CN102631172B - Lifting telescopic corridor cleaning robot - Google Patents
Lifting telescopic corridor cleaning robot Download PDFInfo
- Publication number
- CN102631172B CN102631172B CN 201210116810 CN201210116810A CN102631172B CN 102631172 B CN102631172 B CN 102631172B CN 201210116810 CN201210116810 CN 201210116810 CN 201210116810 A CN201210116810 A CN 201210116810A CN 102631172 B CN102631172 B CN 102631172B
- Authority
- CN
- China
- Prior art keywords
- gear
- driving mechanism
- lower shoe
- cleaning robot
- rolling brush
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a lifting telescopic corridor cleaning robot. A longitudinal gear rack is fixedly installed on a lifting guide rail, the longitudinal gear rack is engaged with a first gear installed on a first gear shaft, the first gear shaft is connected with a first driving mechanism through a transmission gear mechanism, a first sliding strip is arranged in the lifting guide rail, and the first sliding strip is connected with an upper soleplate through angular aluminum; the upper soleplate is fixedly connected with a horizontal ball telescopic guide rail, the sliding strip in the ball telescopic guide rail is fixedly connected with a lower soleplate through a strut, a transverse gear rack is connected with the sliding strip in the ball telescopic guide rail through a supporting block, the transverse gear rack is engaged with a second gear driven by a second driving mechanism, and the second driving mechanism is fixedly installed on the upper soleplate; a rotary broom is installed on the front end of the lower soleplate, a horizontal rolling brush is arranged below the lower soleplate, a dust collector is arranged above the horizontal rolling brush, and the dust collector is a connected with a dustbin; and a supporting wheel is arranged on the bottom part of the lower soleplate. The lifting telescopic corridor cleaning robot disclosed by the invention has reasonable structure and good working property.
Description
Technical field
The present invention relates to a kind of elevating and telescopic type corridor cleaning robot.
Background technology
For the existing long history of the research of stair climbing robot, various mechanisms have been proposed successively.According to the mechanism form classification, can be divided into planet gear type, crawler type, leg foot formula and parallelogram lindage formula etc.
Planet gear type: satisfying under certain landform adaptability prerequisite, can give full play to the mobile robot and move flexibly, control the advantages such as simple.But the adaptability of landform size is directly proportional to the quantity of wheel, has brought again the shortcomings such as bulky, Heavy Weight along with the increase of taking turns quantum count.
Crawler type: it is many that crawler type stair climbing mechanism uses, and particularly has a wide range of applications in all kinds of anti-riot robots.Its main feature is: obstacle climbing ability is strong, and can adapt to different stair; Center of gravity fluctuation is little in the stair activity process, moves quite steady; When its maximum deficiency is level walking, resistance is larger, moves dumb, and energy consumption is high; When stair climbing, if design improperly, crawler belt also easily damages stair ladders edge; In addition, just going downstairs a certain moment, whole mechanism can tilt suddenly.
Legged mobile robot: the ground strong adaptability, stability is high, but mechanism and control are complicated, the speed of service is low.
The clean robot of above several forms has different advantages separately, but it climbs building mode and self mechanism's more complicated, especially is unfavorable for designing cleaning mechanism.And indoor cleaning machine people can only for the cleaning on plane, also not have to clean for corridor simultaneously the product of task at present.
2002, the household cleaning machine people " Roomba " of U.S. iRobot company research and development.The Roomba smooth surface, rounded, the rotation broom combines with dust catcher.For all being cleaned in each corner that guarantees the room, after collision obstacle, can move ahead along barrier, after moving a certain distance, can spend by automatic rotating 90, and constantly repeat top process.The carrying out of circulation, until cleaning is completed, then quit work like this.
The units such as Harbin Institute of Technology, South China Science ﹠ Engineering University, Shanghai Communications University have also carried out a large amount of research and have obtained some achievements clean robot, research to technology such as clean robot correlation technique such as machine perception, robot navigation and location and path planning, robot control, power supply and power management, power drives is more, and these are all that material base and technical foundation have been established in research and development and the popularization of clean robot.Harbin Institute of Technology has released the stair clean robot the first half of the year in 2008 and inspired by gear engagement former road, the method of utilizing involute wheel type to climb the building, and then designed a kind of novel climbing machine, and increased on this basis the stair cleaning function, but exist mechanism complicated, manufacturing cost is high, and cleaning function is not remarkable, the irrational problem of cleaning mechanism design.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, the elevating and telescopic type corridor cleaning robot of favorable working performance.
Technical solution of the present invention is:
Comprise the riser guide as supporter, be fixedly mounted with longitudinal rack on riser guide, longitudinal rack and the first gear engagement that is contained on the first gear shaft, the first gear shaft is connected with the first driving mechanism by drive gear mechanism, the first draw runner is set in riser guide, and the first draw runner is connected with upper plate by aluminum corner brace; Upper plate is connected by the ball telescopic rail of aluminum corner brace and level, draw runner in the ball telescopic rail is connected by pillar and lower shoe, laterally tooth bar is connected with draw runner in the ball telescopic rail by back-up block, laterally tooth bar meshes with the second gear that is driven by the second driving mechanism, and the second driving mechanism is packed on upper plate; The front end dress rotation broom of lower shoe, the below of lower shoe arranges the horizontal rolling brush, at the rear of horizontal rolling brush, dustbin is set, and dust catcher is set on lower shoe, and dust catcher communicates with dustbin by the hole that is provided with filter screen; Universal support wheel and driving wheel are set bottom lower shoe; A control system is controlled the work of first, second driving mechanism, dust catcher, driving wheel, horizontal rolling brush and rotation broom.
Described control system comprises single-chip microcomputer, and single-chip microcomputer is connected with the motor of first, second driving mechanism, dust catcher, the motor of rotation broom; Single-chip microcomputer and dropproof infrared sensor, stair judgement and keep away and hinder sensor, crash sensor and ultrasonic sensor and be connected.
Common stair can be climbed by robot of the present invention, often climb up (or under) one deck, walk to complete cleaning this layer is up.It both can complete cleaning from top to bottom, also can complete from the bottom up cleaning, and whole process is independently completed, and need not the people and participated in.
The motion that the present invention has designed lifting and flexible two frees degree realizes stair activity; Designed rotation broom, horizontal rolling brush and dust catcher, united and complete cleaning function; The control system of design adopts multiple approaching, feeler based on the ARM framework of 32, realizes robot autonomous stair activity reliably and cleaning.
The present invention on planet gear type, crawler type, the leg formula downstairs, simple in structure, climb building process robot not crooked, the stair activity action is succinct, cleaning device can not interfered with stair, often go up (under) complete one deck stair can complete the cleaning task at this layer neatly.This structure low cost of manufacture, for ease of maintenaince, be fit to volume production in addition.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Fig. 4 is the control system structural representation.
Fig. 5 is robot of the present invention process schematic diagram upstairs.
The specific embodiment
A kind of elevating and telescopic type corridor cleaning robot, comprise the riser guide 1 as supporter, be fixedly mounted with longitudinal rack 2 on riser guide, longitudinal rack and the first gear 12 engagements that are contained on the first gear shaft 13, the first gear shaft is connected with the first driving mechanism (lifting motor 14) by drive gear mechanism, the first draw runner 3, the first draw runners are set in riser guide to be connected with upper plate 4 by aluminum corner brace; Upper plate is connected by the telescopic rail 16 of aluminum corner brace and level, draw runner in telescopic rail is connected by pillar and lower shoe 9, laterally tooth bar 8 is connected with draw runner in telescopic rail by back-up block, laterally tooth bar meshes with the second gear 17 that is driven by the second driving mechanism (flexible motor 15), and the second driving mechanism is packed on upper plate; The front end dress rotation broom 5 of lower shoe, the below of lower shoe arranges horizontal rolling brush 18, at the rear of horizontal rolling brush, dustbin 10 is set, and dust catcher 7 is set on lower shoe, and dust catcher communicates with dustbin by the hole that is provided with filter screen; The place ahead universal wheel 6 and rear universal wheel 11, driving wheel 19 are set bottom lower shoe, replace as supporter with riser guide in the process of going upstairs; A control system is controlled the work of first, second driving mechanism, horizontal rolling brush, driving wheel, dust catcher and rotation broom.
Described control system comprises single-chip microcomputer 20, and single-chip microcomputer is connected with drive motors 25, first, second driving mechanism (being lifting motor 13, flexible motor 14), the dust sucting motor 26 of dust catcher, the broom motor 27 of rotation broom, the round brush motor 28 of driving horizontal rolling brush; Single-chip microcomputer and dropproof infrared sensor 21, stair judgement and keep away and hinder sensor 22, crash sensor 23 and ultrasonic sensor 24 and be connected.
The course of work of lifting:
The robot elevating movement provides driving source by lifting motor 14, power is delivered on the first gear shaft 13, the first gear 12 through drive gear mechanism, by gear 12, longitudinal rack 2, circular motion is transformed into rectilinear motion, because the riser guide 1 that is connected with tooth bar 2 is as supporter, thereby make the draw runner in riser guide drive fuselage work rectilinear motion up and down, realized car body lifting in vertical direction.
The flexible course of work:
The stretching motion of robot provides driving source by the flexible motor 15 that is fixed on upper plate, and power is through the engagement of gear 17 with tooth bar 8, and will rotatablely move is converted into rectilinear motion.Thereby make the pillar and the lower shoe that are connected mutually with tooth bar 8 make the front and back rectilinear motion, realized the flexible of robot.
Carry out in the cleaning task process, the rotary cleaning ground of rotating brushes driven by motor cleaning brush sweeps rubbish in robot below zone line simultaneously, by horizontal rolling brush 18, rubbish is swept dustbin smoothly.Meanwhile, dust catcher sucks dustbin with dust-type rubbish, has guaranteed the reliability of garbage-cleaning.
Do not tumble for keeping the robot balance, a basic point is, no matter robot the level land motion or on descending stair, center of gravity must all remain in four-wheel support scope, to go upstairs as example (going downstairs similar), robot is when stretching out fuselage as Fig. 5 mode, center of gravity can then be moved because of supporting strut, but do not allow to exceed four-wheel and support scope, so robot need to consider to make design of centre of gravity to get inclined to one side the place ahead at common state, for satisfying the requirement of the reliable balance of center of gravity, this money corridor cleaning robot is also stretching out on the lower shoe of fuselage counterweight in addition.
Whole control system can be divided into the task of following components basically:
(1) control rotating brushes motor, dust sucting motor, round brush motor.Both sides rotating brushes motor and dust sucting motor, horizontal rolling brush motor can be controlled simultaneously, and when needing clean robot to begin cleaning works, 4 motors just begin to work simultaneously, and when stopping cleaning, 4 motors just stop simultaneously.
(2) prevent from falling: arranged 4 dropproof infrared sensors before and after the below of clean robot lower shoe, when it detected the edge of robot place step, robot changed dropproof Processing tasks over to.
(3) building is climbed in detection stair, decision-making: the place ahead on the robot lower shoe, arrange a stair judgement infrared sensor and two crash sensors, upstairs the time, according to the united information of these sensors, judge whether the place ahead is the upper level step of stair, if it is change over to and climb the building processing; A stair judgement infrared sensor is arranged at rear on the robot lower shoe, when going downstairs in robot, judges whether the rear is the next stage step of stair, if it is changes over to downstairs and processes.
(4) according to the stair step width, the path is cleaned in planning.Arrange each side that in robot is kept away a barrier infrared sensor, according to its signal, the tread run of judgement stairway step determines to clean along the number of times of the horizontal walking of step.
(5) route departs from the correction processing.Keep away the united information of barrier infrared sensor and ultrasonic sensor according to the robot left and right sides, control driving wheel motor, make robot route walking in accordance with regulations.
Claims (3)
1. elevating and telescopic type corridor cleaning robot, it is characterized in that: comprise the riser guide as supporter, be fixedly mounted with longitudinal rack on riser guide, longitudinal rack and the first gear engagement that is contained on the first gear shaft, the first gear shaft is connected with the first driving mechanism by drive gear mechanism, the first draw runner is set in riser guide, and the first draw runner is connected with upper plate by aluminum corner brace; Upper plate is connected by the ball telescopic rail of aluminum corner brace and level, draw runner in the ball telescopic rail is connected by pillar and lower shoe, laterally tooth bar is connected with draw runner in the ball telescopic rail by back-up block, laterally tooth bar meshes with the second gear that is driven by the second driving mechanism, and the second driving mechanism is packed on upper plate; The front end dress rotation broom of lower shoe, the below of lower shoe arranges the horizontal rolling brush, at the rear of horizontal rolling brush, dustbin is set, and dust catcher is set on lower shoe, and dust catcher communicates with dustbin by the hole that is provided with filter screen; Universal support wheel and driving wheel are set bottom lower shoe; A control system is controlled the work of first, second driving mechanism, dust catcher, driving wheel, horizontal rolling brush and rotation broom.
2. elevating and telescopic type corridor cleaning robot according to claim 1, it is characterized in that: described control system comprises single-chip microcomputer, single-chip microcomputer is connected with the motor of first, second driving mechanism, dust catcher, the motor of rotation broom; Single-chip microcomputer and dropproof infrared sensor, stair judgement and keep away and hinder sensor, crash sensor and ultrasonic sensor and be connected.
3. elevating and telescopic type corridor cleaning robot according to claim 1 and 2 is characterized in that: stretch out on the lower shoe of fuselage counterweight is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116810 CN102631172B (en) | 2012-04-20 | 2012-04-20 | Lifting telescopic corridor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116810 CN102631172B (en) | 2012-04-20 | 2012-04-20 | Lifting telescopic corridor cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102631172A CN102631172A (en) | 2012-08-15 |
| CN102631172B true CN102631172B (en) | 2013-05-08 |
Family
ID=46615880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210116810 Expired - Fee Related CN102631172B (en) | 2012-04-20 | 2012-04-20 | Lifting telescopic corridor cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102631172B (en) |
Families Citing this family (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103225278A (en) * | 2013-05-14 | 2013-07-31 | 深圳中科得利智能技术有限公司 | Ground sweeping robot |
| CN103343519B (en) * | 2013-07-11 | 2015-11-04 | 山东理工大学 | A kind of novel intelligent clean robot and control method thereof |
| CN103909992B (en) * | 2014-04-11 | 2016-06-29 | 南通大学 | A kind of corridor cleaning robot |
| CN103950482B (en) * | 2014-05-07 | 2016-03-30 | 南通大学 | Dropproof and collision processing method when stair clean robot moves on marking time |
| CN105197123B (en) * | 2014-05-08 | 2017-08-04 | 南通大学 | The method of discrimination of elevating and telescopic type corridor cleaning robot stair activity easy to operate |
| CN104027043A (en) * | 2014-05-09 | 2014-09-10 | 李佛妹 | Corridor dust collector capable of intelligently climbing stairs |
| CN105595924B (en) * | 2014-06-04 | 2017-10-17 | 南通大学 | Effectively realize stair clean robot method to stair transition from stair to halfpace |
| CN104127157A (en) * | 2014-08-04 | 2014-11-05 | 南京信息工程大学 | Wheel-leg type stair sweeping robot |
| CN104358207A (en) * | 2014-10-24 | 2015-02-18 | 中铁大桥局集团第六工程有限公司 | Rapid steel trestle construction structure and construction method |
| CN104973151A (en) * | 2015-07-20 | 2015-10-14 | 北京理工大学 | Microminiature robot capable of walking up and down stairs automatically |
| CN106610667A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Corridor cleaning robot control system and method based on RC controller |
| CN107229273A (en) * | 2016-03-23 | 2017-10-03 | 上海太赫紫电子科技有限公司 | A kind of wheeled security robot device upstairs |
| CN105835973B (en) * | 2016-04-05 | 2018-09-25 | 山东国兴智能科技有限公司 | A kind of adaptive stair corridor sweeping robot and its stairs climbing method |
| CN106108786B (en) * | 2016-06-23 | 2018-10-16 | 徐州工业职业技术学院 | A kind of the multifunctional stairway cleaning equipment and clean method of cleaning small area |
| CN106580192B (en) * | 2016-11-14 | 2019-01-15 | 西安建筑科技大学 | A kind of modularization stair cleaning machine and its operating method |
| WO2018086090A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Smart floor-sweeping robot for uneven floor |
| CN106798528B (en) * | 2017-02-14 | 2019-02-15 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| CN106965408B (en) * | 2017-04-09 | 2019-04-26 | 合肥特尔卡机器人科技股份有限公司 | A kind of professional machines people suitable for being blow molded industry |
| CN106901661A (en) * | 2017-04-19 | 2017-06-30 | 胡华 | A kind of stair cleaning device |
| CN107963140A (en) * | 2017-11-17 | 2018-04-27 | 大连理工大学 | Intelligent tracing climbs building load-carrying cleaning device |
| CN108042058B (en) * | 2017-12-19 | 2020-05-19 | 常州大学怀德学院 | Ground cleaning and climbing robot with temperature difference infrared sensing function |
| CN108435734A (en) * | 2018-05-18 | 2018-08-24 | 芜湖华衍水务有限公司 | Overflow cell wall moss clears up robot and its method for cleaning |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN109452911B (en) * | 2019-01-08 | 2024-05-17 | 河南理工大学 | Intelligent stair cleaning robot |
| CN110063691B (en) * | 2019-04-29 | 2023-10-20 | 温州大学 | Sweeping robot capable of going upstairs and downstairs and application method thereof |
| CN110329383B (en) * | 2019-06-25 | 2020-07-03 | 广东博智林机器人有限公司 | Climbing device and robot |
| CN111728541B (en) * | 2020-07-21 | 2023-07-25 | 桂林电子科技大学 | Full-automatic climbing type stair cleaning robot and application method thereof |
| CN112144454B (en) * | 2020-09-24 | 2021-12-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Mechanical system based on automatic mobile robot of picking up of garden rubbish |
| CN112336255A (en) * | 2020-11-03 | 2021-02-09 | 张晓芳 | Stair cleaning machines people |
| CN112493925B (en) * | 2020-11-23 | 2021-08-10 | 东北大学 | All-terrain cleaning robot |
| JP2022142140A (en) * | 2021-03-16 | 2022-09-30 | トヨタホーム株式会社 | building |
| CN113951765B (en) * | 2021-10-19 | 2023-02-03 | 重庆邮电大学 | Intelligent cleaning robot for building stairs |
| CN114738593A (en) * | 2022-01-27 | 2022-07-12 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing device and pipeline robot |
| CN114343506B (en) * | 2022-01-28 | 2023-06-20 | 湖南工程学院 | Polymorphic building step cleans machine people |
| CN114766984B (en) * | 2022-05-26 | 2023-11-28 | 南通大学 | Stair cleaning robot based on telescopic radial arm |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954936A (en) * | 2009-11-10 | 2011-01-26 | 薛明 | Power-driven stair device capable of vertically lifting and horizontally displacing |
| CN102397037A (en) * | 2010-09-08 | 2012-04-04 | 燕成祥 | Cleaning equipment capable of climbing up and down stairs |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61275069A (en) * | 1985-05-31 | 1986-12-05 | Toshiba Corp | Traveling vehicle |
| JP2010235229A (en) * | 2009-03-30 | 2010-10-21 | Nagasaki Univ | Staircase lifting device |
-
2012
- 2012-04-20 CN CN 201210116810 patent/CN102631172B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101954936A (en) * | 2009-11-10 | 2011-01-26 | 薛明 | Power-driven stair device capable of vertically lifting and horizontally displacing |
| CN102397037A (en) * | 2010-09-08 | 2012-04-04 | 燕成祥 | Cleaning equipment capable of climbing up and down stairs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102631172A (en) | 2012-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102631172B (en) | Lifting telescopic corridor cleaning robot | |
| CN104127157A (en) | Wheel-leg type stair sweeping robot | |
| CN103909992B (en) | A kind of corridor cleaning robot | |
| CN203920967U (en) | A kind of corridor cleaning robot | |
| CN206749955U (en) | Chassis vehicle | |
| CN108556938A (en) | Full ground anthropomorphic robot | |
| CN105212840B (en) | Clean robot and its control method | |
| CN205972599U (en) | Shuttle cart | |
| CN104973151A (en) | Microminiature robot capable of walking up and down stairs automatically | |
| CN107814294B (en) | Corridor elevator | |
| CN106343927B (en) | Device for automatically climbing stairs and cleaning stairs steps | |
| CN114301386B (en) | Photovoltaic panel cleaning device and cleaning method | |
| CN210730481U (en) | Solar photovoltaic board cleans machine people | |
| CN110576016A (en) | Solar photovoltaic panel cleaning robot and cleaning method | |
| CN106394721A (en) | Multi-road-condition vertical movement transporting device and transporting method | |
| CN109452911A (en) | A kind of intelligent stair clean robot | |
| CN108556939A (en) | A kind of full landform movement sniffing robot | |
| CN105966490A (en) | Walking device of solar panel cleaning robot | |
| CN106580192B (en) | A kind of modularization stair cleaning machine and its operating method | |
| CN208593448U (en) | Full ground anthropomorphic robot | |
| CN206187142U (en) | Carrying device based on focus adjustment mechanism | |
| CN112956966A (en) | Cleaning robot capable of climbing stairs | |
| CN205837002U (en) | Solar panel cleaning robot running gear | |
| CN111227722B (en) | Self-propelled household dust collector | |
| CN208760749U (en) | A kind of wheel-track combined walking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20160420 |