CN113995348B - Spiral wheelset stair climbing cleaning vehicle based on screw thread matching principle - Google Patents
Spiral wheelset stair climbing cleaning vehicle based on screw thread matching principle Download PDFInfo
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- CN113995348B CN113995348B CN202111337690.6A CN202111337690A CN113995348B CN 113995348 B CN113995348 B CN 113995348B CN 202111337690 A CN202111337690 A CN 202111337690A CN 113995348 B CN113995348 B CN 113995348B
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- 230000009194 climbing Effects 0.000 title claims abstract description 60
- 238000004140 cleaning Methods 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims abstract description 3
- 238000010408 sweeping Methods 0.000 claims description 36
- 239000000428 dust Substances 0.000 claims description 9
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
- 229910052782 aluminium Inorganic materials 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 7
- 208000032370 Secondary transmission Diseases 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 5
- 229920001220 nitrocellulos Polymers 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000002493 climbing effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 2
- 241001417527 Pempheridae Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/40—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
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- Handcart (AREA)
Abstract
The invention discloses a spiral wheel set stair climbing cleaning vehicle which comprises a synchronous belt transmission mechanism, a stair climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism. The stair climbing mechanism adopts a wheelset type spiral design, and is in contact with stairs and is in similar threaded fit to realize movement on stairs. The transmission of the lifting mechanism can easily realize the conversion between the walking motion of the stair climbing cleaning vehicle on the flat road and the stair climbing motion. The use of the Mecanum wheels as the movement mechanism increases the flexibility of the stair climbing cleaning vehicle so that the stair climbing cleaning vehicle can operate in more different environments. Is a stair climbing cleaning vehicle which can stably, rapidly, efficiently and flexibly climb up and down stairs under automatic control.
Description
Technical Field
The invention belongs to the technical field of intelligent cleaning, and particularly provides a spiral wheel set stair climbing cleaning vehicle based on a threaded cooperation principle.
Background
With the rapid development of science and technology, robots have rapidly developed from the traditional industrial manufacturing field to different social fields, such as medical services, education and entertainment, exploration and survey, disaster relief, intelligent transportation, and the like. Nowadays, more and more robots are present in our daily lives, which have become an integral part of many people's lives. At the same time, the increasingly complex unstructured environment places new demands on the kind and structure of robots. The research of the obstacle crossing robot in the unstructured environment has important significance for expanding the working space of the robot. The stair climbing robot realizes stair climbing work by utilizing artificial intelligence and self structure, and can autonomously finish the work such as carrying and processing of people or cargoes in special space, and the use value of the stair climbing robot is gradually accepted and approved by people. At present, four types of stair climbing robots are mainly available on the market, namely a wheel type stair climbing robot, a crawler type stair climbing robot, a swing arm type stair climbing robot and a leg type stair climbing robot. In general, these stair climbing robots generally have disadvantages of low turning efficiency, relatively low speed, cumbersome actions, low stair climbing efficiency, and the like. Therefore, the stair climbing robot which can stably, quickly and efficiently go upstairs and downstairs under automatic control and has the advantages of compact structure, simplicity, high efficiency, stable movement and the like compared with the traditional stair climbing robot is very important.
Disclosure of Invention
The invention aims to provide a spiral wheel set stair climbing cleaning vehicle based on a screw thread matching principle so as to solve the problems in the background art.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a spiral wheelset stair climbing cleaning vehicle based on a thread matching principle comprises a synchronous belt transmission mechanism, a stair climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism, and is characterized in that: the synchronous belt transmission mechanism comprises a second stepping motor, a large synchronous wheel, a small synchronous wheel, a large gear, small teeth and a synchronous belt; the 2 big synchronizing wheels are arranged on two sides of the side main board, the second stepping motor is fixed on the side main board, the big gear and the big synchronizing wheels are coaxially connected with the second stepping motor, the pinion is fixed on the side main board through a shaft, the pinion and the small synchronizing wheels are coaxially connected, the pinion and the big gear are meshed with each other, the synchronizing wheels are connected through a synchronous belt, the second stepping motor drives the big gear to rotate, the big gear drives the pinion, and the gear drive drives the synchronizing wheels to rotate through synchronous belt drive. The stair climbing mechanism comprises a wheel train and a fixing device; the wheel system comprises 12 left-hand wheels and 12 right-hand wheels; the fixing device comprises a wheel fixing frame, a rotating shaft fixing frame, rotating shafts and flange bearings, wherein the wheel fixing frame is fixed on the rotating shafts in a spiral mode, the rotating shaft fixing frames are connected with the rotating shafts, the front end and the rear end of each rotating shaft are respectively connected with one rotating shaft fixing frame, and each rotating shaft fixing frame is connected with the flange bearings fixed on the two side face main boards; the moving mechanism comprises a Mecanum wheel set, a first stepping motor and a lateral gear box; the Mecanum wheel group consists of 4 Mecanum wheels, and each Mecanum wheel is combined with 1 lateral gearbox; the inside of the lateral gear box is provided with 4 gears with different sizes to realize secondary transmission; the lifting mechanism comprises a fixed plate, a connecting shaft, a hydraulic rod, a fixed rod, a connecting rod, lifting strips, a support plate, an aluminum profile frame and an electric push rod; the fixed plate is fixed at the upper main board respectively, and the fixed plate plays the effect of spacing lifter, and both sides lifter below links to each other with a connecting rod, and the department is connected with electric putter in the middle of the connecting rod, drives connecting rod horizontal migration when electric putter rotates to make the lifter realize the function of going up and down. The lifting bar is connected with the support plates, the support plates on two sides are mutually fixed through a plurality of aluminum profile frames, and the connecting shaft is fixed on the support plates and is connected with the hydraulic rod and the fixing rod. The cleaning mechanism comprises a suction sweeping mechanism and a dragging and washing mechanism; the suction and sweeping mechanism comprises a suction and sweeping machine bottom plate, a suction and sweeping machine bottom plate bracket, suction and sweeping fans, dust collection pipelines and universal wheels, wherein two sides of the suction and sweeping machine bottom plate are respectively connected with the suction and sweeping machine bottom plate bracket, each suction and sweeping machine bottom plate bracket is provided with one suction and sweeping fan, the dust collection pipeline is fixed in the center of the suction and sweeping machine bottom plate, and the edges of two sides of the suction and sweeping machine bottom plate are respectively provided with one universal wheel; the mopping mechanism comprises an electromagnetic valve, a box body, a shunt pipe, collodion and a partition plate; the electromagnetic valve is fixed in the box body, the shunt tube is connected with the electromagnetic valve, collodion cotton is arranged at the bottom of the outer side of the box body, and the partition plate is fixed above the electromagnetic valve in the box body.
Compared with the prior art, the invention has the beneficial effects that: the design of the spiral wheel set stair climbing cleaning vehicle has great innovation in similar products at home and abroad, and adopts a wheel set spiral structure. The combined force circulation action of the friction forward component force of the forward spiral wheel and the friction forward component force of the stair surface when the backward spiral wheel rotates in the stair climbing mechanism assembly is used as stair climbing power of the spiral wheel type stair climbing machine, and the friction component force vertical to the forward direction of the stair surface when the left spiral wheel rotates and the friction forward component force vertical to the forward direction of the stair surface when the right spiral wheel rotates are mutually offset to drive the stair climbing robot to realize stair climbing action or stair falling action. The lifting mechanism adopts a combined structure of chain transmission and screw nut transmission, and can easily realize the conversion between the walking motion of the stair climbing robot on the flat road and the stair climbing motion. The use of Mecanum wheels increases the flexibility of the cleaning vehicle so that the cleaning vehicle can operate in a greater variety of environments.
In general, the spiral wheel set stair climbing cleaning vehicle has the advantages of simple structure, easy manufacture, flexibility, low cost, good safety performance, simplicity, high efficiency, stable movement and the like compared with the traditional stair climbing robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic view of a stair climbing cleaning vehicle with spiral wheel sets according to the present invention;
FIG. 2 is a bottom view of a spiral wheelset stair climbing cleaning vehicle in accordance with the present invention;
FIG. 3 is a schematic view of a moving mechanism of a stair climbing cleaning vehicle with spiral wheel sets according to the present invention;
FIG. 4 is a partial view of the drive mechanism of a spiral wheelset stair climbing cleaning vehicle of the present invention;
FIG. 5 is a schematic view of a lifting mechanism of a stair climbing cleaning vehicle with spiral wheel sets according to the present invention;
FIG. 6 is a schematic diagram of a drag and wash mechanism of a spiral wheelset stair climbing cleaning vehicle of the present invention;
FIG. 7 is a schematic view of a suction and sweeping mechanism of a stair climbing cleaning vehicle with spiral wheel sets according to the present invention;
In the drawing, an upper main board 1, a left-hand wheel 2, a side main board 3, a right-hand wheel 4, a rotating shaft 5, a rotating shaft fixing frame 6, a flange bearing 7, a wheel fixing frame 8, a Mecanum wheel 9, a first stepping motor 10, a side gear set 11, a hydraulic rod 12, a lifting bar 13, a support plate 14, a fixing plate 15, a large synchronous wheel 16, a synchronous belt 17, a small synchronous wheel 18, a pinion 19, a second stepping motor 20, a large gear 21, a connecting shaft 22, an aluminum profile frame 23, an electric push rod 24, a connecting rod 25, a fixing rod 26, an electromagnetic valve 27, a partition plate 28, a suction sweeper bottom plate 32, a suction sweeper bottom plate bracket 33, a universal wheel 34, a suction sweeper fan 35 and a dust collecting pipeline 36 are arranged.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention:
as shown in the figure, a spiral wheelset climbing cleaning vehicle based on a threaded cooperation principle comprises a synchronous belt transmission mechanism, a climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism, and is characterized in that:
The timing belt transmission mechanism shown in fig. 4 includes a second stepping motor 20, a large timing wheel 16, a small timing wheel 18, a large gear 21, a small gear 19, and a timing belt 17; the 2 large synchronizing wheels 16 are arranged at two sides of the side main board 3, the second stepping motor 20 is fixed on the side main board 3, the large gear 21 and the large synchronizing wheels 16 are coaxially connected with the second stepping motor 20, the small gear is fixed on the side main board 3 through a shaft, the small gear 19 and the small synchronizing wheels 18 are coaxially connected, the small gear 19 and the large gear 21 are meshed with each other, the synchronizing wheels are connected through the synchronous belt 17, the second stepping motor 20 drives the large gear 21 to rotate, and the large gear 21 drives the small gear 19; the gear drive drives the synchronous wheel to rotate through the synchronous belt drive, and the wheel mechanisms on the left side and the right side of the synchronous wheel are reversely rotated to offset the transverse friction force generated when the stair climbing mechanism works.
The stair climbing mechanism shown in figures 1,2 and 3 comprises 12 left-hand wheels 2 and 12 right-hand wheels 4, a wheel fixing frame 8, a rotating shaft fixing frame 6, a rotating shaft 5 and a flange bearing 7; the wheel fixing frames 8 are fixed on the rotating shafts 5 in a spiral distribution manner as shown in fig. 2, the rotating shaft fixing frames 6 are connected with the rotating shafts 5, the front end and the rear end of each rotating shaft 5 are respectively connected with a rotating shaft fixing frame 6, each rotating shaft fixing frame 6 is connected with a flange bearing 7 fixed on the two side face main boards 3, and the contact with stairs is continuous and stable due to the spiral distribution of the left-handed wheels 2 and the right-handed wheels 4, so that the stair climbing process is relatively stable.
The moving mechanism shown in fig. 3 comprises a Mecanum wheel group, a first stepping motor 10 and a lateral gear box 11; the Mecanum wheel group consists of 4 Mecanum wheels 9, and each Mecanum wheel 9 is combined with 1 lateral gearbox 11; the inside of the lateral gear box 11 uses 4 gears with different sizes to realize secondary transmission, the tail end of the lateral gear box 11 is connected with the first stepping motor 10, the function of increasing the maximum torque is realized, the compactness is improved, and the arrangement space is saved.
The lifting mechanism shown in fig. 3 and 5 comprises a fixed plate 15, a connecting shaft 22, a hydraulic rod 12, a fixed rod 26, a connecting rod 25, a lifting bar 13, a support plate 14, an aluminum profile frame 23 and an electric push rod 24; the fixed plates 15 are respectively fixed on the upper main board 1, the fixed plates 15 play a role of limiting the lifting strips 13, the lower parts of the lifting strips 13 on two sides are connected with a connecting rod 25, the middle of the connecting rod 25 is connected with an electric push rod 24, and the electric push rod 24 drives the connecting rod 25 to horizontally move when rotating, so that the lifting strips 13 realize the lifting function. The lifting bar 13 is connected with the support plates 14 above, the support plates 14 on two sides are mutually fixed through a plurality of aluminum profile frames 23, and the connecting shaft 22 is fixed on the support plates 14 and is connected with the hydraulic rod 12 and the fixing rod 26.
The cleaning mechanism shown in fig. 6 and 7 comprises a suction sweeping mechanism and a mopping mechanism; the suction and sweeping mechanism comprises a suction and sweeping machine base plate 32, a suction and sweeping machine base plate bracket 33, universal wheels 34, suction and sweeping fans 35 and dust collection pipelines 36, wherein two sides of the suction and sweeping machine base plate 32 are respectively connected with the suction and sweeping machine base plate bracket 33, each suction and sweeping machine base plate bracket 33 is provided with one suction and sweeping fan 35, the dust collection pipelines 36 are fixed in the center of the suction and sweeping machine base plate 32, and the edges of two sides of the suction and sweeping machine base plate 32 are respectively provided with one universal wheel 34; the dragging and washing mechanism comprises an electromagnetic valve 27, a partition plate 28, a box body, a shunt pipe and collodion cotton; the electromagnetic valve 27 is fixed in the box body, the shunt tube is connected with the electromagnetic valve 27, collodion cotton is arranged at the bottom of the outer side of the box body, and the partition plate 28 is fixed above the electromagnetic valve 27 in the box body.
The working principle of the device is as follows: when the spiral wheel set stair climbing cleaning vehicle is in cleaning work, the lifting mechanism can be automatically opened facing stairs, the Mecanum wheel 9 of the moving mechanism is retracted, the synchronous belt transmission mechanism starts to work, the left-hand wheel 2 and the right-hand wheel 4 are driven to rotate, friction component forces perpendicular to the advancing direction of the stairs are offset when the left-hand wheel 2 and the right-hand wheel 4 rotate, and the spiral wheel set stair climbing cleaning vehicle is in contact with the stairs and is in similar threaded fit with the stairs, so that the whole movement on the stairs is realized. After the cleaning vehicle reaches the flat ground, the Mecanum wheel 9 of the moving mechanism is automatically unfolded, the operation of the synchronous belt transmission mechanism is stopped, and the multidirectional movement is realized by controlling the steering and the speed of the Mecanum wheel 9, so that the cleaning vehicle can continuously complete the cleaning work on the flat ground. The suction and cleaning mechanism cleans and collects dust and other wastes through the rapid rotation of the suction and cleaning fan 35 and the action of the dust collection pipeline 36, and then the cleaning work on the environment is completed after the cleaning mechanism behind the cleaning mechanism is used for cleaning during walking.
The invention is not a matter of the known technology.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (4)
1. The utility model provides a spiral wheelset climbs building cleaning vehicle based on screw-thread fit principle, includes hold-in range drive mechanism, climbs building mechanism, moving mechanism, elevating system and wiper mechanism, its characterized in that: the synchronous belt transmission mechanism comprises a second stepping motor, a large synchronous wheel, a small synchronous wheel, a large gear, small teeth and a synchronous belt; the two large synchronous wheels are arranged on two sides of the side main board, the second stepping motor is fixed on the side main board, the large gear and the large synchronous wheel are coaxially connected with the second stepping motor, the small gear is fixed on the side main board through a shaft, the small gear and the small synchronous wheel are coaxially connected, the small gear and the large gear are meshed with each other, the synchronous wheels are connected through a synchronous belt, the second stepping motor drives the large gear to rotate, the large gear drives the small gear, and the gear drive drives the synchronous wheel to rotate through synchronous belt drive; the stair climbing mechanism comprises a wheel train and a fixing device; the wheel system comprises 12 left-hand wheels and 12 right-hand wheels; the fixing device comprises a wheel fixing frame, a rotating shaft fixing frame, rotating shafts and flange bearings, wherein the wheel fixing frame is fixed on the rotating shafts in a spiral mode, the rotating shaft fixing frames are connected with the rotating shafts, the front end and the rear end of each rotating shaft are respectively connected with one rotating shaft fixing frame, and each rotating shaft fixing frame is connected with the flange bearings fixed on the two side face main boards; the spiral distribution of the wheels is continuous and stable in contact with the stairs, so that the stair climbing process is stable; the moving mechanism comprises a Mecanum wheel set, a first stepping motor and a lateral gear box; the Mecanum wheel group consists of 4 Mecanum wheels, and each Mecanum wheel is combined with 1 lateral gearbox; the inside of the lateral gear box is provided with 4 gears with different sizes to realize secondary transmission, and the tail end of the lateral gear box is connected with the first stepping motor to realize the function of increasing the maximum torque;
The lifting mechanism comprises a fixed plate, a connecting shaft, a hydraulic rod, a fixed rod, a connecting rod, lifting strips, a support plate, an aluminum profile frame and an electric push rod; the fixing plates are respectively fixed on the upper main board and play a role of limiting the lifting strips, the lower parts of the lifting strips on two sides are connected with a connecting rod, the middle part of the connecting rod is connected with an electric push rod, and the electric push rod drives the connecting rod to horizontally move when rotating, so that the lifting strips realize the lifting function; the upper part of the lifting bar is connected with the support plates, the support plates at two sides are mutually fixed through a plurality of aluminum profile frames, and the connecting shaft is fixed on the support plates and connected with the hydraulic rod and the fixing rod; the cleaning mechanism comprises a suction sweeping mechanism and a dragging and washing mechanism; the suction and sweeping mechanism comprises a suction and sweeping machine bottom plate, a suction and sweeping machine bottom plate bracket, suction and sweeping fans, dust collection pipelines and universal wheels, wherein two sides of the suction and sweeping machine bottom plate are respectively connected with the suction and sweeping machine bottom plate bracket, each suction and sweeping machine bottom plate bracket is provided with one suction and sweeping fan, the dust collection pipeline is fixed in the center of the suction and sweeping machine bottom plate, and the edges of two sides of the suction and sweeping machine bottom plate are respectively provided with one universal wheel; the mopping mechanism comprises an electromagnetic valve, a box body, a shunt pipe, collodion and a partition plate; the electromagnetic valve is fixed in the box body, the shunt tube is connected with the electromagnetic valve, collodion cotton is arranged at the bottom of the outer side of the box body, and the partition plate is fixed above the electromagnetic valve in the box body;
The wheel mechanism comprises a plurality of left-hand wheels and right-hand wheels, friction component forces perpendicular to the advancing direction of the stair when the left-hand wheels and the right-hand wheels rotate are offset, and the wheels are in contact with the stair steps and are in similar threaded fit, so that the whole is moved on the steps;
The Mecanum wheel is combined with the lateral gearbox; the inside of the lateral gearbox is provided with four gears with different sizes to realize secondary transmission, the tail end of the lateral gearbox is connected with the stepping motor, and the torque of the stepping motor is specially transmitted by the secondary transmission, so that the effect of increasing the maximum torque is realized.
2. The spiral wheelset stair climbing cleaning vehicle based on the principle of screw-thread fit according to claim 1, wherein: the second stepping motor of the synchronous belt transmission mechanism drives the large gear to rotate, the large gear drives the small gear, the gear transmission drives the synchronous wheel to rotate through the synchronous belt transmission, and the left-hand wheel and the right-hand wheel are reversely rotated to offset transverse friction force generated when the stair climbing mechanism works, and the synchronous wheel and the synchronous belt are connected to increase the synchronism of the rotation of the mechanisms on two sides.
3. The spiral wheelset stair climbing cleaning vehicle based on the principle of screw-thread fit according to claim 1, wherein: the fixed plates of the lifting mechanism are respectively fixed on two sides of the upper main plate, the fixed plates play a role of limiting lifting strips, the lower parts of the lifting strips on two sides are connected with a connecting rod, the middle part of the connecting rod is connected with an electric push rod, and the electric push rod drives the connecting rod to horizontally move when rotating, so that the lifting strips realize the lifting function, and the conversion of the stair climbing robot walking on a flat road and the stair climbing action can be easily completed.
4. The spiral wheelset stair climbing cleaning vehicle based on the principle of screw-thread fit according to claim 1, wherein: the cleaning mechanism comprises a sucking and sweeping mechanism and a mopping and washing mechanism, wherein the sucking and sweeping mechanism is positioned in front of the front direction of the stair climbing cleaning vehicle, and the mopping and washing mechanism is positioned behind the front direction of the stair climbing cleaning vehicle, so that the sucking and sweeping-mopping actions of the stair climbing cleaning vehicle are realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111337690.6A CN113995348B (en) | 2021-11-12 | 2021-11-12 | Spiral wheelset stair climbing cleaning vehicle based on screw thread matching principle |
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| CN202111337690.6A CN113995348B (en) | 2021-11-12 | 2021-11-12 | Spiral wheelset stair climbing cleaning vehicle based on screw thread matching principle |
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| CN113995348A CN113995348A (en) | 2022-02-01 |
| CN113995348B true CN113995348B (en) | 2024-09-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN216823241U (en) * | 2021-11-12 | 2022-06-28 | 桂林电子科技大学 | Spiral wheel set stair-climbing cleaning trolley based on thread fit principle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105982795B (en) * | 2016-06-15 | 2017-07-21 | 梁庆昌 | A kind of wheeled wheel chair capable of climbing stairway of left-right rotary spiral |
| CN205818794U (en) * | 2016-06-17 | 2016-12-21 | 中国矿业大学(北京) | Wheel and there is the vehicle of this wheel |
| CN108852764B (en) * | 2018-06-12 | 2020-09-25 | 杭州程天科技发展有限公司 | Helping robot without fixed seat, helping robot and control method thereof |
| CN210526697U (en) * | 2019-07-02 | 2020-05-15 | 厦门大学 | Dual-purpose robot chassis for flat ground movement and ladder climbing based on vertical lifting mechanism |
| CN110329372B (en) * | 2019-08-09 | 2024-01-30 | 桂林电子科技大学 | Stair climbing robot |
| CN111297267B (en) * | 2020-03-09 | 2024-06-25 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN111645778B (en) * | 2020-04-22 | 2021-08-31 | 沈机（上海）智能系统研发设计有限公司 | Omnidirectional mobile device |
| CN112493927B (en) * | 2020-11-25 | 2021-10-08 | 浙江机电职业技术学院 | A stair and ground sweeping and dragging robot |
| CN113616118B (en) * | 2021-08-16 | 2022-10-14 | 武汉理工大学 | A device for automatically cleaning stair handrails and steps |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216823241U (en) * | 2021-11-12 | 2022-06-28 | 桂林电子科技大学 | Spiral wheel set stair-climbing cleaning trolley based on thread fit principle |
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