CN111728541A - A fully automatic climbing stair cleaning robot and its use method - Google Patents

Abstract

A fully automatic climbing stair cleaning robot and a method of using the same. The robot includes a vacuuming component, a lifting driving component and a wiping component, and the dusting components and the wiping component are symmetrically distributed on the front and rear sides of the lifting driving component. The steps of the use method are as follows: the vacuuming assembly rises → the robot moves forward → the first step vacuum cleaning → the lifting drive assembly rises → the robot moves forward → the first step vacuum cleaning → the wiping assembly rises → the robot moves forward → the first step Step vacuum cleaning and first step wiping → vacuum assembly rises → robot moves forward → second step vacuum cleaning and first step wiping → lift drive assembly rises → robot moves forward → second step vacuum cleaning and wiping the first step → the wiping component rises → the robot moves forward → repeat the above climbing process and cleaning process → complete the cleaning process from the second step to the last step. The cleaning robot of the present invention effectively overcomes the limitations of the traditional sweeping robot.

Description

A fully automatic climbing stair cleaning robot and its use method

technical field

The invention belongs to the technical field of cleaning equipment, in particular to a fully automatic climbing stair cleaning robot and a method for using the same.

Background technique

At present, the technology of sweeping robots is very mature, and the degree of intelligence is getting higher and higher, so more and more families and enterprises choose sweeping robots to clean the ground.

However, there are still limitations in the use of the sweeping robot, because the sweeping robot can only move in the same horizontal plane, so the scope of the ground cleaning is only limited to the horizontal plane, and it cannot clean the staircase plane with height difference, such as stairs. For the stairwells of residential buildings and office buildings, cleaning can only be done manually by cleaning staff at present. Therefore, in order to make up for the limitations of the sweeping robot, it is necessary to design a robot that can meet the requirements of stair cleaning.

SUMMARY OF THE INVENTION

In view of the problems existing in the prior art, the present invention provides a fully automatic climbing stair cleaning robot and a method of using the same, which can not only complete the cleaning of the conventional ground, but also the cleaning of the stairs, effectively overcoming the problems of traditional sweeping robots. Use limitations.

In order to achieve the above purpose, the present invention adopts the following technical solutions: a fully automatic climbing stair cleaning robot, comprising a dust suction assembly, a lift drive assembly and a wiper assembly; the dust suction assembly is connected with the lift drive assembly, and the lift drive assembly is connected to the lift drive assembly. The wiping component is connected, and the dust collecting component and the wiping component are symmetrically distributed on the front and rear sides of the lifting drive component.

The vacuum assembly includes a box-type vacuum cleaner and a first walking base. The box-type vacuum cleaner adopts a cuboid structure. The box-type vacuum cleaner is provided with two dust suction ports, which are the first dust suction port and the second dust suction port respectively. The suction port is located at the lower left of the box-type vacuum cleaner, and the second suction port is located at the lower right of the box-type vacuum cleaner; the first walking base is installed at the bottom of the box-type vacuum cleaner, and the first walking base is located at the first suction port and the first walking base. In the middle of the two dust suction ports, the walking wheel used by the first walking base is a Mecanum wheel driven by a servo motor.

The lift drive assembly includes a box-type bracket, a second walking base, a first lift drive motor, a first lift screw, a first screw nut slider, a second lift drive motor, a second lift screw and a second screw nut slider; the box-type bracket adopts a cuboid structure, and a first nut slider guide slot hole is opened on the front side box wall of the box-type bracket, and the first nut slider guide slot hole is vertically arranged; The rear side box wall of the box-type bracket is provided with a second nut slider guide slot hole, and the second nut slider guide slot hole is arranged vertically; the first lift drive motor is located at the inner bottom of the box-type bracket, the first The lift drive motor is vertically arranged with the motor shaft facing upward, the first lift screw is vertically arranged, the lower end of the first lift screw is fixedly connected with the motor shaft of the first lift drive motor through a coupling, and the first lift screw The upper end of the rod is connected to the top plate of the box-type bracket through the bearing seat; the screw nut end of the first screw nut slider is sleeved on the first lifting screw, and the slider end of the first screw nut slider extends out of the first screw nut slider The block guides the slot hole and is fixedly connected with the lower part of the rear box wall of the box-type vacuum cleaner; the second lift drive motor is located at the bottom of the inner side of the box-type bracket, the second lift drive motor is vertically arranged with the motor shaft facing upward, and the first lift drive motor is positioned upward. The two lifting screws are vertically arranged, the lower end of the second lifting screw is fixedly connected to the motor shaft of the second lifting drive motor through a coupling, and the upper end of the second lifting screw is connected to the top plate of the box-type bracket through a bearing seat; The screw nut end of the second screw nut slider is sleeved on the second lifting screw, and the slider end of the second screw nut slider extends out of the guide slot hole of the second screw nut slider; the walking wheel used by the second walking base It is a Mecanum wheel driven by a servo motor.

The combination composed of the first lift drive motor, the first lift screw and the first screw nut slider, the number of which is at least one set; the second lift drive motor, the second lift screw and the second lift A combination of silk nut sliders, the number of which is at least one set.

The wiping assembly includes a box-type sprinkler, a disc-type sponge sheet, an electric telescopic rod, and a sponge-sheet rotary drive motor; the box-type sprinkler adopts a rectangular parallelepiped structure, and the box-type sprinkler is provided with two sprinkler heads, which are No. A sprinkler head and a second sprinkler head, the first sprinkler head is located at the lower left of the box-type sprinkler, and the second sprinkler head is located at the lower right of the box-type sprinkler; The slider ends of the silk nut slider are fixedly connected to each other; the disc type sponge sheet is arranged horizontally, the disc type sponge sheet is located under the box sprinkler, the electric telescopic rod is vertically arranged, and the lower end of the electric telescopic rod is fixedly connected to the disc type At the center of the sponge sheet, the sponge sheet rotary drive motor is vertically arranged with the motor shaft facing downward, the electric telescopic rod is fixedly connected with the motor shaft of the sponge sheet rotary drive motor, and the sponge sheet rotary drive motor is embedded in the box-type sprinkler bottom of the device.

The number of the combination composed of the disc type sponge sheet, the electric telescopic rod and the sponge sheet rotary drive motor is at least one group.

A number of slits are evenly distributed along the radial direction of the disc-type sponge sheet, and each slit is provided with a sponge strip, and the sponge strip can move along the radial direction of the disc-type sponge sheet in the slit; in the disc-type sponge sheet A sponge strip translation drive motor is installed on the center side of the circle. The sponge strip translation drive screw is coaxially fixed on the motor shaft of the sponge strip translation drive motor. The length of the sponge strip translation drive screw is less than or equal to the radius of the disc sponge sheet. A sponge strip translation driving screw nut slider is installed on the strip translation driving screw rod, and the sponge strip translation driving screw nut slider is fixedly connected with the inner end of the sponge strip; A follow-up telescopic rod is arranged between the bottom rod bodies, one end of the follow-up telescopic rod is hinged with the bottom end rod body of the electric telescopic rod, and the other end of the follow-up telescopic rod is hinged with the sponge strip translation drive nut slider.

The use method of the fully automatic climbing stair cleaning robot includes the following steps:

Step 1: The robot stops in front of the first step of the stairs, and keeps a safe distance between the front side wall of the box vacuum cleaner of the vacuum assembly and the side elevation of the first step;

Step 2: Start the first lift drive motor of the lift drive assembly, drive the first lift screw to rotate, so that the first screw nut slider vertically rises along the first lift screw, and the vacuum assembly will follow the first screw. The female slider rises synchronously until the height of the first walking base of the vacuum assembly exceeds the upper surface of the first step;

Step 3: The robot drives forward until the dust collector moves above the first step, and keeps a safe distance between the front side box wall of the lift drive assembly and the side elevation of the first step;

Step 4: Control the first walking base of the vacuum cleaner assembly to descend and land on the upper surface of the first step through the lift drive assembly;

Step 5: Start the box-type vacuum cleaner of the vacuuming assembly, and at the same time, the robot moves horizontally in the left-right direction, and the box-type vacuum cleaner is used to vacuum and clean the upper surface of one third of the front end of the first step;

Step 6: When the upper surface of the front third of the first step is cleaned and cleaned, the first lift drive motor and the second lift drive motor of the lift drive assembly are started synchronously to drive the first lift screw and the second lift drive motor. The two lifting screws rotate synchronously, and the first screw nut slider and the second screw nut slider remain stationary, so that the first lifting screw and the second lifting screw rise synchronously, and the box-type bracket of the lifting drive assembly will along with the first elevating screw and the second elevating screw rising together, until the height of the second walking base of the elevating drive assembly exceeds the upper surface of the first step;

Step 7: The robot drives forward until the lift drive assembly moves above the first step, and keeps a safe distance between the front side box wall of the wiper assembly and the side elevation of the first step;

Step 8: The lifting and driving assembly is lowered, so that the second walking base is lowered to the upper surface of the first step;

Step 9: The robot moves horizontally in the left and right directions, and uses the box vacuum cleaner to vacuum and clean the upper surface of the middle third of the first step;

Step 10: After vacuuming and cleaning the upper surface of the middle third of the first step, start the second lift drive motor of the lift drive assembly, drive the second lift screw to rotate, and make the second screw nut slider Vertically rise along the second lifting screw, and the wiper assembly will rise synchronously with the second screw nut slider until the height of the disc sponge of the wiper assembly exceeds the upper surface of the first step;

Step 11: The robot drives forward until the wiping assembly moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly and the side elevation of the second step;

Step 12: The electric telescopic rod of the wiper assembly extends downwards until the disc sponge piece descends and falls to the upper surface of the first step;

Step 13: Start the box-type sprinkler of the wiping component and the rotary drive motor of the sponge piece, the disk-type sponge piece starts to rotate, and at the same time the robot moves horizontally in the left and right directions, and the box-type vacuum cleaner is used to clean the rear third of the first step. The upper surface of the step is vacuumed and cleaned, and the upper surface of the first third of the front end of the first step is wiped by the rotating disc sponge;

Step 14: After the upper surface of the rear third of the first step is cleaned and cleaned, and the upper surface of the front third of the first step is cleaned, control the lifting drive assembly The vacuum cleaner assembly rises until the height of the first walking base of the vacuum cleaner assembly exceeds the upper surface of the second step;

Step 15: The robot moves forward until the dust collector moves above the second step, and keeps a safe distance between the front side box wall of the lift drive assembly and the side elevation of the second step;

Step 16: Control the first walking base of the vacuum assembly to descend and land on the upper surface of the second step through the lifting and lowering drive assembly;

Step 17: The robot moves horizontally in the left and right directions, and uses the box-type vacuum cleaner to vacuum and clean the upper surface of the front third of the second step. One part of the upper surface is wiped;

Step 18: After the upper surface of the front third of the second step is cleaned and cleaned, and the upper surface of the middle third of the first step is wiped, the lift drive assembly rises until the The height of the second walking base exceeds the upper surface of the second step;

Step 19: The robot moves forward until the lift drive assembly moves above the second step, and keeps a safe distance between the front side box wall of the wiper assembly and the side elevation of the second step;

Step 20: The lifting and driving assembly is lowered, so that the second walking base is lowered to the upper surface of the second step;

Step 21: The robot moves horizontally in the left and right directions, and uses the box-type vacuum cleaner to vacuum and clean the upper surface of the middle third of the second step. The upper surface of the third part of the end is wiped, and when the disc sponge sheet moves to the dead corner of the step, the sponge strip extends, and the sponge strip will bend and deform with the rotation of the disc sponge sheet, so that the sponge strip sweeps over The dead corner of the step is wiped, and when the disc sponge sheet is far away from the dead corner of the step, the sponge strip retracts to the initial position;

Step 22: After the upper surface of the middle third of the second step is vacuumed and cleaned, and the upper surface of the rear third of the first step is wiped, lift the drive assembly Control the wiping assembly to rise until the height of the disc sponge of the wiping assembly exceeds the upper surface of the second step;

Step 23: The robot drives forward until the wiping assembly moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly and the side elevation of the third step;

Step 24: The wiping assembly descends until the disc sponge piece descends and falls to the upper surface of the second step;

Step 25: Repeat the vacuum cleaning process and wiping process of the first step until the vacuum cleaning and wiping work of all subsequent steps are completed.

Beneficial effects of the present invention:

The fully automatic climbing stair cleaning robot and its using method of the present invention can not only complete the cleaning of the conventional ground, but also the cleaning of the stairs, and effectively overcome the use limitations of the traditional sweeping robot.

Description of drawings

1 is a perspective view of a fully automatic climbing stair cleaning robot of the present invention;

2 is a front view of a fully automatic climbing stair cleaning robot of the present invention;

FIG. 3 is a perspective view of the dust collecting assembly of the present invention;

4 is a perspective view of the lift drive assembly of the present invention;

5 is a front cross-sectional view of the lift drive assembly of the present invention;

6 is a perspective view of the wiping assembly of the present invention;

7 is a schematic structural diagram of a composite body composed of a disc type sponge sheet, an electric telescopic rod and a sponge sheet rotary drive motor according to the present invention;

8 is a schematic diagram of the climbing process of the fully automatic climbing stair cleaning robot of the present invention;

In the figure, 1—cleaning assembly, 2—lifting drive assembly, 3—wiping assembly, 4—box-type vacuum cleaner, 5—first walking base, 6—first vacuuming port, 7—second vacuuming port, 8 - Box-type bracket, 9 - second walking base, 10 - first lift drive motor, 11 - first lift screw, 12 - first screw nut slider, 13 - second lift drive motor, 14 - second lift Screw, 15—the second nut slider, 16—the guide slot for the first nut slider, 17—the guide slot for the second nut slider, 18—box sprinkler, 19—disc sponge, 20—electric telescopic rod, 21—sponge sheet rotary drive motor, 22—sponge bar, 23—sponge bar translation drive motor, 24—sponge bar translation drive screw, 25—sponge bar translation drive nut slider, 26—with The movable telescopic rod, 27—the first sprinkler head, 28—the gap.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1-8, a fully automatic climbing stair cleaning robot includes a vacuum assembly 1, a lift drive assembly 2 and a wiper assembly 3; the vacuum assembly 1 is connected to the lift drive assembly 2, and the lift drive assembly 2 is connected to the wiping assembly 3, and the dust collecting assembly 1 and the wiping assembly 3 are symmetrically distributed on the front and rear sides of the lifting drive assembly 2.

The vacuum cleaner assembly 1 includes a box-type vacuum cleaner 4 and a first walking base 5. The box-type vacuum cleaner 4 adopts a rectangular parallelepiped structure. The box-type vacuum cleaner 4 is provided with two dust suction ports, which are the first dust suction port 6 and the second dust suction port respectively. The dust suction port 7, the first dust suction port 6 is located at the lower left of the box type vacuum cleaner 4, and the second dust suction port 7 is located at the lower right of the box type vacuum cleaner 4; the first walking base 5 is installed at the bottom of the box type vacuum cleaner 4 , the first walking base 5 is located between the first dust suction port 6 and the second dust suction port 7, and the walking wheel used by the first walking base 5 is a Mecanum wheel driven by a servo motor.

The elevating drive assembly 2 includes a box-type bracket 8, a second walking base 9, a first elevating drive motor 10, a first elevating screw 11, a first screw nut slider 12, a second elevating drive motor 13, and a second elevating drive motor 10. The lead screw 14 and the second screw nut slider 15; the box-type bracket 8 adopts a cuboid structure, and a first screw-nut slider guide slot 16 is opened on the front side box wall of the box-type bracket 8, and the first screw nut The slider guide slot 16 is vertically arranged; a second nut slider guide slot 17 is opened on the rear side wall of the box-type bracket 8, and the second nut slider guide slot 17 is vertically arranged; The first lift drive motor 10 is located at the inner bottom of the box-type bracket 8 , the first lift drive motor 10 is vertically arranged with the motor shaft facing upward, the first lift screw 11 is vertically arranged, and the lower end of the first lift screw 11 It is fixedly connected with the motor shaft of the first lifting drive motor 10 through the coupling, and the upper end of the first lifting screw 11 is connected with the top plate of the box-type bracket 8 through the bearing seat; the screw nut end of the first screw nut slider 12 is sleeved On the first lifting screw 11, the slider end of the first nut slider 12 extends out of the first nut slider guide slot 16 and is fixedly connected with the lower part of the rear side wall of the box-type vacuum cleaner 4; the The second lift drive motor 13 is located at the bottom of the inner side of the box-type bracket 8 , the second lift drive motor 13 is vertically arranged with the motor shaft facing upward, the second lift screw 14 is vertically arranged, and the lower end of the second lift screw 14 is connected The shaft is fixedly connected with the motor shaft of the second lifting drive motor 13, and the upper end of the second lifting screw 14 is connected with the top plate of the box-type bracket 8 through the bearing seat; the screw nut end of the second screw nut slider 15 is sleeved on the first On the second lifting screw 14, the slider end of the second nut slider 15 extends out of the second nut slider guide slot 17; the walking wheel used by the second walking base 9 is a McNair driven by a servo motor M wheel.

The number of the combination composed of the first lifting drive motor 10, the first lifting screw 11 and the first nut slider 12 is at least one group. In this embodiment, the combination is set to two groups, and A first nut slider guide slot 16 is correspondingly set in each group of assemblies; The number is at least one group. In this embodiment, the combination is provided in two groups, and each group of the combination is correspondingly provided with a second nut slider guide slot 17 .

The wiping assembly 3 includes a box-type sprinkler 18, a disc-type sponge piece 19, an electric telescopic rod 20, and a sponge-piece rotary drive motor 21; the box-type sprinkler 18 adopts a cuboid structure, and the box-type sprinkler 18 is provided with two A sprinkler head, respectively a first sprinkler head 27 and a second sprinkler head, the first sprinkler head 27 is located at the lower left of the box-type sprinkler 18, and the second sprinkler head is located at the lower right of the box-type sprinkler 18; The upper part of the box wall on the front side of the sprinkler 18 is fixedly connected with the slider end of the second silk nut slider 15; The electric telescopic rod 20 is vertically arranged, the lower end of the electric telescopic rod 20 is fixedly connected to the center of the disc sponge sheet 19, the sponge sheet rotary drive motor 21 is vertically arranged with the motor shaft facing downward, the electric telescopic rod 20 is connected to the sponge sheet The motor shafts of the rotary drive motor 21 are fixedly connected to each other, and the sponge sheet rotary drive motor 21 is embedded in the bottom of the box sprinkler 18 .

The number of the assembled body composed of the disc-type sponge sheet 19 , the electric telescopic rod 20 and the sponge sheet rotary drive motor 21 is at least one group. In this embodiment, the assembly is set to two groups.

A number of slits 28 are evenly distributed along the radial direction of the disc type sponge sheet 19, and each slit 28 is provided with a sponge strip 22, and the sponge strip 22 can move in the radial direction of the disc type sponge sheet 19 in the slit 28; A sponge strip translation drive motor 23 is installed on the center side of the disc type sponge sheet 19, and a sponge strip translation drive screw 24 is coaxially fixed on the motor shaft of the sponge strip translation drive motor 23. The length is less than or equal to the radius of the disc sponge sheet 19, and the sponge strip translation driving screw nut slider 25 is installed on the sponge strip translation driving screw 24, and the sponge strip translation driving screw nut slider 25 is fixedly connected with the inner end of the sponge strip 22. A follow-up telescopic rod 26 is provided between the sponge strip translation drive nut slider 25 and the bottom end rod body of the electric telescopic rod 20, and one end of the follow-up telescopic rod 26 is hinged with the bottom end rod body of the electric telescopic rod 20, The other end of the follow-up telescopic rod 25 is hingedly connected with the sponge strip translation drive nut slider 25 .

The use method of the fully automatic climbing stair cleaning robot includes the following steps:

Step 1: The robot stops in front of the first step of the stairs, and keeps a safe distance between the box wall on the front side of the box vacuum cleaner 4 of the vacuum assembly 1 and the side elevation of the first step;

Step 2: Start the first lift drive motor 10 of the lift drive assembly 2 to drive the first lift screw 11 to rotate, so that the first screw nut slider 12 vertically rises along the first lift screw 11, and the dust collector 1 It will rise synchronously with the first silk nut slider 12 until the height of the first walking base 5 of the vacuum assembly 1 exceeds the upper surface of the first step;

Step 3: The robot drives forward until the dust collector 1 moves above the first step, and keeps a safe distance between the front side box wall of the lift drive assembly 2 and the side elevation of the first step;

Step 4: Control the first walking base 5 of the vacuum cleaner assembly 1 to descend and land on the upper surface of the first step by the lifting and lowering drive assembly 2;

Step 5: Start the box-type vacuum cleaner 4 of the vacuum assembly 1, and at the same time, the robot moves horizontally in the left-right direction, and the box-type vacuum cleaner 4 vacuums and cleans the upper surface of the front third part of the first step;

Step 6: After the upper surface of the front end of the first step is cleaned and cleaned, the first lift drive motor 10 and the second lift drive motor 13 of the lift drive assembly 2 are started synchronously to drive the first lift wire The screw 11 and the second lifting screw 14 rotate synchronously, and the first screw nut slider 12 and the second screw nut slider 15 remain stationary, so that the first lifting screw 11 and the second lifting screw 14 rise synchronously, The box-type bracket 8 of the lift drive assembly 2 will rise together with the first lift screw 11 and the second lift screw 14 until the height of the second walking base 9 of the lift drive assembly 2 exceeds the upper surface of the first step ;

Step 7: The robot drives forward until the lift drive assembly 2 moves above the first step, and keeps a safe distance between the front side box wall of the wiper assembly 3 and the side elevation of the first step;

Step 8: The lifting drive assembly 2 is lowered, so that the second walking base 9 is lowered and falls to the upper surface of the first step;

Step 9: The robot moves horizontally in the left and right directions, and vacuums and cleans the upper surface of the middle third of the first step with the box-type vacuum cleaner 4;

Step 10: After the upper surface of the middle third of the first step is cleaned, start the second lift drive motor 13 of the lift drive assembly 2, and drive the second lift screw 14 to rotate, so that the second lift screw 14 is rotated. The female slider 15 rises vertically along the second lifting screw 14, and the wiping assembly 3 will rise synchronously with the second screw nut slider 15 until the height of the disc sponge 19 of the wiping assembly 3 exceeds the first step the upper surface of the;

Step 11: The robot drives forward until the wiping assembly 3 moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly 1 and the side elevation of the second step;

Step 12: The electric telescopic rod 20 of the wiper assembly 3 extends downward until the disc sponge 19 descends and falls on the upper surface of the first step;

Step 13: Start the box-type sprinkler 18 and the sponge sheet rotary drive motor 21 of the wiping assembly 3, the disc-type sponge sheet 19 starts to rotate, and the robot moves horizontally in the left-right direction, passing the box-type vacuum cleaner 4 to the rear end of the first step. The upper surface of one third part is vacuumed and cleaned, and the upper surface of one third part of the front end of the first step is wiped by the rotating disc sponge sheet 19;

Step 14: After the upper surface of the rear third of the first step is cleaned and cleaned, and the upper surface of the front third of the first step is wiped, lift the drive assembly 2 Control the vacuum cleaner assembly 1 to rise until the height of the first walking base 5 of the vacuum cleaner assembly 1 exceeds the upper surface of the second step;

Step 15: The robot moves forward until the dust collector 1 moves above the second step, and keeps a safe distance between the front side box wall of the lift drive assembly 2 and the side elevation of the second step;

Step 16: control the first walking base 5 of the vacuum cleaner assembly 1 to descend and fall to the upper surface of the second step by the lift drive assembly 2;

Step 17: The robot moves horizontally in the left and right directions, and vacuums and cleans the upper surface of one third of the front end of the second step through the box-type vacuum cleaner 4. Wipe the upper surface of the middle third;

Step 18: After the upper surface of the front third of the second step is cleaned and cleaned, and the upper surface of the middle third of the first step is cleaned, the lift drive assembly 2 rises. Until the height of the second walking base 9 exceeds the upper surface of the second step;

Step 19: The robot drives forward until the lift drive assembly 2 moves above the second step, and keeps a safe distance between the front side box wall of the wiper assembly 3 and the side elevation of the second step;

Step 20: The lifting and driving assembly 2 is lowered, so that the second walking base 9 is lowered to the upper surface of the second step;

Step 21: The robot moves horizontally in the left and right directions, and the upper surface of the middle third of the second step is vacuumed and cleaned by the box vacuum cleaner 4, and the first step is cleaned by the rotating disc sponge 19. The upper surface of one-third of the rear end of the step is wiped, and when the disc-type sponge sheet 19 moves to the dead angle position of the step, the sponge strip 22 stretches out, and the sponge strip 22 will bend and deform with the rotation of the disc-type sponge sheet 1 , so that the sponge strip 22 sweeps over the dead corner of the step to complete the wiping, and when the disc-type sponge sheet 19 is away from the dead corner of the step, the sponge strip 22 retracts to the initial position;

Step 22: After the upper surface of the middle third of the second step is vacuumed and cleaned, and the upper surface of the rear third of the first step is wiped, lift the drive assembly 2. Control the wiping assembly 3 to rise until the height of the disc sponge sheet 19 of the wiping assembly 3 exceeds the upper surface of the second step;

Step 23: The robot drives forward until the wiping assembly 3 moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly 1 and the side elevation of the third step;

Step 24: The wiping assembly 3 is lowered until the disc sponge 19 is lowered and falls to the upper surface of the second step;

Step 25: Repeat the vacuum cleaning process and wiping process of the first step until the vacuum cleaning and wiping work of all subsequent steps are completed.

In addition, when the upper surfaces of all steps of the stairs are cleaned, the box-type vacuum cleaner 4, box-type sprinkler 18 and sponge sheet rotary drive motor 21 are automatically turned off, and the robot does not need to perform the cleaning process, but only needs to perform the climbing process in reverse. You can smoothly descend from the highest step and return to the ground below the first step.

The solutions in the embodiments are not intended to limit the scope of the patent protection of the present invention, and all equivalent implementations or modifications that do not depart from the present invention are included in the scope of the patent of this case.

Claims (8)

1. A fully automatic climbing-type stair cleaning robot is characterized in that: it comprises a dust collecting assembly, a lifting driving assembly and a wiping assembly; The components and the wiping component are symmetrically distributed on the front and rear sides of the lifting drive component. 2. A fully automatic climbing stair cleaning robot according to claim 1, characterized in that: the vacuum assembly comprises a box-type vacuum cleaner and a first walking base, the box-type vacuum cleaner adopts a rectangular parallelepiped structure, and the box-type vacuum cleaner adopts a cuboid structure. There are two suction ports, namely the first suction port and the second suction port, the first suction port is located at the lower left of the box-type vacuum cleaner, and the second suction port is located at the lower right of the box-type vacuum cleaner; the The first walking base is installed at the bottom of the box-type vacuum cleaner, the first walking base is located between the first dust suction port and the second dust suction port, and the walking wheel used by the first walking base is a Mecanum wheel driven by a servo motor. 3 . The fully automatic climbing stair cleaning robot according to claim 2 , wherein the lift drive assembly comprises a box-type bracket, a second walking base, a first lift drive motor, and a first lift screw. 4 . , the first screw nut slider, the second lifting drive motor, the second lifting screw and the second screw nut slider; the box-type bracket adopts a cuboid structure, and a first box-type bracket is provided on the front side box wall of the box-type bracket A guide slot hole for the nut slider, the first guide slot for the nut slider is vertically arranged; a second guide slot hole for the nut slider is provided on the rear side wall of the box-type bracket, and the second nut slider guide slot is provided. The block guide slot holes are arranged vertically; the first lift drive motor is located at the bottom of the inner side of the box-type bracket, the first lift drive motor is vertically arranged with the motor shaft facing upward, the first lift screw is vertically arranged, and the first lift drive motor is vertically arranged. The lower end of the lead screw is fixedly connected with the motor shaft of the first lifting drive motor through a coupling, and the upper end of the first lifting screw is connected with the top plate of the box-type bracket through a bearing seat; the screw nut end of the first screw nut slider is sleeved on On the first lift screw, the slider end of the first screw slide extends out of the first screw slide guide slot and is fixedly connected with the lower part of the rear side wall of the box-type vacuum cleaner; the second lift drive motor Located at the bottom of the inner side of the box-type bracket, the second lift drive motor is vertically arranged with the motor shaft facing upward, the second lift screw is vertically arranged, and the lower end of the second lift screw is connected to the motor of the second lift drive motor through a coupling The shafts are fixedly connected to each other, and the upper end of the second lifting screw is connected to the top plate of the box-type bracket through the bearing seat; The end of the block extends out of a second thread nut slider guide slot; the walking wheel used by the second walking base is a Mecanum wheel driven by a servo motor. 4. A fully automatic climbing stair cleaning robot according to claim 3, characterized in that: a combination composed of the first lift drive motor, the first lift screw and the first screw nut slider, The number is at least one group; the number of the combination composed of the second lifting drive motor, the second lifting screw and the second screw nut slider is at least one group. 5. A fully automatic climbing stair cleaning robot according to claim 3, characterized in that: the wiping assembly comprises a box-type sprinkler, a disc-type sponge sheet, an electric telescopic rod, and a sponge sheet rotary drive motor; The box-type sprinkler adopts a cuboid structure, and the box-type sprinkler is provided with two sprinkler heads, namely the first sprinkler head and the second sprinkler head, the first sprinkler head is located at the lower left of the box-type sprinkler, and the second sprinkler head Located at the lower right of the box-type sprinkler; the upper part of the front side box wall of the box-type sprinkler is fixedly connected with the slider end of the second silk nut slider; the disk-type sponge sheet is arranged horizontally, and the disk-type sponge sheet is located at Below the box-type sprinkler, the electric telescopic rod is set vertically, the lower end of the electric telescopic rod is fixed at the center of the disc sponge sheet, the rotary drive motor of the sponge sheet is set vertically with the motor shaft facing down, and the electric telescopic rod is It is fixedly connected with the motor shaft of the rotary drive motor of the sponge sheet, and the rotary drive motor of the sponge sheet is embedded in the bottom of the box sprinkler. 6. A fully automatic climbing stair cleaning robot according to claim 5, characterized in that: the combination composed of the disc-type sponge sheet, the electric telescopic rod and the sponge sheet rotary drive motor, the number of which is at least One group. 7. The fully automatic climbing stair cleaning robot according to claim 5, wherein a plurality of slits are evenly distributed along the radial direction of the disc sponge sheet, and each slit is provided with a sponge strip , the sponge strip can move in the radial direction of the disc type sponge sheet in the gap; the sponge strip translation drive motor is installed on the center side of the disc type sponge sheet, and the sponge strip is coaxially fixed on the motor shaft of the sponge strip translation drive motor. The translation drive screw, the length of the sponge strip translation drive screw is less than or equal to the radius of the disc sponge sheet, the sponge strip translation drive screw slider is installed on the sponge strip translation drive screw, and the sponge strip translation drive screw slider is connected to the The inner ends of the sponge strips are fixedly connected with each other; a follow-up telescopic rod is arranged between the sponge strip translation drive nut slider and the bottom end rod body of the electric telescopic rod, and one end of the follow-up telescopic rod is connected with the bottom end rod body of the electric telescopic rod. Hinged, the other end of the follow-up telescopic rod is hinged with the translational drive nut slider of the sponge strip. 8. the using method of the fully automatic climbing stair cleaning robot of claim 1, is characterized in that comprising the steps: Step 1: The robot stops in front of the first step of the stairs, and keeps a safe distance between the front side wall of the box vacuum cleaner of the vacuum assembly and the side elevation of the first step; Step 2: Start the first lift drive motor of the lift drive assembly, drive the first lift screw to rotate, so that the first screw nut slider vertically rises along the first lift screw, and the vacuum assembly will follow the first screw. The female slider rises synchronously until the height of the first walking base of the vacuum assembly exceeds the upper surface of the first step; Step 3: The robot drives forward until the dust collector moves above the first step, and keeps a safe distance between the front side box wall of the lift drive assembly and the side elevation of the first step; Step 4: Control the first walking base of the vacuum cleaner assembly to descend and land on the upper surface of the first step through the lift drive assembly; Step 5: Start the box-type vacuum cleaner of the vacuuming assembly, and at the same time, the robot moves horizontally in the left-right direction, and the box-type vacuum cleaner is used to vacuum and clean the upper surface of one third of the front end of the first step; Step 6: When the upper surface of the front third of the first step is cleaned and cleaned, the first lift drive motor and the second lift drive motor of the lift drive assembly are started synchronously to drive the first lift screw and the second lift drive motor. The two lifting screws rotate synchronously, and the first screw nut slider and the second screw nut slider remain stationary, so that the first lifting screw and the second lifting screw rise synchronously, and the box-type bracket of the lifting drive assembly will along with the first elevating screw and the second elevating screw rising together, until the height of the second walking base of the elevating drive assembly exceeds the upper surface of the first step; Step 7: The robot drives forward until the lift drive assembly moves above the first step, and keeps a safe distance between the front side box wall of the wiper assembly and the side elevation of the first step; Step 8: The lifting and driving assembly is lowered, so that the second walking base is lowered to the upper surface of the first step; Step 9: The robot moves horizontally in the left and right directions, and uses the box vacuum cleaner to vacuum and clean the upper surface of the middle third of the first step; Step 10: After vacuuming and cleaning the upper surface of the middle third of the first step, start the second lift drive motor of the lift drive assembly, drive the second lift screw to rotate, and make the second screw nut slider Vertically rise along the second lifting screw, and the wiper assembly will rise synchronously with the second screw nut slider until the height of the disc sponge of the wiper assembly exceeds the upper surface of the first step; Step 11: The robot drives forward until the wiping assembly moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly and the side elevation of the second step; Step 12: The electric telescopic rod of the wiper assembly extends downwards until the disc sponge piece descends and falls to the upper surface of the first step; Step 13: Start the box-type sprinkler of the wiping component and the rotary drive motor of the sponge piece, the disk-type sponge piece starts to rotate, and at the same time the robot moves horizontally in the left and right directions, and the box-type vacuum cleaner is used to clean the rear third of the first step. The upper surface of the step is vacuumed and cleaned, and the upper surface of the first third of the front end of the first step is wiped by the rotating disc sponge; Step 14: After the upper surface of the rear third of the first step is cleaned and cleaned, and the upper surface of the front third of the first step is cleaned, control the lifting drive assembly The vacuum cleaner assembly rises until the height of the first walking base of the vacuum cleaner assembly exceeds the upper surface of the second step; Step 15: The robot moves forward until the dust collector moves above the second step, and keeps a safe distance between the front side box wall of the lift drive assembly and the side elevation of the second step; Step 16: Control the first walking base of the vacuum assembly to descend and land on the upper surface of the second step through the lifting and lowering drive assembly; Step 17: The robot moves horizontally in the left and right directions, and uses the box-type vacuum cleaner to vacuum and clean the upper surface of the front third of the second step. One part of the upper surface is wiped; Step 18: After the upper surface of the front third of the second step is cleaned and cleaned, and the upper surface of the middle third of the first step is wiped, the lift drive assembly rises until the The height of the second walking base exceeds the upper surface of the second step; Step 19: The robot moves forward until the lift drive assembly moves above the second step, and keeps a safe distance between the front side box wall of the wiper assembly and the side elevation of the second step; Step 20: The lifting and driving assembly is lowered, so that the second walking base is lowered to the upper surface of the second step; Step 21: The robot moves horizontally in the left and right directions, and uses the box-type vacuum cleaner to vacuum and clean the upper surface of the middle third of the second step. The upper surface of the third part of the end is wiped, and when the disc sponge sheet moves to the dead corner of the step, the sponge strip extends, and the sponge strip will bend and deform with the rotation of the disc sponge sheet, so that the sponge strip sweeps over The dead corner of the step is wiped, and when the disc sponge sheet is far away from the dead corner of the step, the sponge strip retracts to the initial position; Step 22: After the upper surface of the middle third of the second step is vacuumed and cleaned, and the upper surface of the rear third of the first step is wiped, lift the drive assembly Control the wiping assembly to rise until the height of the disc sponge of the wiping assembly exceeds the upper surface of the second step; Step 23: The robot drives forward until the wiping assembly moves above the first step, and keeps a safe distance between the front side box wall of the vacuum assembly and the side elevation of the third step; Step 24: The wiping assembly descends until the disc sponge piece descends and falls to the upper surface of the second step; Step 25: Repeat the vacuum cleaning process and wiping process of the first step until the vacuum cleaning and wiping work of all subsequent steps are completed.

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