CN115868860B - Stair cleaning robot with stair side cleaning function - Google Patents
Stair cleaning robot with stair side cleaning function Download PDFInfo
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- CN115868860B CN115868860B CN202211607962.4A CN202211607962A CN115868860B CN 115868860 B CN115868860 B CN 115868860B CN 202211607962 A CN202211607962 A CN 202211607962A CN 115868860 B CN115868860 B CN 115868860B
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- 238000005452 bending Methods 0.000 claims description 36
- 239000007921 spray Substances 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000001680 brushing effect Effects 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
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- 238000003825 pressing Methods 0.000 description 2
- 238000005201 scrubbing Methods 0.000 description 2
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- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The invention relates to the technical field of stair cleaning robots, in particular to a stair cleaning robot with a stair side cleaning function, wherein a cleaning mechanism for cleaning the stair side is arranged on a middle cleaning unit, cleaning comprises a mop, a mounting plate, a sliding seat, a sliding rail, a rotating rod and a rotating mechanism for driving the rotating rod to rotate, the cleaning mechanism comprises a water storage brush head, a circumferential rotating mechanism, a horizontal pushing mechanism and a water circulation mechanism, the water storage brush head is fixedly arranged on a rotating seat of the circumferential rotating mechanism, the stair cleaning robot with the stair side cleaning function utilizes the original stair cleaning process and drives a side travelling mechanism to clean the stair side, so that the robot can do two works in one thing, the mop position can be switched, and then the mop can be automatically cleaned by combining the water storage brush head, the circumferential rotating mechanism, the horizontal pushing mechanism and the water circulation mechanism, so that the user is prevented from cleaning, and the physical strength of the user is saved.
Description
Technical Field
The invention relates to the technical field of stair cleaning robots, in particular to a stair cleaning robot with a stair side cleaning function.
Background
Along with the development of robot technology, indoor and outdoor cleaning robots have come into our lives, such as outdoor road sweeper, indoor sweeping robots and the like, and the technology of the indoor and outdoor cleaning robots is mature, so that the application of the indoor and outdoor cleaning robots is becoming wide, and the indoor and outdoor cleaning robots are highly accepted by people. However, the cleaning work of stairs in various multi (high) buildings such as resident houses, office buildings and the like at present is still mainly performed manually, the cleaning efficiency is low, and time and labor are wasted. In order to free people from tedious cleaning work, many researchers have begun to shift points of interest to areas of research by people during stair cleaning. There are reports about the development of stair cleaning robots at home and abroad, such as Takahisa kakubou et al at the university of okadam in 2011, developed a stair cleaning robot [1], a box type structure, two sides of which are provided with L-shaped legs, and the robot uses the L-shaped legs to realize the inversion of the top and the bottom, realize climbing stairs and clean the steps of stairs.
When the stair cleaning robot cleans the stairs, the side surfaces of the stairs cannot be cleaned, more dirt is generated at the places, and the dirt is generated at the places, so that on one hand, when cleaning staff cleans the surfaces of the stairs by using the mop, the dirt on the mop is left on the side surfaces of the stairs, but the discharged dirt is cleaned by the cleaning staff, a great amount of time is consumed, on the other hand, when the dirt is generated on the stairs, the dirt is left at the places, after the dirt is dried, the generated dirt is cleaned by the cleaning mop, and the generation mode of the dirt, such as falling milk tea, sole dirt of users in rainy days and the like, is excessively troublesome.
For this reason, it is necessary to design a stair cleaning robot capable of cleaning stairs and cleaning the sides of stairs.
Disclosure of Invention
In view of the above-mentioned technical shortcomings, an object of the present invention is to provide a stair cleaning robot having a stair side cleaning function, which can clean stairs and also clean stair sides.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the invention provides a stair cleaning robot with a stair side cleaning function, which comprises a front side traveling mechanism, a rear side traveling mechanism and a middle cleaning unit arranged between the front side traveling mechanism and the rear side traveling mechanism, wherein the front side traveling mechanism and the rear side traveling mechanism can move up and down along the vertical direction of the middle cleaning unit;
before the rotating mechanism drives the rotating rod to rotate, the length direction of the mounting plate is parallel to the walking direction of the middle cleaning unit;
when rotary mechanism drive rotary rod is rotatory, the length direction of mounting panel is perpendicular with the clean unit's in middle part walking direction, and the laminating of the clean unit in one side of slide rail and middle part.
Preferably, the water storage brush comprises a water storage brush head, a circumferential rotating mechanism, a horizontal pushing mechanism and a water circulation mechanism, wherein the water storage brush head is fixedly arranged on a rotating seat of the circumferential rotating mechanism, the circumferential rotating mechanism is used for driving the water storage brush head to rotate, a plurality of rows of brushing columns are arranged on one side, in contact with a mop, of the water storage brush head, the circumferential rotating mechanism is fixedly arranged on the horizontal pushing mechanism, the horizontal pushing mechanism is used for pushing the water storage brush head to horizontally move through the circumferential rotating mechanism, the water circulation mechanism is fixedly arranged on a middle cleaning unit and used for recycling water flow discharged from the water storage brush head, the water circulation mechanism comprises a spray head, the spray head is fixedly arranged on the water storage brush head, and the spray head is used for conveying continuous water flow into the water storage brush head;
before the rotary rod is driven to rotate by the rotary mechanism, the water storage brush head is pushed to be pressed on the mop by the rotation of the circumferential rotary mechanism, water is supplied to the water storage brush head by the spray head, and the water storage brush head is pushed to brush along the length direction of the mop by the horizontal pushing mechanism in a reciprocating mode.
Preferably, the water storage brush head comprises a middle cleaning unit, a first rotary rod, a second rotary rod, a first rotary mechanism, a second rotary mechanism and a second rotary mechanism, wherein the first rotary mechanism is rotatably arranged on the middle cleaning unit, the first rotary mechanism is fixedly connected with the first rotary rod through a rotary shaft, the second rotary mechanism is fixedly connected with the second rotary rod through a rotary shaft, the first rotary mechanism is fixedly connected with the second rotary rod through a rotary shaft, the second rotary mechanism is fixedly connected with the first rotary rod through a rotary shaft, the second rotary mechanism is fixedly connected with the second rotary rod through a rotary shaft, and the second rotary mechanism is fixedly connected with the second rotary rod through a rotary shaft;
when the circumference rotary mechanism drives the elastic buffer seat to rotate, the elastic buffer seat drives the water storage brush head, and meanwhile, the elastic buffer seat drives the driving gear to rotate, and the first bevel gear drives the rotary rod to rotate through sequential transmission of the driven gear, the bridging gear, the second bevel gear and the first bevel gear.
Preferably, the elastic buffer seat comprises a rotary bending plate, a sliding bending plate and a collision spring, one end of the rotary bending plate is fixedly connected with the rotating shaft, the other end of the rotary bending plate is slidably connected with one end of the sliding bending plate, the other end of the sliding bending plate is fixedly connected with the water storage brush head, and the collision spring is used for applying elastic force close to the rotary bending plate to the sliding bending plate.
Preferably, the circumferential rotation mechanism further comprises a driving gear and a driving motor, the driving motor drives the driving gear to rotate through the driving gear, and the driving motor is fixedly installed on the middle cleaning unit through the motor base.
Preferably, the horizontal pushing mechanism comprises an electric push rod and a connecting rotating sleeve, a rotating seat for rotating a rotating shaft III is arranged on the circumferential rotating mechanism, the output end of the electric push rod is rotationally connected with one end of the rotating shaft III through the connecting rotating sleeve, before the electric push rod is horizontally pushed, the rotating shaft III is meshed with a driving gear and a driven gear, when the electric push rod is horizontally pushed, the rotating shaft III is pushed to horizontally slide along the rotating seat, and the rotating shaft III is meshed with the driving gear and the driven gear.
Preferably, the water storage brush head further comprises a bottom plate, a back plate and two side plates, wherein the bottom plate, the back plate and the two side plates are used for forming a box body, when the water storage brush head is pressed on the cleaning mechanism, one end of the bottom plate is pressed on the bottom of the mop, one end of each side plate is pressed into fluff of the mop, the water outlet end of the spray head is positioned between the back plate and the mop, and the multiple rows of brushing columns are fixedly installed on the back plate.
Preferably, the water circulation mechanism comprises a water storage tank, a water collecting box and a water pump which are fixedly arranged on the middle cleaning unit, when the middle cleaning unit is in contact with the floor, a gap is reserved between the water collecting box and the floor, the water pump is connected with the water storage tank and the water collecting box through a water guide pipe, an electromagnetic water valve is arranged at the bottom of the water storage tank and is connected with a spray head through the water guide pipe, and a filter device is arranged at the top of the water collecting box.
Preferably, the cleaning mechanism, the water storage brush head, the circumferential rotating mechanism, the horizontal pushing mechanism, the water circulation mechanism and the transmission mechanism are two groups and are respectively arranged on two sides of the middle cleaning unit.
Preferably, the method comprises the steps of,
the invention has the beneficial effects that: this stair cleans robot with clean function in stair side utilizes originally to the process that stair step cleaned, drives side running gear simultaneously and cleans it for this robot can do two work in spending the time on one thing, and is efficient.
And moreover, the mop position can be switched, and the mop is automatically cleaned by combining the water storage brush head, the circumferential rotating mechanism, the horizontal pushing mechanism and the water circulation mechanism, so that the mop is prevented from being cleaned by a user, the physical strength of the user is saved, and the mop is quite convenient.
For stairs with more dirt, the times of cleaning the mop are frequent, and the two actions of switching and cleaning the mop are simultaneously executed through the transmission mechanism, so that more time is saved.
And the sewage after the use can be filtered and purified through the water circulation mechanism, so that the water recycling is realized, and the water needed to be carried by the robot is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the cleaning mechanism before rotation.
Fig. 3 is a schematic perspective view of the cleaning mechanism.
Fig. 4 is a schematic perspective view of the cleaning mechanism after rotation.
Fig. 5 is a schematic view of a partial perspective structure of the cleaning mechanism after rotation.
Fig. 6 is a schematic view of a partial perspective structure of the present invention.
Figure 7 is a schematic perspective view of the water storage brush head and the mop after contact.
Fig. 8 is a schematic perspective view of the transmission mechanism.
Fig. 9 is a schematic perspective view of an elastic buffer seat.
Fig. 10 is a schematic view of a partial perspective view of the circumferential rotation mechanism.
Fig. 11 is an exploded perspective view of the horizontal pushing mechanism.
Reference numerals illustrate: 1-a cleaning mechanism; 1 a-mop; 1 b-a mounting plate; 1 c-a slide; 1 d-a sliding rail; 1 e-rotating the rod; 2-a water storage brush head; 2 a-a bottom plate; 2 b-brushing the column; 2 c-side plates; 2 d-a back plate; 3-a circumferential rotation mechanism; 3 a-an elastic buffer seat; 3a 1-rotating bending plate; 3a 2-sliding curved plate; 3a 3-a bump spring; 3 b-a drive gear; 3 c-a drive gear; 3 d-driving a motor; 3 e-a rotating shaft III; 3 h-transposition; 4-a horizontal pushing mechanism; 4 a-an electric push rod; 4 b-connecting the rotating sleeve; 5-a water circulation mechanism; 5 a-a spray head; 5 b-a water reservoir; 5 c-a water collection box; 5 d-a water pump; 6-a transmission mechanism; 6 a-bevel gear I; 6 b-a bevel gear II; 6 c-bridge gear; 6 d-driven gear; 10-a front side travel mechanism; 11-a rear side travel mechanism; 12-a mid-section cleaning unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
the invention provides a stair cleaning robot with a stair side cleaning function, which comprises a front side traveling mechanism 10, a rear side traveling mechanism 11 and a middle cleaning unit 12 arranged between the front side traveling mechanism 10 and the rear side traveling mechanism 11, wherein the front side traveling mechanism 10 and the rear side traveling mechanism 11 can move up and down along the vertical direction of the middle cleaning unit 12, the front side traveling mechanism 10, the rear side traveling mechanism 11 and the middle cleaning unit 12 are three-stage stair climbing machines in the prior art, the middle cleaning unit 12 is provided with two cleaning mechanisms 1 for cleaning the stair side, the cleaning mechanisms 1 can be arranged on two sides of the middle cleaning unit 12, the two cleaning mechanisms 1 are arranged on two sides of the middle cleaning unit 12, each cleaning mechanism 1 comprises a mop 1a, a mounting plate 1b, a sliding seat 1c, a sliding rail 1d, a rotating rod 1e and a rotating mechanism for driving the rotating rod 1e to rotate, the sliding seat 1c is rotatably arranged on the middle cleaning unit 12 through a hinging seat, the mounting plate 1b is fixedly arranged on the sliding seat 1b through the sliding rail, one end of the rotating rod 1e is fixedly hinged with the mounting plate 1 d;
as shown in fig. 2, before the rotating mechanism drives the rotating lever 1e to rotate, the length direction of the mounting plate 1b is parallel to the traveling direction of the middle cleaning unit 12;
as shown in fig. 4, after the rotating mechanism drives the rotating lever 1e to rotate, the length direction of the mounting plate 1b is perpendicular to the traveling direction of the middle cleaning unit 12, as shown in fig. 4 and 5, and one side of the slide rail 1d is attached to the middle cleaning unit 12. After the rotation mechanism is driven, the rotation rod 1e rotates, the rotation rod 1e pushes the sliding rail 1d to rotate, and due to the guiding sliding of the sliding seat 1c, the sliding rail 1d rotates ninety degrees, and finally the sliding rail 1d is attached to the aluminum profile on the front side of the middle cleaning unit 12. When the middle cleaning unit 12 walks forwards on the stairs, the mop cloth 1a is pushed to be attached to the side face of the stairs steps, after attaching, the mop cloth 1a walks along the length direction of the steps through the front side walking mechanism 10 and the rear side walking mechanism 11, so that the mop cloth 1a cleans the side face of the steps, and the number of times that the front side walking mechanism 10 and the rear side walking mechanism 11 walk on the steps can be controlled according to the cleaning degree. Wherein, in the whole scrubbing process, the mounting plate 1b keeps being attached to the aluminum profile on the front side of the middle cleaning unit 12, so that torsion damage can not be generated on the output shaft of the rotating mechanism in the whole cleaning process, and the rotating mechanism can be a servo motor with an encoder.
When the front side running gear 10 is lowered to be flush with the middle cleaning unit 12, the front side running gear 10 does not collide with the mop 1a, so that the mop 1a can be kept perpendicular to the advancing direction of the middle cleaning unit 12 for a long period of time. In this embodiment, however, the front side running gear 10 is in a position before rotation, which is convenient for the user to clean the mop 1 a. The optimal mode of the mop is to adopt a structure with shorter fluff to reduce fluff sagging, and the mop belongs to the mop head with a plane structure in the prior art.
When the mop 1a is required to be installed between the front side travelling mechanism 10 and the middle cleaning unit 12, the front side travelling mechanism 10 needs to be controlled to ascend, so that collision contact with the front side travelling mechanism 10 is avoided in the process of rotating the mop 1 a.
Embodiment two:
for stairs with more dirt, the number of times of cleaning the mop 1a is required to be increased, and frequent cleaning is carried out on the mop 1a by a user, which is too troublesome, therefore, the cleaning mechanism for cleaning the mop 1a is required to be increased on the basis of the first embodiment, as shown in fig. 1, 6 and 7, the cleaning mechanism comprises a water storage brush head 2, a circumferential rotation mechanism 3, a horizontal pushing mechanism 4 and a water circulation mechanism 5, the water storage brush head 2 is fixedly arranged on a rotating seat of the circumferential rotation mechanism 3, the circumferential rotation mechanism 3 is used for driving the water storage brush head 2 to rotate, so that the water storage brush head 2 is pressed on the mop 1a, one side, contacted with the mop 1a, of the water storage brush head 2 is provided with a plurality of rows of cleaning columns 2b, the cleaning columns 2b can be made of metal or plastic materials, and the rows of cleaning columns are arranged in a staggered manner, so that during cleaning, the circumferential rotation mechanism 3 is fixedly arranged on the horizontal pushing mechanism 4, the horizontal pushing mechanism 4 is used for pushing the water storage brush head 2 through the circumferential rotation mechanism 3, the water storage brush head 2 horizontally moves, the water storage brush head 2 is enabled to realize surface 12 of the mop 1a to be fixedly arranged on the surface of the water storage brush head 5, the water storage brush head 2 is required to be continuously arranged on the water circulation system 5, the water storage brush head 5 is continuously to be cleaned by a filter, and the water circulation system is continuously arranged on the water storage brush 5, and the water storage brush head is continuously used for cleaning the water circulation system is required to be cleaned by a water circulation system 5, and the water circulation system is continuously arranged in the water circulation system 5, and the water storage system is continuously cleaned;
before the rotating mechanism drives the rotating rod 1e to rotate, the circumferential rotating mechanism 3 rotates to push the water storage brush head 2 to be pressed on the mop 1a, the spray head 5a supplies water into the water storage brush head 2, and the horizontal pushing mechanism 4 reciprocates to push the water storage brush head 2 to brush along the length direction of the mop 1 a. Wherein, when the water storage brush head 2 brushes the mop 1a, the water flow in the water storage brush head 2 is disturbed, and the fluff of the mop 1a is squeezed reciprocally, thereby forming the scrubbing effect to clean the mop 1 a.
After the brushing is finished, the water circulation mechanism 5 is closed, no water flow is supplied into the water storage brush head 2, and the circumferential rotation mechanism 3 drives the water storage brush head 2 to reset in a rotating way, namely, collision with the water storage brush head 2 is avoided when the rotation mechanism drives the rotary rod 1e to rotate.
Embodiment III:
if the structure in the second embodiment is adopted, the water storage brush head 2 is rotated and reset, and then the mop 1a is rotated, the two actions are respectively executed, if the mop 1a is required to be frequently switched and cleaned for a dirty stair step, and the two actions are respectively executed, a great deal of time is consumed, therefore, as shown in fig. 8, the water storage brush head further comprises a transmission mechanism 6, the transmission mechanism 6 comprises a bevel gear I6 a, a bevel gear II 6b, a bridging gear 6c and a driven gear 6d which are rotatably installed on the middle cleaning unit 12, wherein the bevel gear I6 a, the bevel gear II 6b, the bridging gear 6c and the driven gear 6d are rotatably installed on the middle cleaning unit 12 through rotating shafts, the bevel gear II 6b and the bridging gear 6c are fixedly connected through the rotating shafts, the bevel gear I6 a is the rotating mechanism, the bevel gear I6 a is fixedly connected with the rotating rods 1e through the rotating shafts II, the rotating mechanism is used for driving the rotating rods 1e through the rotating shafts 6a instead of the rotating mechanisms, the rotating mechanisms 3 comprise driving gears 3c and rotatable elastic buffer seats 3a, the elastic buffer seats 3a and the elastic buffer seats 3a are fixedly connected with the water storage brush heads 3a through the rotating shafts 3 and the elastic buffer seats 3 a;
when the circumferential rotation mechanism 3 drives the elastic buffer seat 3a to rotate, the elastic buffer seat 3a drives the water storage brush head 2, meanwhile, the elastic buffer seat 3a drives the driving gear 3c to rotate, the first bevel gear 6a drives the rotary rod 1e to rotate through the sequential transmission of the driven gear 6d, the bridging gear 6c, the second bevel gear 6b and the first bevel gear 6a, the rotary rod 1e rotates, the mop 1a is driven to move, the water storage brush head 2 is enabled to rotate and reset, the mop 1a rotates simultaneously, time is saved, and in the initial process, the mop 1a and the water storage brush head 2 are extruded, as shown in fig. 9, but the whole process can be performed through the buffer effect of the elastic buffer seat 3 a. As can be seen from fig. 8, the driven gear 6d, the driving gear 3c and the bridging gear 6c are meshed, and the bevel gear one 6a and the bevel gear two 6b are meshed. It should be noted that the rotation angles of the water storage brush head 2 and the mop cloth 1a are different, and when designing, the rotation switching of the angles needs to be adjusted by the transmission ratio between the gears. The driving gear 3c meshes with the bridging gear 6c via a driven gear 6d, wherein the driven gear 6d plays a role of switching the transmission steering.
As shown in fig. 9, the elastic buffer seat 3a includes a rotating bending plate 3a1, a sliding bending plate 3a2 and a abutting spring 3a3, one end of the rotating bending plate 3a1 is fixedly connected with the rotating shaft 3e, the other end of the rotating bending plate 3a1 is slidably connected with one end of the sliding bending plate 3a2, the other end of the sliding bending plate 3a2 is fixedly connected with the water storage brush head 2, and the abutting spring 3a3 is used for applying elastic force close to the rotating bending plate 3a1 to the sliding bending plate 3a 2. In order to slidingly connect the rotary bending plate 3a1 with the sliding bending plate 3a2, a guide plate is arranged at the end of the rotary bending plate 3a1, a guide post connected with the guide plate is arranged on the sliding bending plate 3a2, a limit plate is arranged at one end of the guide post close to the water storage brush head 2, one end of the abutting spring 3a3 abuts against the guide plate, the other end abuts against the limit plate, namely, the rotary bending plate 3a1 is slidingly connected with the sliding bending plate 3a2, and the elastic force exerted by the abutting spring 3a3 on the sliding bending plate 3a2 is applied, so that the rotary bending plate 3a1 and the sliding bending plate 3a2 are kept at an initial constant position, when the water storage brush head 2 abuts against the mop 1a, the water storage brush head 2 is pushed away from the mop 1a, the sliding bent plate 3a2 is likely to slide, the abutting spring 3a3 is compressed, and the phenomenon of resisting is avoided, and it is conceivable that the water storage brush head 2 can be pressed into the mop 1a by enlarging the thickness of the mop 1a without adopting the structure of the elastic buffer seat 3a, but the thickness of the mop 1a is enlarged, larger dirt can be stored, so that the water storage brush head 2 is difficult to clean, and therefore, the end part of the water storage brush head 2 can be pressed into the mop 1a in an optimal mode by adopting the elastic buffer seat 3a, so that a water storage space can be formed between the water storage brush head 2 and the mop 1 a.
The number of the guide posts and the guide plates is two, so that rotation is avoided, and the supporting force between the sliding bending plate 3a2 and the rotating bending plate 3a1 is improved.
As shown in fig. 8, the circumferential rotation mechanism 3 further includes a driving gear 3b and a driving motor 3d, the driving motor 3d drives the driving gear 3c to rotate through the driving gear 3b, and the driving motor 3d is fixedly mounted on the middle cleaning unit 12 through a motor mount. It should be noted that, when the elastic buffer seat 3a rotates, the elastic buffer seat 3a does not collide with the driving motor 3d, and the position of the driving motor 3d is calculated in advance due to design. The driving gear 3c is driven to rotate by the rotation of the driving gear 3b, and the driving gear 3b is in meshed connection with the driving gear 3 c.
In order to save the space of the equipment and reduce the middle gravity of the equipment, therefore, when the circumferential rotation mechanism 3 is designed, the structure of the horizontal pushing mechanism 4 is also calculated and designed together, on the premise that the horizontal pushing mechanism 4 can be guaranteed to push the circumferential rotation mechanism 3 to move, the structure of the horizontal pushing mechanism 4 is reduced, therefore, as shown in fig. 10 and 11, the horizontal pushing mechanism 4 comprises an electric push rod 4a and a connecting rotating sleeve 4b, a rotating seat 3h for rotating a rotating shaft three 3e is arranged on the circumferential rotation mechanism 3, the output end of the electric push rod 4a is rotationally connected with one end of the rotating shaft three 3e through the connecting rotating sleeve 4b, the rotating shaft three 3e is meshed with a driving gear 3b and a driven gear 6d before the electric push rod 4a is horizontally pushed, the rotating shaft three 3e is pushed to horizontally slide along the rotating seat 3h as shown in fig. 8, and the rotating shaft three 3e is meshed with the driving gear 3b and the driven gear 6 d. The length of the driving gear 3b and the driven gear 6d can satisfy the length at the time of pushing, ensuring that the rotation shaft three 3e is not engaged and separated. The electric push rod 4a pushes the rotating shaft three 3e to move, so that the elastic buffer seat 3a is driven to move together, namely, the water storage brush head 2 is driven to move, and the water storage brush head 2 rubs and washes the mop 1 a. The rotating sleeve 4b is connected with the rotating shaft three 3e and the electric push rod 4a in a more rotating manner, the rotating ring is arranged at the end part of the rotating shaft three 3e, the rotating ring is also arranged at the end part of the electric push rod 4a, and the two rotating rings are in limiting sleeve connection through the connecting sleeve 4b, so that the rotating shaft three 3e can independently rotate relative to the electric push rod 4 a. The whole robot only needs to increase the space and the gravity for installing the electric push rod 4a, namely, the gravity of the robot is relieved. And the gravity of the robot is lightened, so that the duration of the robot is prolonged, and the time spent for charging is saved.
In order to enable the water storage brush head 2 to store water, as shown in fig. 7, the water storage brush head 2 further comprises a bottom plate 2a, a back plate 2d and two side plates 2c for forming a box body, when the water storage brush head 2 is pressed on the cleaning mechanism 1, one end of the bottom plate 2a is pressed on the bottom of the mop 1a, one end of each side plate 2c is pressed into the nap of the mop 1a, the water outlet end of the spray head 5a is positioned between the back plate 2d and the mop 1a, and the multiple rows of brushing columns 2b are fixedly installed on the back plate 2 d. The mop 1a is pressed through the side plate 2c and the bottom plate 2a, so that water can be stored when the water storage brush head 2 is pressed on the mop 1a, water flow is directly discharged downwards when the water storage brush head 2 is separated from the mop 1a, the water is collected by the water circulation mechanism 5, and the spray head 5a is fixedly arranged on the back plate 2d through the mounting seat. When the cleaning mechanism 1 is directly used, the water drop can be lowered from the bottom of the mop 1a due to the lower pressing tightness, and the spray head 5a can supplement water flow at regular time, wherein the lower pressing tightness is used for reducing the resistance of the mop 1a received by the side plate 2c when the water storage brush head 2 is pushed. The actual structure of the brush post 2b is applied to the mop bucket design of the prior art, and this solution is not shown because of the prior art and the position of the brush post 2b can be switched according to the actual rubbing needs.
As shown in fig. 6, the water circulation mechanism 5 includes a water storage tank 5b fixedly installed on the middle cleaning unit 12, a water collection box 5c and a water pump 5d, when the middle cleaning unit 12 contacts the floor, a gap is left between the water collection box 5c and the stair ground, the water pump 5d is connected with the water storage tank 5b and the water collection box 5c through a water guide pipe, an electromagnetic water valve is arranged at the bottom of the water storage tank 5b and connected with the spray head 5a through the water guide pipe, and a filtering device is arranged at the top of the water collection box 5 c. The filter device can be a substance with dirt adsorption function such as sponge or filter carbon. The electromagnetic water valve is opened, so that the spray head 5a can spray water into the water storage brush head 2, and water flowing out from the space between the water storage brush head 2 and the mop 1a finally enters the water collection box 5c through the filtering device, and water is pumped back into the water circulation mechanism 5 through the water pump 5 d.
As shown in fig. 1 and 6, the cleaning mechanism 1, the water storage brush head 2, the circumferential rotation mechanism 3, the horizontal pushing mechanism 4, the water circulation mechanism 5 and the transmission mechanism 6 are two groups and are respectively installed on two sides of the middle cleaning unit 12, so that a better cleaning effect can be achieved during cleaning.
When the cleaning machine is used, a section of stairs needs to be cleaned by the middle cleaning unit 12 twice, after the first time of cleaning, the front side cleaning mechanism 10 is controlled to lift, the front side cleaning mechanism 10 is lifted, the lifting is a necessary process for climbing stairs in the prior art, redundant actions cannot be generated, the cleaning mechanism 1 is driven by the driving motor 3d, as shown in fig. 4, the cleaning mechanism 1 rotates between the front side cleaning mechanism 10 and the middle cleaning unit 12, the water storage brush head 2 rotates downwards, the cleaning mechanism 1 is prevented from being blocked, the middle cleaning unit 12 is driven downwards, the mop 1a is in contact with the side surface of a stair step, the front side cleaning mechanism 10 and the middle cleaning unit 12 are driven to move along the length direction of the stair step, the cleaning process is further realized, the cleaning mechanism 1 does not need to reset to retract after the cleaning is completed, the robot can drive the middle cleaning unit 12 to be close to the front side cleaning mechanism 10 upwards, and the middle cleaning unit 12 is up-lifted.
When cleaning is needed, the driving motor 3d drives in the reverse direction, so that the cleaning mechanism 1 and the water storage brush head 2 are reset, water is supplied through the water circulation mechanism 5, and the horizontal pushing mechanism 4 pushes in a reciprocating manner, so that the water storage brush head 2 brushes and cleans the surface of the mop 1 a. When the cleaning mechanism 1 is reset, the cleaning unit 12 needs to be located at the first cleaning position in the middle, so that the cleaning mechanism 1 is prevented from collision and contact with the stair steps. Of course, switching can also be performed on the landings of each landing.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The stair cleaning robot with the stair side cleaning function comprises a front side walking mechanism (10), a rear side walking mechanism (11) and a middle cleaning unit (12) arranged between the front side walking mechanism (10) and the rear side walking mechanism (11), wherein the front side walking mechanism (10) and the rear side walking mechanism (11) can vertically move up and down along the middle cleaning unit (12), and the stair cleaning robot is characterized in that the middle cleaning unit (12) is provided with a cleaning mechanism (1) for cleaning the stair side, the cleaning mechanism (1) comprises a mop (1 a), a mounting plate (1 b), a sliding seat (1 c), a sliding rail (1 d), a rotating rod (1 e) and a rotating mechanism for driving the rotating rod (1 e), the sliding seat (1 c) is rotatably arranged on the middle cleaning unit (12) through a hinging seat, the mounting plate (1 b) is in sliding connection with the sliding seat (1 c) through the sliding rail, one end of the rotating rod (1 e) is fixedly connected with the rotating mechanism, and the other end of the rotating rod (1 e) is hinged with the mounting plate (1 d);
before the rotating mechanism drives the rotating rod (1 e) to rotate, the length direction of the mounting plate (1 b) is parallel to the traveling direction of the middle cleaning unit (12);
when the rotating mechanism drives the rotating rod (1 e) to rotate, the length direction of the mounting plate (1 b) is perpendicular to the traveling direction of the middle cleaning unit (12), and one side of the sliding rail (1 d) is attached to the middle cleaning unit (12).
2. A stair cleaning robot with stair side cleaning function according to claim 1, comprising a water storage brush head (2), a circumferential rotation mechanism (3), a horizontal pushing mechanism (4) and a water circulation mechanism (5), wherein the water storage brush head (2) is fixedly arranged on a rotating seat of the circumferential rotation mechanism (3), the circumferential rotation mechanism (3) is used for driving the water storage brush head (2) to rotate, a plurality of rows of brushing columns (2 b) are arranged on one side, contacted with a mop (1 a), of the water storage brush head (2), the circumferential rotation mechanism (3) is fixedly arranged on the horizontal pushing mechanism (4), the horizontal pushing mechanism (4) is used for pushing the water storage brush head (2) to horizontally move through the circumferential rotation mechanism (3), the water circulation mechanism (5) is fixedly arranged on a middle cleaning unit (12) and used for recycling water flow discharged from the water storage brush head (2), the water circulation mechanism (5) comprises a spray head (5 a), the spray head (5 a) is fixedly arranged on the water storage brush head (2), and the spray head (5 a) is used for continuously conveying water flow into the water storage brush head (2);
before the rotary mechanism drives the rotary rod (1 e) to rotate, the circumferential rotary mechanism (3) rotates to push the water storage brush head (2) to be pressed on the mop (1 a), the spray head (5 a) supplies water into the water storage brush head (2), and the horizontal pushing mechanism (4) reciprocates to push the water storage brush head (2) to brush along the length direction of the mop (1 a).
3. A stair cleaning robot with stair side cleaning function according to claim 2, further comprising a transmission mechanism (6), wherein the transmission mechanism (6) comprises a first bevel gear (6 a), a second bevel gear (6 b), a bridging gear (6 c) and a driven gear (6 d) which are rotatably arranged on the middle cleaning unit (12), the second bevel gear (6 b) and the bridging gear (6 c) are fixedly connected through a first rotating shaft, the first bevel gear (6 a) is the rotating mechanism, the first bevel gear (6 a) is fixedly connected with a rotating rod (1 e) through a second rotating shaft, the circumferential rotating mechanism (3) comprises a driving gear (3 c) and a rotatable elastic buffer seat (3 a), the driving gear (3 c) and the elastic buffer seat (3 a) are fixedly connected through a third rotating shaft (3 e), and the end part of the elastic buffer seat (3 a) is fixedly connected with the water storage brush head (2);
when the circumference rotary mechanism (3) drives the elastic buffer seat (3 a) to rotate, the elastic buffer seat (3 a) drives the water storage brush head (2), meanwhile, the elastic buffer seat (3 a) drives the driving gear (3 c) to rotate, and the first bevel gear (6 a) drives the rotary rod (1 e) to rotate through sequential transmission of the driven gear (6 d), the bridging gear (6 c), the second bevel gear (6 b) and the first bevel gear (6 a).
4. A stair cleaning robot with stair side cleaning function according to claim 3, characterized in that the elastic buffer seat (3 a) comprises a rotary bending plate (3 a 1), a sliding bending plate (3 a 2) and a collision spring (3 a 3), one end of the rotary bending plate (3 a 1) is fixedly connected with the rotating shaft (3 e), the other end of the rotary bending plate (3 a 1) is slidably connected with one end of the sliding bending plate (3 a 2), the other end of the sliding bending plate (3 a 2) is fixedly connected with the water storage brush head (2), and the collision spring (3 a 3) is used for applying elastic force to the sliding bending plate (3 a 2) close to the rotary bending plate (3 a 1).
5. A stair cleaning robot with stair side cleaning function according to claim 4, characterized in that the circumferential rotation mechanism (3) further comprises a drive gear (3 b) and a drive motor (3 d), the drive motor (3 d) drives the drive gear (3 c) to rotate through the drive gear (3 b), and the drive motor (3 d) is fixedly mounted on the middle cleaning unit (12) through the motor mount.
6. A stair cleaning robot with stair side cleaning function according to claim 4 or 5, characterized in that the horizontal pushing mechanism (4) comprises an electric push rod (4 a) and a connecting rotating sleeve (4 b), a rotating seat (3 h) for rotating a rotating shaft three (3 e) is arranged on the circumference rotating mechanism (3), an output end of the electric push rod (4 a) is rotationally connected with one end of the rotating shaft three (3 e) through the connecting rotating sleeve (4 b), the rotating shaft three (3 e) is meshed with the driving gear (3 b) and the driven gear (6 d) before the electric push rod (4 a) is pushed horizontally, when the electric push rod (4 a) is pushed horizontally, the rotating shaft three (3 e) is pushed to slide horizontally along the rotating seat (3 h), and the rotating shaft three (3 e) is meshed with the driving gear (3 b) and the driven gear (6 d).
7. A stair cleaning robot with stair side cleaning function according to claim 6, characterized in that the water storage brush head (2) further comprises a bottom plate (2 a), a back plate (2 d) and two side plates (2 c) which are used for forming a box body, when the water storage brush head (2) is pressed on the cleaning mechanism (1), one end of the bottom plate (2 a) is pressed on the bottom of the mop (1 a), one end of each side plate (2 c) is pressed into the fluff of the mop (1 a), the water outlet end of the spray head (5 a) is positioned between the back plate (2 d) and the mop (1 a), and the multiple rows of brushing columns (2 b) are fixedly arranged on the back plate (2 d).
8. A stair cleaning robot with stair side cleaning function according to claim 2 or 7, characterized in that the water circulation mechanism (5) comprises a water storage tank (5 b) fixedly mounted on the middle cleaning unit (12), a water collecting box (5 c) and a water pump (5 d), when the middle cleaning unit (12) is in contact with the floor, a gap is left between the water collecting box (5 c) and the stair floor, the water pump (5 d) is connected with the water storage tank (5 b) and the water collecting box (5 c) through a water guide pipe, an electromagnetic water valve is arranged at the bottom of the water storage tank (5 b), the electromagnetic water valve is connected with a spray head (5 a) through the water guide pipe, and a filter device is arranged at the box top of the water collecting box (5 c).
9. A stair cleaning robot with stair side cleaning function according to claim 3, characterized in that the cleaning mechanism (1), the water storage brush head (2), the circumferential rotation mechanism (3), the horizontal pushing mechanism (4), the water circulation mechanism (5) and the transmission mechanism (6) are all two groups and are respectively arranged at two sides of the middle cleaning unit (12).
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| CN202211607962.4A CN115868860B (en) | 2022-12-14 | 2022-12-14 | Stair cleaning robot with stair side cleaning function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211607962.4A CN115868860B (en) | 2022-12-14 | 2022-12-14 | Stair cleaning robot with stair side cleaning function |
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| CN115868860A CN115868860A (en) | 2023-03-31 |
| CN115868860B true CN115868860B (en) | 2023-09-22 |
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| CN115868860A (en) | 2023-03-31 |
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