CN115462706A - Liftable formula stair cleaning machines people - Google Patents

Abstract

The invention provides a liftable stair cleaning robot, which relates to the technical field of cleaning equipment and comprises a sweeping mechanism, a mopping mechanism, a moving mechanism and a lifting driving mechanism, wherein the sweeping mechanism is arranged on the floor of a building; the moving mechanisms are distributed at the bottom and the front and rear sides of the box type frame, and the dust collector assembly is used for cleaning the garbage; the moving mechanism is distributed at the bottoms of the lifting driving mechanism and the lifting support I, and omni-directional movement is performed by using Mecanum wheels and driving idler wheels; the mopping mechanism is distributed at the bottom of the lifting support II, and a sponge mop is used for carrying out secondary cleaning on the stairs; the lifting driving mechanism is a main body part, and a motor is used for controlling a lead screw to rotate forwards and backwards to go up and down stairs. The stair cleaning robot can well complete the stair cleaning work.

Description

A liftable stair cleaning robot

technical field

The invention relates to the technical field of cleaning equipment, in particular to a liftable staircase cleaning robot.

Background technique

With the development of the economy, there are more and more high-rise buildings in the city. As a part of the high-rise buildings, stairs can be seen everywhere in our lives. Because the size of each level of the stairs is small, and there are some hygienic dead ends, it is difficult to clean. Therefore, cleaning workers not only have high labor intensity when cleaning the stairs, but also have certain potential safety hazards. At the same time, the cleaning robots in the prior art are not suitable for cleaning the stairs. ,

However, most of the cleaning robots currently on the market are robots that clean indoors or outdoors on flat ground, and their functions are relatively single, so there are certain limitations. Therefore, in order to complete the repetitive work of cleaning the stairs and save human resources, it is very important to design a robot for cleaning the stairs.

Contents of the invention

In order to overcome the defects of the prior art, the purpose of the present invention is to provide an ascending and descending stair cleaning robot, which realizes the combination of sweeping and mopping the floor, and is able to go up and down the stairs to complete the cleaning task of the stairs.

For this reason, the present invention proposes a kind of lifting type stair cleaning robot, comprises: the box-type frame of rectangular parallelepiped structure, sweeping mechanism, mopping mechanism, moving mechanism, and lifting drive mechanism; Lifting drive mechanism is arranged on box-type frame Above, including the lifting bracket Ⅰ on the front side and the lifting bracket Ⅱ on the rear side; the sweeping mechanism is symmetrically distributed on the left and right sides of the bottom of the box-type rack, and the mopping mechanism is distributed on the bottom of the lifting bracket Ⅱ;

Among them, the moving mechanism is set at the bottom of the box-type frame and the lifting bracket I, which is used to control the movement of the robot in the front, rear, left and right directions; the lifting drive mechanism can drive the lifting bracket I and the lifting bracket II to move up and down alternately, and cooperate with the moving mechanism. To control the robot to move forward across the steps of the stairs.

Further, the lifting drive mechanism also includes two sets of lead screws, two sets of servo motors, and two sets of sliding nuts; the two sets of lead screws are arranged vertically and connected with the box-type frame, and a set of sliding nuts on the rear side are arranged on the The lifting bracket II is matched with a set of lead screw screw pairs; the front set of sliding nuts is arranged on the lifting bracket I and matched with another set of screw screw pairs.

Further, the lifting support I is in the shape of "η", and the front foot of the lifting support I is higher than the rear foot by a step height.

Further, the moving mechanism includes a mecanum wheel set, a drive roller set, and a motor set; the mecanum wheels are arranged at the bottom of the box-type frame, and the drive rollers are arranged on the front foot and the rear foot of the lifting support Ⅰ.

Furthermore, there are four mecanum wheels in total, which are symmetrically distributed in pairs at the bottom of the box-type frame, and each mecanum wheel is driven by a motor.

Further, the lead screws, servo motors, and sliding nuts of the same group are arranged in pairs and distributed symmetrically, and the bottom of each lead screw is driven by a motor.

Further, the sweeping mechanism includes a small vacuum cleaner, a dust suction pipe, a dust suction port, and a garbage storage box; the small vacuum cleaner is connected to the dust suction port through the dust suction pipe.

Further, there are two small vacuum cleaners, dust suction pipes, and dust suction ports, and the two dust suction ports are symmetrically distributed on the left and right sides of the bottom of the box-type rack; the small-sized vacuum cleaner is arranged on the inner side of the bottom of the box-type rack.

Further, the garbage storage box is detachably arranged on the bottom side of the box-type frame, and the upper opening of the garbage storage box is convenient for garbage to enter.

Further, the mopping mechanism includes a mopping support plate and a number of sponge mopping cloths, the mopping support plate is fixed on the bottom of the lifting support II through a support frame, and the sponge mopping cloth group is detachably arranged at the bottom of the mopping support plate.

The liftable stair cleaning robot provided by the present invention drives the forward and reverse rotation of the lead screw by controlling the motor to drive the lift assembly up and down to realize the function of going up and down the stairs; the mecanum wheel is used as the main movement The mechanism realizes the all-round movement of the robot in the horizontal direction; by setting the sweeping mechanism and mopping mechanism, the combination of sweeping and mopping is realized, and the stairs can be cleaned more comprehensively.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is the three-dimensional view of liftable stair cleaning robot of the present invention;

Fig. 2 is the front view of the liftable staircase cleaning robot of the present invention;

Fig. 3 is the perspective view of sweeping mechanism and box-type frame of the present invention;

Figure 4 is a perspective view of the mopping mechanism of the present invention;

Fig. 5 is a three-dimensional view one of the lifting drive mechanism of the present invention;

Fig. 6 is a second perspective view of the lifting drive mechanism of the present invention;

Fig. 7 is the top view of moving mechanism of the present invention;

Fig. 8 is a schematic diagram of the stair climbing process of the liftable stair cleaning robot of the present invention.

Explanation of reference signs

1. Sweeping mechanism; 2. Mopping mechanism; 3. Moving mechanism; 4. Lifting drive mechanism; 5. Box frame; 6. Small vacuum cleaner Ⅰ; 7. Small vacuum cleaner Ⅱ; 8. Dust suction pipe Ⅰ; Dust suction pipe Ⅱ; 10. Dust suction port Ⅰ; 11. Dust suction port Ⅱ; 12. Top plate of box-type rack; 13. Floor mopping support Ⅰ; 14. Floor mopping support Ⅱ; 15. Sponge mop; 16. Fixing frame ;17. Lead screw I; 18. Lead screw II; 19. Lead screw III; 20. Lead screw IV; 21. Servo motor I; 22. Servo motor II; 23. Servo motor III; 24. Servo motor IV; 25 , lifting bracket Ⅰ; 26, lifting bracket Ⅱ; 27, sliding nut Ⅰ; 28, sliding nut Ⅱ; 29, sliding nut Ⅲ; 30, sliding nut Ⅳ; 31, garbage storage box; 32, mecanum wheel Ⅰ; 33 , Mecanum Wheel II; 34, Mecanum Wheel III; 35, Mecanum Wheel IV; 36, Motor I; 37, Motor II; 38, Motor III; 39, Motor IV; 40, Driving Roller I; 41 , Driving roller II; 42, Driving roller III; 43, Driving roller IV; 44, Motor V; 45, Motor IX; 46, Motor VII; 47, Motor VIII.

detailed description

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figures 1 to 7, the liftable stair cleaning robot of the present invention includes a sweeping mechanism 1, a mopping mechanism 2, a moving mechanism 3, a lifting drive mechanism 4, and a box-type frame 5; the sweeping mechanism 1 is symmetrically distributed On the left and right sides outside the box-type frame 5 shell, the moving mechanism 3 is distributed on the bottom and the front and rear sides of the box-type frame 5, and the garbage is cleaned by the vacuum cleaner assembly; the mopping mechanism 2 is distributed on the rear side of the box-type frame 5 ; Utilize the sponge mop to carry out secondary cleaning to the stairs; and the box-type frame 5 is a cuboid structure.

Among them, the lifting drive mechanism is arranged on the box-type frame, including the lifting bracket I on the front side and the lifting bracket II on the rear side; The footing is higher than one step height. The moving mechanism is set at the bottom of the box-type frame and the lifting bracket Ⅰ, which is used to control the movement of the robot in the front, rear, left and right directions; the lifting drive mechanism can drive the lifting bracket Ⅰ and the lifting bracket Ⅱ to move up and down alternately, and cooperate with the moving mechanism to control The robot steps forward across the stairs.

As shown in Figure 5, the lifting drive mechanism 4 also includes two groups of leading screws, two groups of servo motors, and two groups of sliding nuts; A group of sliding nuts is arranged on the lifting bracket II and cooperates with a group of lead screw screw pairs; a group of sliding nuts on the front side is arranged on the lifting bracket I and cooperates with another group of screw screw pairs. Wherein, the lead screws, servo motors, and sliding nuts of the same group are arranged in pairs and distributed symmetrically, and the bottom of each lead screw is driven by a motor.

Specifically, the lifting drive mechanism 4 includes lead screw I17, lead screw II18, lead screw III19, lead screw IV20, servo motor I21, servo motor II22, servo motor III23, servo motor IV24, sliding nut I27, sliding nut II28, sliding nut Ⅲ29 and sliding nut Ⅳ30.

The guide slot holes of sliding nut III29 and sliding nut IV30 are set on the lifting bracket I25, and the guiding slot holes of sliding nut III29 and sliding nut IV30 are set vertically; the guiding slot holes of sliding nut I27 and sliding nut II28 are opened on the lifting bracket II26 , the guide slots of sliding nut I27 and sliding nut II28 are arranged vertically;

The servo motor I21 is vertically set with the motor shaft facing upwards, the lead screw I17 is vertically set, the lower end of the lead screw I17 is connected with the motor shaft of the servo motor I21, the upper end of the lead screw I17 is connected with the top plate 12 of the box-type rack; the servo motor II22 is vertical Set and the motor shaft faces upwards, the lead screw II18 is set vertically, the lower end of the lead screw II18 is connected with the motor shaft of the servo motor II22, and the upper end of the lead screw II18 is connected with the top plate 12 of the box-type rack; the servo motor III23 is vertically set and the motor shaft faces On the top, the lead screw III19 is set vertically, the lower end of the lead screw III19 is connected with the motor shaft of the servo motor III23, and the upper end of the lead screw III19 is connected with the top plate 12 of the box-type rack; the servo motor IV24 is vertically set with the motor shaft facing upwards, and the lead screw IV20 Vertically arranged, the lower end of the leading screw IV 20 is connected with the motor shaft of the servo motor IV 24 , and the upper end of the leading screw IV 20 is connected with the top plate 12 of the box-type frame.

As shown in Figure 6, the moving mechanism includes a motor set, a mecanum wheel set and a driving roller set, the number of motors is eight, and the number of mecanum wheels and driving rollers is four.

Specifically, Mecanum wheel I 32, Mecanum wheel III 34, Mecanum wheel II 33, Mecanum wheel IV 35 are symmetrically distributed at 90 degrees below the base of the box-type frame 5, and are respectively controlled by motor I 36, motor II 37, Driven by motor Ⅲ38 and motor Ⅳ39; driving roller Ⅰ40 and driving roller Ⅱ41 are installed on the bottom of the front side of lifting bracket Ⅰ25, driving roller Ⅲ42 and driving roller Ⅳ43 are installed on the bottom of the rear side of lifting bracket Ⅰ25, respectively by motor Ⅴ44, motor Ⅸ45, motor Ⅶ46 and Driven by motor Ⅷ47.

Among them, there are four Mecanum wheels, and two by two are symmetrically distributed at 90 degrees under the base of the box-type frame 5; no matter moving forward or moving left and right, the four wheels are all rotating and more stable; Wheels, such as the two wheels on the left and right sides dragging on the ground when moving left and right, the friction is too large and the operation is not stable enough.

As shown in Figure 3, the sweeping mechanism includes a small vacuum cleaner, a dust suction pipe, a dust suction port, and a garbage storage box; specifically, it includes a small vacuum cleaner I6, a small vacuum cleaner II7, a dust suction pipe I8, a dust suction pipe II9, and a dust suction port I10. Dust suction port II 11 and garbage storage box 31.

Among them, the small vacuum cleaner Ⅰ6 is equipped with a dust suction pipe Ⅰ8 connected to the dust suction port Ⅰ10; 1. The dust suction pipe II9 is symmetrically distributed on both sides of the base of the box-type frame 5, and the dust-absorbing port I10 and the dust-absorbing port II11 are symmetrically distributed on both sides of the outer shell of the box-type frame 5; the garbage storage box 31 is detachably arranged on the Below the base of the box-type frame 5, at the middle position of the two vacuum cleaners, and the upper opening of the garbage storage box 31 is convenient for garbage to enter.

As shown in Fig. 4, the mopping mechanism includes a mopping support plate I13, a floor mopping support plate II14 and a sponge mop 15, and the number of the sponge mop is eight. Wherein, the floor-mopping support plate I13 and the floor-mopping support plate II14 are respectively fixed on the lifting support II26 through four support frames, and four rotatable sponge mop cloths are respectively installed on the floor-mopping support plate I13 and the floor-mopping support plate II14.

In another embodiment, the base of the box-type frame 5 is provided with only two mecanum wheels, which are located on the left and right sides of the box-type frame 5; the two mecanum wheels on the left and right sides can also move in all directions.

Below in conjunction with accompanying drawing 8, briefly describe the working process of the liftable staircase cleaning robot, including the following steps:

One: start the motor II 37 and motor IV 39 of the stair cleaning robot moving mechanism 3, the mecanum wheel II 33 and the mecanum wheel IV 35 move forward under the drive of the motor II 37 and motor IV 39, and drive to the front of the first step of the stairs When docking, the front end of the lifting support I25 reaches the first step, and at the same time, the Mecanum wheel I32 maintains a safe distance from the side facade of the first step;

Two: Start the servo motor I21, servo motor II22, servo motor III23 and servo motor IV24 of the lifting drive mechanism 4, drive the lead screw I17, lead screw II18, lead screw III19 and lead screw IV20 to rotate, and make the sliding nut I27, sliding nut II28 , sliding nut III29 and sliding nut IV30 move vertically along the lead screw I17, lead screw II18, lead screw III19 and lead screw IV20 respectively, and the sweeping mechanism 1 of the robot rises under the support of the lifting support I25 and the lifting support II26 until the height exceeds Stop at the upper surface of the first step;

Three: start the motor V44, motor IX45, motor VII46 and motor VIII47 of the moving mechanism 3, drive roller I40, drive roller II41, drive roller III42 and drive roller IV43 under the drive of motor V44, motor IX45, motor VII46 and motor VIII47 When moving forward, the sweeping mechanism 1 moves to the top of the first step, and when it reaches half of the front end of the first step, the servo motor III23 and servo motor IV24 of the lifting drive mechanism 4 are started to drive the lead screw III19 and the lead screw. Rod Ⅳ20 rotates to make sliding nut Ⅲ29 and Ⅳ30 move vertically along lead screw Ⅲ19 and lead screw Ⅳ20, so that lifting bracket Ⅰ25 rises until the front end is parallel to the upper surface of the second step and stops, and the robot continues to move forward until it sweeps the floor Mechanism 1 is completely moved above the first step, while the Mecanum wheel I32 maintains a safe distance from the side elevation of the second step;

Four: start the motor Ⅰ36 and motor Ⅲ38 of the moving mechanism 3, the mecanum wheel Ⅰ32 and the mecanum wheel Ⅲ34 move horizontally in the left and right direction under the drive of the motor Ⅰ36 and the motor Ⅲ38, and start the small vacuum cleaner Ⅰ6 and the small vacuum cleaner Ⅰ of the sweeping mechanism 1 at the same time Vacuum cleaner Ⅱ7, through the small vacuum cleaner Ⅰ6 and small vacuum cleaner Ⅱ7, vacuum and clean the surface of the first step;

Five: When the sweeping mechanism 1 returns to the middle position of the first step, start the servo motor I21 and the servo motor II22 of the lifting drive mechanism 4, drive the screw I17 and the screw II18 to rotate, and make the sliding nut I27, the sliding nut II28 along the Lead screw Ⅰ17 and lead screw Ⅱ18 move vertically, so that lifting bracket Ⅱ26 rises until it is parallel to the upper surface of the first step and stops;

Six: Start the servo motor Ⅰ21, servo motor Ⅱ22, servo motor Ⅲ23 and servo motor Ⅳ24 of the lifting drive mechanism 4, drive the lead screw Ⅰ17, the lead screw Ⅱ18, the lead screw Ⅲ19 and the lead screw Ⅳ20 to rotate, and make the sliding nut Ⅰ27, the sliding nut Ⅱ28 , sliding nut III29 and sliding nut IV30 move vertically along the lead screw I17, lead screw II18, lead screw III19 and lead screw IV20 respectively, and the sweeping mechanism 1 of the robot rises under the support of the lifting support I25 and the lifting support II26 until the height exceeds Stop at the upper surface of the second step;

Seven: Start the motor V44, motor IX45, motor VII46 and motor VIII47 of the moving mechanism 3, drive roller I40, drive roller II41, drive roller III42 and drive roller IV43 under the drive of motor V44, motor IX45, motor VII46 and motor VIII47 When moving forward, the sweeping mechanism 1 moves to the top of the second step, and when it reaches half of the front end of the second step, the servo motor III23 and servo motor IV24 of the lifting drive mechanism 4 are started to drive the lead screw III19 and the lead screw. Rod Ⅳ20 rotates to make sliding nut Ⅲ29 and Ⅳ30 move vertically along lead screw Ⅲ19 and lead screw Ⅳ20, so that lifting bracket Ⅰ25 rises until the front end is parallel to the upper surface of the third step and stops, and the robot continues to move forward until it sweeps the floor Mechanism 1 is completely moved above the second step, mopping mechanism 2 is completely moved above the first step, and at the same time, the Mecanum wheel I32 keeps a safe distance from the side elevation of the third step;

Eight: start the motor Ⅰ36 and motor Ⅲ38 of the moving mechanism 3, the mecanum wheel Ⅰ32 and the mecanum wheel Ⅲ34 move horizontally in the left and right direction under the drive of the motor Ⅰ36 and the motor Ⅲ38, through the small vacuum cleaner Ⅰ6 and the small vacuum cleaner Ⅱ7 to the second The surface of the step is vacuumed and cleaned; at the same time, the mopping mechanism 2 also moves horizontally along the left and right directions, and the sponge mop 15 rotates to complete the mopping work of the first step;

Nine: When the sweeping mechanism 1 returns to the middle position of the second step, start the servo motor Ⅰ21 and servo motor Ⅱ22 of the lifting drive mechanism 4, drive the screw Ⅰ17 and the screw Ⅱ18 to rotate, and make the sliding nut Ⅰ27 and the sliding nut Ⅱ28 move along Lead screw I17 and lead screw II18 move vertically, so that lifting support II26 rises until it is parallel to the upper surface of the second step and stops;

Ten: Repeat the vacuum cleaning process and mopping process of the first step until the vacuum cleaning and wiping work of all subsequent steps is completed.

Eleven: When all the upper surfaces of the steps of the stairs are cleaned, the small vacuum cleaner Ⅰ6 and the small vacuum cleaner Ⅱ7 are automatically turned off, and the robot does not need to perform cleaning work. It only needs to perform the above climbing process in reverse, and it can automatically descend from the highest step Return to the ground below the first step.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A liftable stair cleaning robot, characterized in that it comprises: a box-type frame of a cuboid structure, a sweeping mechanism, a mopping mechanism, a moving mechanism, and a lifting drive mechanism; the lifting drive mechanism is arranged on the box On the box-type frame, it includes the lifting bracket I on the front side and the lifting bracket II on the rear side; the sweeping mechanism is symmetrically distributed on the left and right sides of the bottom of the box-type frame, and the mopping mechanism is distributed on the lifting bracket II bottom of; Wherein, the moving mechanism is arranged on the bottom of the box-type frame and the lifting bracket I, and is used to control the movement of the robot in the front, rear, left and right directions; the lifting driving mechanism can drive the lifting bracket I and the lifting bracket II moves up and down alternately, and cooperates with the moving mechanism to control the robot to cross the steps of the stairs forward. 2. The liftable stair cleaning robot according to claim 1, wherein the lifting drive mechanism also includes two groups of leading screws, two groups of servo motors, and two groups of sliding nuts; Arranged in the vertical direction and connected with the box-type frame, a group of sliding nuts on the rear side are arranged on the lifting bracket II and cooperate with a group of screw screws on the front side; a group of the sliding nuts on the front side The sliding nut is arranged on the lifting bracket I and cooperates with another set of the lead screw pair. 3. The liftable stair cleaning robot according to claim 2, characterized in that, the lifting support I is in the shape of "η", and the front foot of the lifting support I is one step higher than the rear foot step height. 4. The liftable stair cleaning robot according to claim 3, characterized in that, the moving mechanism includes a mecanum wheel set, a driving roller set, and a motor set; the mecanum wheel is arranged on the box-type At the bottom of the frame, the driving rollers are arranged on the front foot and the rear foot of the lifting support I. 5. The liftable stair cleaning robot according to claim 4, characterized in that, there are four Mecanum wheels, which are symmetrically distributed in pairs at the bottom of the box-type frame, and each The mecanum wheel is driven by an electric motor. 6. The liftable staircase cleaning robot according to claim 2, characterized in that, the lead screws, the servo motors, and the sliding nuts of the same group are arranged in pairs and distributed symmetrically, and each of the The bottom of the screw is driven by a motor. 7. The liftable stair cleaning robot according to claim 1, wherein the sweeping mechanism comprises a small vacuum cleaner, a dust suction pipe, a dust suction port, and a garbage storage box; The pipeline is connected with the dust suction port. 8. The liftable stair cleaning robot according to claim 7, characterized in that, the small vacuum cleaner, the dust suction pipe, and the dust suction port are provided with two, and the two dust suction ports are symmetrical Distributed on the left and right sides of the bottom of the box-type rack; the small vacuum cleaner is arranged inside the bottom of the box-type rack. 9. The liftable stair cleaning robot according to claim 7, wherein the garbage storage box is detachably arranged on the bottom side of the box-type frame, and the upper opening of the garbage storage box is convenient for garbage to enter . 10. The liftable stair cleaning robot according to claim 1, characterized in that, the mopping mechanism includes a mopping support plate and several sponge mop cloths, and the mopping support plate is fixed on the bottom of the lifting support II through a support frame , the sponge mop group is detachably arranged at the bottom of the mopping support board.

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