限位块安装位置分别与四个第二限位块安装位置相配合。The driving mechanism comprises a block, a compression block, a guiding arc plate, a first telescopic rod, a fixed shaft, a sleeve, a scroll spring, a first ring column, a second ring column, a base circular groove, a third limit block, and a Second limiting slot, base, pushing block, connecting block, first limiting block, compression spring, first spring cavity, second spring cavity, second limiting block, top cover, second housing, first The annular column groove and the first limiting groove, wherein the center of the upper end of the base is provided with a circular groove at the center; the four first limiting blocks each have a square notch; the four first limiting blocks are uniformly installed circumferentially On the upper end surface of the base, the outer ends of the four first limiting blocks are located outside the outer circular surface of the base; one end of the fixed shaft is installed at the center of the circular groove of the base; the inner circular surface of the sleeve is installed outside the fixed shaft a circular surface; the inner circular surface of the second annular post is fixedly mounted on the outer circular surface of the lower end of the sleeve; the outer circular surface of the second annular post is provided with a first spring cavity; one end of the first telescopic rod is mounted on Inside the first spring cavity, firstA compression spring is mounted between the telescopic rod and the first spring cavity; one end of the compression spring is mounted on an end surface of the first telescopic rod at one end inside the first spring chamber, and the other end is mounted on the inner side of the first spring chamber One end of the guiding arc plate is mounted on the upper end of the first telescopic rod; the inner circular surface of the first annular column is mounted on the outer circular surface of the upper end of the sleeve; the upper end of the first annular column is provided with a first annular column groove; The scroll spring is located in the first annular column groove; the inner end of the scroll spring is mounted on the outer circular surface of the sleeve, and the outer end is mounted on the inner circular surface of the first annular column groove; the outer circumference of the lower end of the first annular column a second spring cavity is opened on the surface; two second limiting slots are symmetrically opened on the inner circular surface of the second spring cavity; and the two second limiting slots do not pass through the outer circle of the first annular column The first side of the end of the block has a first limiting slot, and the first limiting slot is composed of a square portion and a slanted portion, and the intersection of the square shaped portion and the inclined portion forms a step; Two third limit blocks are installed; one end of the block passes two third limits The block and the two second limiting slots are mounted on the inner side of the second spring cavity; a compression spring is mounted between the block and the second spring cavity; one end of the compression spring is mounted at one end of the block, and the other end is mounted On the inner end surface of the second spring cavity; the upper end of the compression block is mounted on the lower side of the block, and the compression block is located between the first limiting groove and the outer circular surface of the first annular column; the compression block and the guiding arc plate and The fourth limiting block is matched; the top cover is mounted on the upper end of the fixed shaft; one end of the second limiting block is arc-shaped, and the four second limiting blocks are circumferentially evenly mounted on the lower end surface of the top cover, and four The non-arc-shaped one end of the second limiting block is located on the outer side of the outer circular surface of the top cover; the inner circumference of the second housing has an annular groove, and the second housing passes through the upper end surface of the annular groove and the second limit The block is mounted on the outer circumference of the top cover; the second housing is mounted on the outer circumference of the base by the lower end surface of the annular groove and the first limiting block; one end of the four connecting blocks is circumferentially uniform Installed on the inner circular surface of the annular groove of the second casing, and the other ends of the four connecting blocks are installed a pushing block; the width of the pushing block is the same as the width of the first limiting slot, and the upper end surface of the pushing block is matched with the upper side surface of the first limiting slot; the four first limiting blocks are respectively installed at the position and the fourth second The position of the limit block is matched.
上述行走机构包括行走结构、行走轮、第一吸尘管、出水管，其中行走结构的内侧安装有功能电机、PLC芯片、吸尘泵、水箱和储尘箱；行走结构的上端面安装在底盘下端面上，三个行走轮周向均匀地安装在行走结构的下端；四个第一吸尘管周向均匀的安装的行走结构的外圆面上；四个出水管轴向均匀的安装在行走结构的外圆面上，且四个出水管分别与四个第一吸尘管相邻。The walking mechanism comprises a walking structure, a walking wheel, a first dust collecting pipe and an outlet pipe, wherein a functional motor, a PLC chip, a vacuum pump, a water tank and a dust box are installed on the inner side of the walking structure; the upper end surface of the walking structure is installed on the chassis On the lower end surface, three traveling wheels are circumferentially evenly mounted on the lower end of the walking structure; four first suction pipes are circumferentially evenly mounted on the outer circumference of the walking structure; the four outlet pipes are axially evenly mounted on The outer circular surface of the walking structure, and four outlet pipes are respectively adjacent to the four first dust suction pipes.
上述吸尘装置包括吸尘箱、吸尘孔、第二吸尘管，其中吸尘箱的下端开有许多吸尘孔；四个第二吸尘管分别安装在吸尘箱四侧的上端面上；吸尘箱安装在第一壳体下端的内侧面上。The dust collecting device comprises a dust box, a dust suction hole and a second dust suction pipe, wherein the lower end of the dust box has a plurality of dust suction holes; the four second dust suction pipes are respectively installed on the upper end faces of the four sides of the dust box. Upper; vacuum box installed in the firstThe inner side of the lower end of a housing.
上述擦拭装置包括擦拭块、进水管，其中擦拭块安装在吸尘装置的内侧；四个进水管分别安装在擦拭块四侧的上端面上。The wiping device includes a wiping block and an inlet pipe, wherein the wiping block is mounted on the inner side of the dust collecting device; and four inlet pipes are respectively mounted on the upper end faces of the four sides of the wiping block.
上述第二吸尘管通过软管与第一吸尘管连接；第一吸尘管通过吸尘泵与行走机构中的储尘箱连接。The second dust suction pipe is connected to the first dust suction pipe through a hose; the first dust suction pipe is connected to the dust storage box in the traveling mechanism by the dust suction pump.
上述第一进水管通过软管与出水管连接，出水管与行走机构中的水箱连接。The first inlet pipe is connected to the outlet pipe through a hose, and the outlet pipe is connected to the water tank in the traveling mechanism.
作为本技术的进一步改进，上述导向弧板的另一端安装有第四限位块，第四限位块对压缩快起到了限位作用。As a further improvement of the technology, the other end of the guiding arc plate is mounted with a fourth limiting block, and the fourth limiting block plays a limiting role for fast compression.
作为本技术的进一步改进，上述作为替换三个行走轮的方案为四个行走轮。As a further improvement of the present technology, the above-described scheme for replacing three traveling wheels is four traveling wheels.
作为本技术的进一步改进，上述传感器为压电传感器。As a further improvement of the present technology, the above sensor is a piezoelectric sensor.
作为本技术的进一步改进，上述传感器为光电距离传感器。As a further improvement of the present technology, the above sensor is a photoelectric distance sensor.
相对于传统的餐厅清地机器人技术，本发明中设计的餐厅清地机器人是由驱动机构、行走机构、擦拭装置、吸尘装置构成，其具有行走功能、除尘功能、擦拭功能。Compared with the conventional restaurant clearing robot technology, the restaurant clearing robot designed in the present invention is composed of a driving mechanism, a running mechanism, a wiping device, and a dust collecting device, and has a walking function, a dust removing function, and a wiping function.
本发明中行走机构具有行走功能；安装在行走机构中的功能电机能够给餐厅清地机器人提供动力；吸尘泵的作用是能够给吸尘箱提供负压；储尘箱能够将吸收上来的尘土进行储充，方便统一清理；水箱能够给擦拭装置提供水源；本发明中功能机构中的PLC芯片可以控制行走轮的转动和旋转，从而达到控制行走和改变方向的目的，使得清扫机器人能够到达需要清理的地方；实现了智能清扫机器人的效果。本发明中擦拭装置可以对地面进行擦拭，在擦拭过程中，行走结构中储水箱中的水经过出水管和进水管流入到擦拭块中，使擦拭块成半干半湿状态，在清地机器人吸尘完成后通过擦拭块对地面进行擦拭清理，使得地面更加清洁；本发明中设计的吸尘装置具有吸尘功能；吸尘箱的下端周向开有许多吸尘孔，其作用是当吸尘箱通过吸尘泵、第一吸尘管和第二吸尘管对地面上的尘土进行吸收处理时；通过多个吸尘孔可以平均吸尘箱对地面的吸力，调节吸尘箱内的负压，使吸尘箱内压力保持恒定。被清理的尘土通过吸尘孔被吸入到吸尘箱中，吸尘箱中的尘土通过第一吸尘管和第二吸尘管移动到行走结构中的储尘箱中；从而达到吸尘清理的效果。In the invention, the traveling mechanism has a walking function; the functional motor installed in the traveling mechanism can provide power to the restaurant clearing robot; the function of the vacuum pump is to provide a negative pressure to the dust box; the dust box can absorb the dust from the dust. The storage tank is convenient for uniform cleaning; the water tank can supply the water source to the wiping device; the PLC chip in the functional mechanism of the invention can control the rotation and rotation of the walking wheel, thereby achieving the purpose of controlling walking and changing direction, so that the cleaning robot can reach the need The place to clean up; the effect of intelligent cleaning robot is realized. In the invention, the wiping device can wipe the ground. During the wiping process, the water in the water storage tank in the walking structure flows into the wiping block through the outlet pipe and the inlet pipe, so that the wiping block is semi-dry and semi-wet, and the cleaning robot is in the clearing state. After the cleaning is completed, the ground is wiped and cleaned by the wiping block, so that the ground is more clean; the dust collecting device designed in the invention has the function of vacuuming; the lower end of the dust box has a plurality of dust collecting holes in the circumferential direction, and the function is to use the dust box. When the dust on the ground is absorbed by the dust suction pump, the first dust suction pipe and the second dust suction pipe; the suction force of the dust suction box on the ground can be averaged through the plurality of dust suction holes, and the negative pressure in the dust suction box is adjusted To keep the pressure inside the vacuum box constant. The cleaned dust is sucked into the dust box through the dust suction hole, and the dust in the dust box is moved to the dust box in the walking structure through the first dust suction pipe and the second dust suction pipe; thereby achieving dust cleaning Effect.
本发明中安装在第一壳体上的传感器能够控制清地机器人的移动；当清地机器人在移动过程中中间偏侧边的位置碰到餐桌腿时，通过清地机器人自动调节使得其横向移动且通过行走结构不断靠近绕餐桌腿，同时餐桌腿会给第二壳体一个反作用力，使得其进行转动；在第二壳体转动的同时通过四根拉伸弹簧驱动第一壳体围绕餐桌腿进行转动；当第二壳体转动九十度后，通过涡卷弹簧的作用力驱动第二壳体继续转动，在第二壳体转动的同时通过四根拉伸弹簧带动第一壳体围绕桌脚继续转动，直到转动到餐桌腿的另一侧，从而达到清扫桌脚的目的。而当清地机器人上靠近边缘的一端靠近餐桌腿时，传感器感应到前方的桌腿，将信号传递给行走结构，行走结构横向向桌脚靠近；同时餐桌腿会给第二壳体一个反作用力，使得其进行转动；在第二壳体转动的同时通过四根拉伸弹簧驱动第一壳体围绕餐桌腿进行转动；当第二壳体转动九十度后，通过涡卷弹簧的作用力驱动第二壳体继续转动，在第二壳体转动的同时通过四根拉伸弹簧带动第一壳体围绕桌脚继续转动，直到转动到餐桌腿的另一侧，从而达到清扫桌脚的目的。本发明设计的第二壳体通过餐厅桌腿的作用下先转动九十度，然后通过涡卷弹簧的作用力继续转动九十度；因为涡卷弹簧只有在第二壳体转动角度达到九十度时候才会带动第二壳体继续沿原来的方向旋转，反之第二壳体则会被涡卷弹簧带动向相反的方向旋转；本发明通过设计第二壳体进行转动两次九十度，第二壳体在两次转动的同时通过拉伸弹簧可以使得第一壳体围绕餐厅桌腿转动一周；从而将擦桌腿四周的尘土清理干净。The sensor mounted on the first casing in the present invention can control the movement of the clearing robot; when the clearing machineWhen the person touches the table leg in the middle side of the moving process, the clearing robot automatically adjusts to make it move laterally and continuously approach the table leg through the walking structure, and the table leg will give a reaction force to the second casing. Rotating; rotating the first housing around the table leg by four tension springs while the second housing is rotating; and driving by the force of the scroll spring after the second housing is rotated by ninety degrees The second housing continues to rotate, and the first housing continues to rotate around the table leg by the four tension springs while the second housing rotates, until the other side of the table leg is rotated, thereby achieving the purpose of cleaning the table legs. When the end of the clearing robot near the edge is close to the table leg, the sensor senses the front leg and transmits the signal to the walking structure, the walking structure is laterally close to the table leg; and the table leg gives a reaction force to the second casing. Rotating; rotating the first housing around the table leg by four tension springs while the second housing is rotating; and driving by the force of the scroll spring after the second housing is rotated by ninety degrees The second housing continues to rotate, and the first housing continues to rotate around the table leg by the four tension springs while the second housing rotates, until the other side of the table leg is rotated, thereby achieving the purpose of cleaning the table legs. The second casing designed by the invention is rotated by ninety degrees by the action of the restaurant table legs, and then continues to rotate by ninety degrees by the force of the scroll spring; since the scroll spring only has a rotation angle of ninety in the second casing The second casing continues to rotate in the original direction, and the second casing is rotated by the scroll spring to rotate in the opposite direction; the present invention rotates twice by 90 degrees by designing the second casing. The second housing can rotate the first housing around the restaurant table leg by the tension spring while rotating twice; thereby cleaning the dust around the table legs.
本发明中底座对固定轴起到了支撑的作用；且对安装在其上侧的第一限位块起到了固定的作用；卡块的一端安装在第二弹簧腔的内侧，安装在卡块与第二弹簧腔之间的压缩弹簧处于压缩状态时能够给卡块提供一个恢复力；卡块的下端开有一个第一限位槽，推动块可以通过第一限位槽从卡块的一侧移动到另一侧；卡块的下端安装有压缩块；第一伸缩杆的一端安装在第一弹簧腔体内侧；当安装在第一弹簧腔与第一伸缩杆之间的压缩弹簧处于压缩状态时能够给第一伸缩杆提供一个恢复力；第一伸缩杆的上端安装有导向弧板，当卡块向第二弹簧腔体内侧移动时，压缩块将推动导向弧板移动；使的导向弧板带动第一伸缩杆向第一弹簧腔的内侧移动；第二限位块对卡块起到了限位的作用；第二限位块对第一伸缩杆起到了限位作用；安装在轴套与第一环形柱之间的涡卷弹簧能够给轴套一个恢复力。本发明设计的推动块的宽度与第一限位槽的宽度相同，且推动块的上端面与第一限位槽的上侧面齐平，其作用是可以让推动快可以顺利地在第一限位槽中移动。In the invention, the base plays a supporting role on the fixed shaft; and the first limiting block mounted on the upper side thereof has a fixed function; one end of the clamping block is installed on the inner side of the second spring cavity, and is mounted on the clamping block and The compression spring between the second spring chambers can provide a restoring force to the block when the compression state is in a compressed state; the lower end of the block has a first limit groove, and the push block can pass from the first limit groove from one side of the block Moving to the other side; the lower end of the block is mounted with a compression block; one end of the first telescopic rod is mounted inside the first spring cavity; when the compression spring installed between the first spring cavity and the first telescopic rod is in a compressed state The first telescopic rod can provide a restoring force; the upper end of the first telescopic rod is provided with a guiding arc plate, and when the block moves toward the inner side of the second spring cavity, the compressing block will push the guiding arc plate to move; The plate drives the first telescopic rod to move to the inner side of the first spring chamber; the second limiting block acts as a limit for the block; the second limiting block acts as a limit for the first telescopic rod; Between the first ring and the first ring A spiral spring able to recover the sleeveforce. The width of the pushing block designed by the invention is the same as the width of the first limiting slot, and the upper end surface of the pushing block is flush with the upper side of the first limiting slot, so that the pushing speed can be smoothly at the first limit. Move in the bit slot.
在清地机器人工作时，安装在第一伸缩杆与第一弹簧腔之间的压缩弹簧处于自由伸缩状态，安装在卡块与第二弹簧腔之间的压缩弹簧处于自由伸缩状态，涡卷弹簧处于自由状态；卡块在周向顺时针方向上位于第一伸缩杆的前侧；第一伸缩杆与第一限位块接触；四个推动块中的其中一个推动块与卡块接触，且此推动块与卡块上的第一限位槽径向方向相互错位；第一壳体的外侧安装有传感器；通过行走机构中的功能电机和PLC芯片控制清地机器人进行移动清理；当清地机器人在清理过程中碰到位于地面上的桌腿时，桌腿会阻挡清地机器人前进，给清地机器人上的第二壳体一个反作用力；使其进行转动；因为四个推动块均安装在第二壳体内侧，所以第二壳体在转动的同时会带动四个推动块进行转动；而此时四个推动块中其中一个推动块与卡块接触，即此推动块会推动卡块绕固定轴进行圆周转动；同时安装在卡块下侧的压缩块也会跟着转动；因为涡卷弹簧的一端安装在轴套上，另一端安装在第一环形柱槽的内圆面上；而卡块在转动的同时会带动第一环形柱进行转动，第一环形柱与轴套之间通过轴承安装；轴承的下端固定安装有第二环形柱，第二环形柱上安装有第一伸缩杆，第一伸缩杆与第一限位块接触，且第一限位块限制第一伸缩杆起运动，进而依次限制第二环形柱和轴套的运动；当轴套与第一环形柱之间发生相对转动时，涡卷弹簧将受到第一环形柱一个向外的拉力；卡块转动一定角度后会与第二限位块接触，此时四个卡块中的另一个卡块移动到靠近第一伸缩杆的位置；由于第二限位块与卡块的接触处为圆弧状，所以卡块与第二限位块接触的同时由于第二限位块会给它一个反作用力，卡块在此反作用力下将向靠近固定轴的一侧移动；在其移动过程中，压缩块将推动安装在第一伸缩杆上的导向弧板向靠近固定轴的一侧移动，导向弧板移动的同时带动第一伸缩杆移动；在第一伸缩杆移动的过程中另一个推动块逐渐靠近第一伸缩杆且在周向顺时针方向上位于第一伸缩杆后侧；随着第一限位槽端口与推动块的接触面积在卡块的移动中不断增大；第一伸缩杆逐渐脱离第一限位块的控制，且另一个推动块从第一限位块的一侧通过第一限位块上的方形缺口逐渐移动到第一限位块的另一侧；当推动块移动到与第一限位槽中方形部分完全接洽时；第一伸缩杆已经完全脱离第一限位块的控制，同时另一个推动块也移动到了第一伸缩杆前侧；此时由于安装在第一弹簧腔和第二弹簧腔中压缩弹簧的作用；第一伸缩杆与卡块将向远离固定轴的方向移动，在卡块和第一伸缩杆的移动的同时，推动块逐渐从第一限位槽中方形状部分通过倾斜状部分移出卡块，位于卡块前侧；由于涡卷弹簧的作用力，第一伸缩杆将推动位于其前面的另一个推动块进行移动；从而带动第二壳体进行转动；依次传动，第二壳体将处于一直转动状态；第二壳体转动的同时通过安装在第二壳体和第一壳体之间的四根拉伸弹簧来驱动第一壳体移动，同时通过传感器控制第一壳体的移动方向使得第一壳体在向前移动的同时可以围绕餐厅桌腿进行转动；在转动的同时通过吸尘装置和擦拭装置对桌腿的两侧进行清理；在清理完成后，由于清地机器人已经移动到桌腿的另一侧，桌腿不会对清地机器人的移动造成影响；清地机器人可以继续对其它地面上的尘土进行清理。When the clearing robot is working, the compression spring installed between the first telescopic rod and the first spring chamber is in a freely telescopic state, and the compression spring installed between the block and the second spring chamber is in a freely telescopic state, and the scroll spring In a free state; the block is located on the front side of the first telescopic rod in a circumferential clockwise direction; the first telescopic rod is in contact with the first limit block; one of the four push blocks is in contact with the block, and the push The block and the first limiting slot on the block are offset from each other in a radial direction; a sensor is mounted on the outer side of the first housing; the clearing robot is controlled by the functional motor and the PLC chip in the traveling mechanism to perform mobile cleaning; when the clearing robot is When the table legs on the ground are encountered during the cleaning process, the legs will block the movement of the clearing robot, and give a reaction force to the second casing on the clearing robot; make it rotate; because the four push blocks are installed in the first The inside of the two casings, so that the second casing rotates and drives the four pushing blocks to rotate; at this time, one of the four pushing blocks contacts the block, that is, this push The block will push the block to rotate around the fixed axis; at the same time, the compression block mounted on the lower side of the block will also rotate; because one end of the scroll spring is mounted on the sleeve and the other end is installed in the first annular groove On the round surface; while the block rotates, the first ring column is driven to rotate, and the first ring column and the sleeve are installed by bearings; the lower end of the bearing is fixedly mounted with the second ring column, and the second ring column is mounted There is a first telescopic rod, the first telescopic rod is in contact with the first limiting block, and the first limiting block limits movement of the first telescopic rod, thereby sequentially restricting movement of the second annular column and the sleeve; when the sleeve and the first When a relative rotation occurs between the annular columns, the scroll spring will be subjected to an outward pulling force of the first annular column; after the block rotates at a certain angle, it will contact the second limiting block, and the other of the four blocks The block moves to a position close to the first telescopic rod; since the contact between the second limit block and the block is arc-shaped, the block contacts the second limit block and the second limit block gives it a reaction force, the block is reversed here The force will move to the side close to the fixed axis; during its movement, the compression block will push the guide arc plate mounted on the first telescopic rod to move to the side close to the fixed axis, and the guide arc plate moves while driving a telescopic rod moves; during the movement of the first telescopic rod, another push block gradually approaches the first telescopic rod and is located on the rear side of the first telescopic rod in a circumferential clockwise direction; with the first limit slot port and the push block The contact area is continuously increased in the movement of the block; the first telescopic rod gradually moves away from the control of the first limit block, and the other push block passes from the side of the first limit block through the square notch on the first limit block Gradually moving to the other side of the first limit block; when the push block moves to fully contact the square portion of the first limit slot;A telescopic rod has completely separated from the control of the first limit block, and the other push block has also moved to the front side of the first telescopic rod; at this time, due to the action of the compression spring mounted in the first spring chamber and the second spring chamber; A telescopic rod and the block will move away from the fixed axis. While the block and the first telescopic rod move, the push block gradually moves out of the block from the square shape portion of the first limit groove through the inclined portion. The front side of the block; due to the force of the scroll spring, the first telescopic rod will push another push block located in front of it to move; thereby driving the second housing to rotate; and sequentially driving, the second housing will be in a state of constant rotation Opening the first housing while rotating the second housing by the four tension springs mounted between the second housing and the first housing, while controlling the moving direction of the first housing by the sensor to make the first The casing can be rotated around the table legs while moving forward; the sides of the legs are cleaned by the dust suction device and the wiping device while rotating; after the cleaning is completed, due to the cleaning The robot has been moved to the other side of the legs, the legs do not move to clear the robot impact; clear the robot can continue to clean up dirt on another ground.
图1是整体部件外观示意图。Figure 1 is a schematic view of the appearance of an integral part.
图2是驱动机构安装示意图。Figure 2 is a schematic view of the installation of the drive mechanism.
图3是驱动机构内部结构示意图。Figure 3 is a schematic view of the internal structure of the drive mechanism.
图4是第一伸缩杆安装示意图。4 is a schematic view showing the installation of the first telescopic rod.
图5是卡块安装示意图。Figure 5 is a schematic view of the block installation.
图6是卡块结构示意图。Figure 6 is a schematic view of the structure of the card block.
图7是第二壳体安装示意图。Figure 7 is a schematic view of the second housing mounting.
图8是第二限位块安装示意图。Figure 8 is a schematic view showing the installation of the second limit block.
图9是第一限位槽结构示意图。Figure 9 is a schematic view showing the structure of the first limiting groove.
图10是擦拭块安装示意图。Figure 10 is a schematic view showing the mounting of the wiping block.
图11是吸尘箱结构示意图。Figure 11 is a schematic view showing the structure of the dust box.
图12是第一伸缩杆和卡块分布示意图。Figure 12 is a schematic view showing the distribution of the first telescopic rod and the block.
图13是卡块工作原理示意图。Figure 13 is a schematic diagram of the working principle of the card block.
图14是第一伸缩杆工作原理示意图。Figure 14 is a schematic view showing the working principle of the first telescopic rod.
图15是清地机器人工作原理示意图。Figure 15 is a schematic diagram of the working principle of the clearing robot.
图16是导向弧板受力示意图。Figure 16 is a schematic view of the force of the guide arc plate.
图中标号名称：1、传感器；2、吸尘孔；3、第一壳体；4、行走结构；5、吸尘箱；6、行走轮；7、擦拭块；8、第一吸尘管；9、出水管；10、拉伸弹簧；11、卡块；12、第二壳体；13、压缩块；14、导向弧板；15、第一伸缩杆；16、固定轴；17、轴套；18、涡卷弹簧；19、第一环形柱；20、第二环形柱；21、底座圆槽；22、底座；23、推动块；24、连接块；25、第一限位块；26、压缩弹簧；27、第一弹簧腔体；28、第二弹簧腔体；29、第二限位块；30、顶盖；31、第一环形柱槽；32、第二吸尘管；33、进水管；36、第一限位槽；37、驱动机构；38、行走机构；39、吸尘装置；40、擦拭装置；41、环形槽；42、第三限位块；43、第二限位槽；44、第四限位块。In the figure, the label name: 1, sensor; 2, suction hole; 3, the first housing; 4, the walking structure; 5, the dust box; 6, the walking wheel; 7, the wiping block; 8, the first
如图1、2所示，它包括驱动机构37、行走机构38、擦拭装置40、吸尘装置39、第一壳体3、拉伸弹簧10、传感器1，其中如图1所示，两个传感器1分别安装在第一壳体3的两端且分别位于第一壳体3的两侧；吸尘装置39安装在第一壳体3的内侧；擦拭装置40安装在吸尘装置39的内侧；行走机构38位于擦拭装置40内侧的中心处，且行走机构38外圆面与擦拭装置40内侧的四个平面分别通过一个拉伸弹簧10连接；如图2所示，驱动机构37安装在行走机构38的上侧。As shown in FIG. 1 and 2, it comprises a
如图3、12所示，上述驱动机构37包括卡块11、压缩块13、导向弧板14、第一伸缩杆15、固定轴16、轴套17、涡卷弹簧18、第一环形柱19、第二环形柱20、底座圆槽21、第三限位块42、第二限位槽43、底座22、推动块23、连接块24、第一限位块25、压缩弹簧26、第一弹簧腔体27、第二弹簧腔体28、第二限位块29、顶盖30、第二壳体12、第一环形柱槽31、第一限位槽36，其中如图3所示，底座22上端的中心处开有底座圆槽21；四个第一限位块25的一端均开有一个方形缺口；四个第一限位块25周向均匀地安装在底座22上端面上，且四个第一限位块25的外端均位于底座22外圆面外侧；如图3所示，固定轴16的一端安装在底座圆槽21的中心处；轴套17的内圆面安装在固定轴16的外圆面上；第二环形柱20的內圆面固定安装在轴套17下端的的外圆面上；如图4所示，第二环形柱20的外圆面上开有第一弹簧腔体27；第一伸缩杆15的一端安装在第一弹簧腔体27内侧，第一伸缩杆15与第一弹簧腔体27之间安装有一个压缩弹簧26；压缩弹簧26的一端安装在第一伸缩杆15上位于第一弹簧腔内侧的一端的端面上，另一端安装在第一弹簧腔体27内侧的端面上；如图3、4所示，导向弧板14的一端安装在第一伸缩杆15的上端；第一环形柱19的内圆面安装在轴套17上端的外圆面上；如图3、5所示，第一环形柱19的上端开有第一环形柱槽31；涡卷弹簧18位于第一环形柱槽31内；涡卷弹簧18的內端安装在轴套17的外圆面上，外端安装在第一环形柱槽31的内圆面上；如图5所示，第一环形柱19下端的外圆面上开有第二弹簧腔体28；第二弹簧腔体28的内圆面上对称开有两个第二限位槽43；且两个第二限位槽43均没有穿出第一环形柱19的外圆面；如图5所示，卡块11一端的下侧开有第一限位槽36，且如图6、9所示，第一限位槽36由方形部分和倾斜状部分组成，方形状部分与倾斜状部分的交接处成一台阶；如图6所示，卡块11的两侧对称安装有两个第三限位块42；卡块11的一端通过两个第三限位块42与两个第二限位槽43的配合安装在第二弹簧腔体28内侧；如图6所示，卡块11与第二弹簧腔体28之间安装有一个压缩弹簧26；压缩弹簧26的一端安装在卡块11的一端，另一端安装在第二弹簧腔体28内侧的端面上；如图6所示，压缩块13的上端安装在卡块11的下侧，且压缩块13位于第一限位槽36与第一环形柱19外圆面之间；压缩块13与导向弧板14和第四限位块44配合；如图8所示，顶盖30安装在固定轴16的上端；第二限位块29的一端为圆弧状，如图8所示，四个第二限位块29周向均匀的安装在顶盖30下端面上，且四个第二限位块29非圆弧状的一端均位于顶盖30外圆面的的外侧；如图7所示，第二壳体12的內圆上开有一个环形槽41，第二壳体12通过环形槽41上侧端面与第二限位块29配合安装在顶盖30的外圆面上；第二壳体12通过环形槽41下侧端面与第一限位块25的配合安装在底座22的外圆面上；如图3所示，四个连接块24的一端周向均匀的安装在第二壳体12环形槽41的内圆面上，四个连接块24的另一端均安装有一个推动块23；如图3所示，推动块23的宽度与第一限位槽36的宽度相同，且推动块23的上端面与第一限位槽36的上侧面配合；如图3所示，四个第一限位块25安装位置分别与四个第二限位块29安装位置相配合。As shown in FIGS. 3 and 12, the
如图2所示，上述行走机构38包括行走结构4、行走轮6、第一吸尘管8、出水管9，其中行走结构4的内侧安装有功能电机、PLC芯片、吸尘泵、水箱和储尘箱；行走结构4的上端面安装在底盘下端面上，如图1、2所示，三个行走轮6周向均匀地安装在行走结构4的下端；四个第一吸尘管8周向均匀的安装的行走结构4的外圆面上；四个出水管9轴向均匀的安装在行走结构4的外圆面上，且四个出水管9分别与四个第一吸尘管8相邻。As shown in FIG. 2, the traveling
如图11所示，上述吸尘装置39包括吸尘箱5、吸尘孔2、第二吸尘管32，其中吸尘箱5的下端开有许多吸尘孔2；四个第二吸尘管32分别安装在吸尘箱5四侧的上端面上；吸尘箱5安装在第一壳体3下端的内侧面上。As shown in FIG. 11, the
如图11所示，上述擦拭装置40包括擦拭块、进水管33，其中擦拭块安装在吸尘装置39的内侧；四个进水管33分别安装在擦拭块四侧的上端面上。As shown in Fig. 11, the wiping device 40 includes a wiping block and an
上述第二吸尘管32通过软管与第一吸尘管8连接；第一吸尘管8通过吸尘泵与行走机构38中的储尘箱连接。The second
上述第一进水管33通过软管与出水管9连接，出水管9与行走机构38中的水箱连接。The
如图3所示，上述导向弧板14的另一端安装有第四限位块44，第四限位块44对压缩快起到了限位作用。As shown in FIG. 3, the other end of the guiding
上述作为替换三个行走轮6的方案为四个行走轮6。The above-described scheme for replacing the three traveling
上述传感器1为压电传感器1。The above sensor 1 is a piezoelectric sensor 1.
上述传感器1为光电距离传感器1。The above sensor 1 is a photoelectric distance sensor 1.
综上所述：In summary:
本发明中设计的餐厅清地机器人是由驱动机构37、行走机构38、擦拭装置40、吸尘装置39构成，其具有行走功能、除尘功能、擦拭功能。The restaurant clearing robot designed in the present invention is composed of a
本发明中行走机构38具有行走功能；安装在行走机构38中的功能电机能够给餐厅清地机器人提供动力；吸尘泵的作用是能够给吸尘箱5提供负压；储尘箱能够将吸收上来的尘土进行储充，方便统一清理；水箱能够给擦拭装置40提供水源；本发明中功能机构中的PLC芯片可以控制行走轮6的转动和旋转，从而达到控制行走和改变方向的目的，使得清扫机器人能够到达需要清理的地方；实现了智能清扫机器人的效果。本发明中擦拭装置40可以对地面进行擦拭，在擦拭过程中，行走结构4中储水箱中的水经过出水管9和进水管33流入到擦拭块中，使擦拭块成半干半湿状态，在清地机器人吸尘完成后通过擦拭块对地面进行擦拭清理，使得地面更加清洁；本发明中设计的吸尘装置39具有吸尘功能；吸尘箱5的下端周向开有许多吸尘孔2，其作用是当吸尘箱5通过吸尘泵、第一吸尘管8和第二吸尘管32对地面上的尘土进行吸收处理时；通过多个吸尘孔2可以平均吸尘箱5对地面的吸力，调节吸尘箱5内的负压，使吸尘箱5内压力保持恒定。被清理的尘土通过吸尘孔2被吸入到吸尘箱5中，吸尘箱5中的尘土通过第一吸尘管8和第二吸尘管32移动到行走结构4中的储尘箱中；从而达到吸尘清理的效果。In the present invention, the traveling
本发明中安装在第一壳体3上的传感器1能够控制清地机器人的移动；当清地机器人在移动过程中中间偏侧边的位置碰到餐桌腿时，如图15a所示，通过清地机器人自动调节使得其横向移动且通过行走结构不断靠近绕餐桌腿，同时如图15b所示，餐桌腿会给第二壳体12一个反作用力，使得其进行转动；在第二壳体12转动的同时通过四根拉伸弹簧10驱动第一壳体3围绕餐桌腿进行转动；如图15c所示，当第二壳体12转动九十度后，通过涡卷弹簧18的作用力驱动第二壳体12继续转动，如图d所示，在第二壳体12转动的同时通过四根拉伸弹簧10带动第一壳体3围绕桌脚继续转动，直到转动到餐桌腿的另一侧，从而达到清扫桌脚的目的。而当清地机器人上靠近边缘的一端靠近餐桌腿时，如图e所示，传感器1感应到前方的桌腿，将信号传递给行走结构4，行走结构4横向向桌脚靠近；同时如图f所示，餐桌腿会给第二壳体12一个反作用力，使得其进行转动；在第二壳体12转动的同时通过四根拉伸弹簧10驱动第一壳体3围绕餐桌腿进行转动；当如图g所示，第二壳体12转动九十度后，通过涡卷弹簧18的作用力驱动第二壳体12继续转动，在第二壳体12转动的同时通过四根拉伸弹簧10带动第一壳体围绕桌脚继续转动，如图h所示，直到转动到餐桌腿的另一侧，从而达到清扫桌脚的目的。本发明设计的第二壳体12通过餐厅桌腿的作用下先转动九十度，然后通过涡卷弹簧18的作用力继续转动九十度；因为涡卷弹簧18只有在第二壳体12转动角度达到九十度时候才会带动第二壳体12继续沿原来的方向旋转，反之第二壳体12则会被涡卷弹簧18带动向相反的方向旋转；本发明通过设计第二壳体12进行转动两次九十度，第二壳体12在两次转动的同时通过拉伸弹簧10可以使得第一壳体3围绕餐厅桌腿转动一周；从而将擦桌腿四周的尘土清理干净。The sensor 1 mounted on the
本发明中底座22对固定轴16起到了支撑的作用；且对安装在其上侧的第一限位块25起到了固定的作用；卡块11的一端安装在第二弹簧腔的内侧，安装在卡块11与第二弹簧腔之间的压缩弹簧26处于压缩状态时能够给卡块11提供一个恢复力；卡块11的下端开有一个第一限位槽36，推动块23可以通过第一限位槽36从卡块11的一侧移动到另一侧；卡块11的下端安装有压缩块13；第一伸缩杆15的一端安装在第一弹簧腔体27内侧；当安装在第一弹簧腔与第一伸缩杆15之间的压缩弹簧26处于压缩状态时能够给第一伸缩杆15提供一个恢复力；第一伸缩杆15的上端安装有导向弧板14，当卡块11向第二弹簧腔体28内侧移动时，如图16所示，压缩块13将推动导向弧板14移动；使的导向弧板14带动第一伸缩杆15向第一弹簧腔的内侧移动，移动中导向弧板因为是一个弧度逐渐增大的弧板，其能够将压缩块的力分解到第一伸缩杆方向，来将压缩块的力传递到第一伸缩杆；第二限位块29对卡块11起到了限位的作用；第二限位块29对第一伸缩杆15起到了限位作用；安装在轴套17与第一环形柱19之间的涡卷弹簧18能够给轴套17一个恢复力，本发明设计的推动块23的宽度与第一限位槽36的宽度相同，且推动块23的上端面与第一限位槽36的上侧面齐平，其作用是可以让推动快可以顺利地在第一限位槽36中移动。In the present invention, the base 22 plays a supporting role for the fixed
具体实施方案：在清地机器人工作时，安装在第一伸缩杆15与第一弹簧腔之间的压缩弹簧26处于自由伸缩状态，安装在卡块11与第二弹簧腔之间的压缩弹簧26处于自由伸缩状态，涡卷弹簧18处于自由状态；卡块11在周向顺时针方向上位于第一伸缩杆15的前侧；第一伸缩杆15与第一限位块25接触；四个推动块23中的其中一个推动块23与卡块11接触，且此推动块23与卡块11上的第一限位槽36相互错位；第一壳体3的外侧安装有传感器1；通过行走机构38中的功能电机和PLC芯片控制清地机器人进行移动清理；当清地机器人在清理过程中碰到位于地面上的桌腿时，桌腿会阻挡清地机器人前进，给清地机器人上的第一壳体3一个反作用力；通过第一壳体3上的安装的传感器1和安装在第一壳体3和第二壳体12之间的四根拉伸弹簧10驱动第二壳体12进行转动；因为四个推动块23均安装在第二壳体12内侧，所以第二壳体12在转动的同时会带动四个推动块23进行转动；而此时四个推动块23中其中一个推动块23与卡块11接触，即此推动块23会推动卡块11绕固定轴16进行圆周转动；同时安装在卡块11下侧的压缩块13也会跟着转动；因为涡卷弹簧18的一端安装在轴套17上，另一端安装在第一环形柱槽31的内圆面上；而卡块11在转动的同时会带动第一环形柱19进行转动，第一环形柱19与轴套17之间通过轴承安装；轴承的下端固定安装有第二环形柱20，第二环形柱20上安装有第一伸缩杆15，第一伸缩杆15与第一限位块25接触，且第一限位块25限制第一伸缩杆15起运动，进而依次限制第二环形柱20和轴套17的运动；当轴套17与第一环形柱19之间发生相对转动时，涡卷弹簧18将受到第一环形柱19一个向外的拉力；如图13a所示，卡块11转动一定角度后会与第二限位块29接触，此时四个卡块11中的另一个卡块11移动到靠近第一伸缩杆15的位置；由于第二限位块29与卡块11的接触处为圆弧状，所以卡块11与第二限位块29接触的同时由于第二限位块29会给它一个反作用力，卡块11在此反作用力下将向靠近固定轴16的一侧移动；在其移动过程中，压缩块13将推动安装在第一伸缩杆15上的导向弧板14向靠近固定轴16的一侧移动，导向弧板14移动的同时带动第一伸缩杆15移动；如图14a所示，在第一伸缩杆15移动的过程中另一个推动块23逐渐靠近第一伸缩杆15且在周向顺时针方向上位于第一伸缩杆15后侧；如图13b所示，随着第一限位槽36端口与推动块23的接触面积在卡块11的移动中不断增大；如图14b所示，第一伸缩杆15逐渐脱离第一限位块25的控制，且另一个推动块23从第一限位块25的一侧通过第一限位块25上的方形缺口逐渐移动到第一限位块25的另一侧；如图13c所示，当推动块23移动到与第一限位槽36中方形部分完全接洽时；如图14c、14d所示，第一伸缩杆15已经完全脱离第一限位块25的控制，同时另一个推动块23也移动到了第一伸缩杆15前侧；此时由于安装在第一弹簧腔和第二弹簧腔中压缩弹簧26的作用；第一伸缩杆15与卡块11将向远离固定轴16的方向移动，在卡块11和第一伸缩杆15的移动的同时，如图13d所示，推动块23逐渐从第一限位槽36中方形状部分通过倾斜状部分移出卡块11，位于卡块11前侧；由于涡卷弹簧18的作用力，第一伸缩杆15将推动位于其前面的另一个推动块23进行移动；从而带动第二壳体进行转动；依次传动，第二壳体将处于一直转动状态；第二壳体转动的同时通过安装在第二壳体和第一壳体之间的四根拉伸弹簧10来驱动第一壳体移动，同时通过传感器1控制第一壳体的移动方向使得第一壳体在向前移动的同时可以围绕餐厅桌腿进行转动；在转动的同时通过吸尘装置39和擦拭装置40对桌腿的两侧进行清理；在清理完成后，由于清地机器人已经移动到桌腿的另一侧，桌腿不会对清地机器人的移动造成影响；清地机器人可以继续对其它地面上的尘土进行清理。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS: When the clearing robot is in operation, the
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Translated fromChineseApplications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710286533.4 | 2017-04-27 | ||
| CN201710286533.4ACN107080501B (en) | 2017-04-27 | 2017-04-27 | A kind of clear floor-washing robot in adaptive dining room based on PLC control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018196199A1true WO2018196199A1 (en) | 2018-11-01 |
Family
ID=59612597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2017/095015CeasedWO2018196199A1 (en) | 2017-04-27 | 2017-07-28 | Adaptive restaurant floor cleaning robot based on plc control |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107080501B (en) |
| WO (1) | WO2018196199A1 (en) |
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| US20040187249A1 (en)* | 2002-01-03 | 2004-09-30 | Jones Joseph L. | Autonomous floor-cleaning robot |
| CN101884509A (en)* | 2010-06-29 | 2010-11-17 | 上海中为智能机器人有限公司 | Cleaning system of cleaning robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107080501B (en) | 2019-11-26 |
| CN107080501A (en) | 2017-08-22 |
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