CN111528741A - Floor sweeping robot capable of carrying out stair sweeping - Google Patents
Floor sweeping robot capable of carrying out stair sweeping Download PDFInfo
- Publication number
- CN111528741A CN111528741A CN202010435828.5A CN202010435828A CN111528741A CN 111528741 A CN111528741 A CN 111528741A CN 202010435828 A CN202010435828 A CN 202010435828A CN 111528741 A CN111528741 A CN 111528741A
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- sweeping robot
- brushes
- stair
- robot
- sweeping
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The invention relates to a floor sweeping robot capable of carrying out stair sweeping, which comprises at least two machine bodies which are arranged from front to back at intervals, wherein the two adjacent machine bodies are movably connected through a universal joint mechanism; the garbage collecting machine is characterized in that side brushes, rolling brushes, a garbage bag and driving wheels are arranged at the bottom of the machine body, the side brushes are positioned at two sides of the bottom of the machine body and driven by a side brush motor, the rolling brushes are positioned behind the side brushes and driven by a rolling brush motor, and the garbage bag is positioned behind the rolling brushes and used for collecting garbage swept in by the rolling brushes; the driving wheels are arranged on two sides of the bottom of the machine body and driven by a driving motor; the front end of the head body is provided with a climbing wheel and a guide wheel. The stair cleaning robot can clean stairs with steps, the cleaning range of the floor cleaning robot is expanded, the working efficiency is improved, and a large amount of manpower and material resources are saved.
Description
Technical Field
The invention relates to a floor sweeping robot, in particular to a floor sweeping robot capable of sweeping stairs.
Background
With the progress of science and technology, the rapid development of computer technology and artificial intelligence science, the intelligent robot technology becomes a new research hotspot, and the service robot opens up a new field of robot application. The robot of sweeping the floor has become the indispensable partly of intelligent house, and the robot of sweeping the floor does not need artificial control at whole clean in-process, has alleviateed people's operation burden, has characteristics that save time, laborsaving, work efficiency is high, energy utilization is high, and is lightly small and exquisite moreover. However, the sweeping robots in the market can only sweep on a plane, and cannot sweep stairs.
Disclosure of Invention
The invention aims to provide a floor sweeping robot capable of sweeping stairs, and the floor sweeping robot can be used for solving the technical problems that the conventional floor sweeping robot can only sweep the stairs on a plane and cannot sweep the stairs.
In order to solve the problems, the invention provides a floor sweeping robot capable of carrying out stair sweeping, which comprises at least two machine bodies which are arranged at intervals from front to back, wherein the two adjacent machine bodies are movably connected through a universal joint mechanism;
the garbage collecting machine is characterized in that side brushes, rolling brushes, a garbage bag and driving wheels are arranged at the bottom of the machine body, the side brushes are positioned at two sides of the bottom of the machine body and driven by a side brush motor, the rolling brushes are positioned behind the side brushes and driven by a rolling brush motor, and the garbage bag is positioned behind the rolling brushes and used for collecting garbage swept in by the rolling brushes; the driving wheels are arranged on two sides of the bottom of the machine body and driven by a driving motor;
the front end of the head body is provided with a climbing wheel and a guide wheel.
Preferably, the universal joint mechanism comprises two universal joints and a connecting strip, the two universal joints are respectively arranged on the two adjacent machine bodies, and two ends of the connecting strip are respectively connected with the two universal joints.
Preferably, the universal joint is a spherical joint.
Preferably, the spherical joint comprises a ball seat and a ball head, the ball seat is fixedly arranged on the machine body, the ball head is fixedly connected with the end part of the connecting strip, the ball seat is provided with the ball socket, and the ball head is rotatably arranged in the ball socket.
Preferably, the machine body further comprises a main controller, the main controller is arranged in the machine body, and the main controller is electrically connected with the side brush motor, the rolling brush motor and the driving motor respectively.
Preferably, the main controller is a microcomputer.
Preferably, the main controller plans the cleaning route of the robot in advance.
Preferably, the sweeping path is distributed over the floor level and stairs.
Preferably, a laser scanner is further arranged on the head body, and the laser scanner is electrically connected with the main controller.
Preferably, the front end face of the head body is further provided with an anti-collision protection pad.
Compared with the prior art, the invention has the following technical effects:
the stair cleaning robot can clean stairs with steps, the cleaning range of the floor cleaning robot is expanded, the working efficiency is improved, and a large amount of manpower and material resources are saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
fig. 1 is a front view of a sweeping robot capable of performing stair cleaning according to a preferred embodiment of the present invention;
fig. 2 is a top view of a sweeping robot capable of performing stair cleaning according to a preferred embodiment of the present invention;
fig. 3 is a bottom view of a sweeping robot capable of performing stair cleaning according to a preferred embodiment of the present invention.
Detailed Description
The sweeping robot capable of performing stair cleaning according to the present invention will be described in detail with reference to fig. 1 to 3, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and color the sweeping robot without changing the spirit and content of the present invention.
Referring to fig. 1 to 3, a floor sweeping robot capable of performing stair cleaning includes at least two machine bodies arranged at intervals from front to back, and two adjacent machine bodies are movably connected through a universal joint mechanism 4.
The bottom of each machine body is provided with a side brush 9, a rolling brush 11, a garbage bag and a driving wheel 10, the side brushes 9 are positioned on two sides of the bottom of the machine body and driven by a side brush motor, the rolling brush 11 is positioned behind the side brushes 9 and driven by a rolling brush motor, and the garbage bag is positioned behind the rolling brush 11 and used for collecting garbage swept in by the rolling brush 11; the two sides of the bottom of the machine body are also provided with the driving wheels 10, and the driving wheels 10 are driven by a driving motor.
The front end of the head body 2 is provided with a climbing wheel 7 and a guide wheel 8, furthermore, the climbing wheel 7 is arranged at the bottom of the front end face of the head body 2, the guide wheel 8 is arranged at the front end of the bottom of the head body 2, and the aim is to facilitate the robot to go up and down stairs.
The number of the machine bodies is not limited, two machine bodies can be adopted, or three or more machine bodies can be adopted, namely the sweeping robot is required to be provided with the head machine body 2 and the tail machine body 6, and the middle machine bodies 5 are arranged or not, and a plurality of middle machine bodies 5 are arranged and can be set according to specific use requirements. In this embodiment, the sweeping robot includes three bodies, which are a head body 2, a middle body 5 and a tail body 6. Because the adjacent two sections of machine bodies can rotate at any angle, the floor sweeping robot can sweep stairs, and the machine bodies can go up the stairs or down the stairs one by one to sweep the stairs.
The universal joint mechanism 4 includes two universal joints 41 and a connecting bar 42, the two universal joints 41 are respectively disposed on the two adjacent bodies, and two ends of the connecting bar 42 are respectively connected with the two universal joints 41.
The present invention is not limited to the specific type of the universal joint 41, and the universal joint 41 is preferably a spherical joint in this embodiment.
As an embodiment, the spherical joint includes a ball seat fixedly disposed on the body and a ball head fixedly connected to an end of the connecting bar 42, and the ball seat is provided with a ball socket rotatably disposed therein.
Furthermore, the ball seat is arranged at the tail part of the upper end surface of the front machine body, and the ball head is arranged at the head part of the upper end surface of the rear machine body.
As another embodiment, the spherical joint includes a ball seat and a ball head, the ball head is fixedly disposed on the body, the ball seat is fixedly connected with the end of the connecting bar 42, the ball seat is provided with a ball socket, and the ball head is rotatably disposed in the ball socket.
Furthermore, the ball head is arranged at the tail part of the upper end surface of the front machine body, and the ball seat is arranged at the head part of the upper end surface of the rear machine body.
The sweeping robot further comprises a main controller, the main controller is arranged in the robot body, and the main controller is electrically connected with the side brush motor, the rolling brush motor and the driving motor respectively. In the present embodiment, the main controller is provided in the head body 2.
In the invention, the main controller plans the cleaning route of the robot in advance, the robot provided by the invention can clean the area of a whole floor, namely the floor ground, and can also clean stairs with steps, namely the cleaning route is distributed all over the floor ground and the stairs, and the existing cleaning robot can only clean the floor ground (the floor ground is a plane) and cannot clean the stairs with steps.
In this embodiment, the head body 2 is further provided with a laser scanner 3, and the laser scanner 3 is electrically connected with the main controller. The laser scanner 3 touches the time that the barrier reflects back and judges the distance between self and the barrier behind laser emission to judge relative position, realize the location, the robot both can keep away the barrier through laser scanner 3 promptly, can fix a position again.
In this embodiment, the head body 2 is further provided with a state setting button, the button is electrically connected with the main controller, and the button controls the floor sweeping robot to switch between a standby state and a cleaning working state.
Preferably, the main controller is a microcomputer.
In this embodiment, the front end surface of the head body 2 is further provided with an anti-collision protection pad 1 to prevent the robot from being damaged by collision when going down stairs. Furthermore, the climbing wheel 7 is arranged on the anti-collision protection pad 1, so that the robot can conveniently go up and down stairs. Two climbing wheels 7 are provided in this example, one on each side of the crash pad 1.
Since the cleaning of the robot on the plane is a mature technology, the present embodiment does not give much description on the cleaning on the plane, and the following description only gives a detailed description on the cleaning at the stairs.
When the robot cleans stairs, the head machine body 2, the middle machine body 5 and the tail machine body 6 descend layer by layer in sequence to clean steps. The embodiment uses the robot to sweep downstairs as an example, when sweeping, head fuselage 2 is first to be followed the stair riser and is descended, and middle part fuselage 5 is located the footboard of stair, and head fuselage 2 is the vertical state with middle part fuselage 5 promptly, and at this moment, middle part fuselage 5 can sweep the footboard of stair, and the rear portion fuselage trails at middle part fuselage 5 back, sweeps the tail work, cleans the dirty thing that two fuselages left before promptly, prevents to omit. During cleaning, the side brush 9 rotates to clean the garbage, and the rolling brush 11 sweeps the garbage into the garbage bag. And after the step is swept, continuing to descend by one layer, and sweeping layer by layer.
Claims (10)
1. A floor sweeping robot capable of carrying out stair sweeping is characterized by comprising at least two machine bodies which are arranged from front to back at intervals, wherein the two adjacent machine bodies are movably connected through a universal joint mechanism;
the garbage collecting machine is characterized in that side brushes, rolling brushes, a garbage bag and driving wheels are arranged at the bottom of the machine body, the side brushes are positioned at two sides of the bottom of the machine body and driven by a side brush motor, the rolling brushes are positioned behind the side brushes and driven by a rolling brush motor, and the garbage bag is positioned behind the rolling brushes and used for collecting garbage swept in by the rolling brushes; the driving wheels are arranged on two sides of the bottom of the machine body and driven by a driving motor;
the front end of the head body is provided with a climbing wheel and a guide wheel.
2. A sweeping robot for stair cleaning according to claim 1, wherein said universal joint mechanism comprises two universal joints and a connecting bar, said two universal joints are respectively disposed on two adjacent bodies, and two ends of said connecting bar are respectively connected to said two universal joints.
3. A sweeping robot for stair cleaning according to claim 2, wherein said universal joint is a spherical joint.
4. A sweeping robot for stair cleaning according to claim 3, wherein the spherical joint comprises a ball seat and a ball head, the ball seat is fixedly arranged on the body, the ball head is fixedly connected with the end of the connecting strip, the ball seat is provided with a ball socket, and the ball head is rotatably arranged in the ball socket.
5. A sweeping robot for stair cleaning according to claim 1, further comprising a main controller disposed in the body, wherein the main controller is electrically connected to the side brush motor, the roller brush motor and the driving motor respectively.
6. A sweeping robot for stair cleaning according to claim 5, wherein said main controller is a microcomputer.
7. A stair cleaning robot as claimed in claim 5 wherein the main controller pre-programs the cleaning path of the robot.
8. A sweeping robot for stair cleaning according to claim 7, wherein the cleaning path extends over the floor and stairs.
9. A sweeping robot for stair cleaning according to claim 5, wherein a laser scanner is further provided on the head body, and the laser scanner is electrically connected to the main controller.
10. A sweeping robot for stair cleaning according to claim 1, wherein the front end of the head body is further provided with a crash pad.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435828.5A CN111528741B (en) | 2020-05-21 | 2020-05-21 | Floor sweeping robot capable of carrying out stair sweeping |
| AU2021100504A AU2021100504A4 (en) | 2020-05-21 | 2021-01-27 | Cleaning robot capable of cleaning stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435828.5A CN111528741B (en) | 2020-05-21 | 2020-05-21 | Floor sweeping robot capable of carrying out stair sweeping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111528741A true CN111528741A (en) | 2020-08-14 |
| CN111528741B CN111528741B (en) | 2021-10-19 |
Family
ID=71969396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010435828.5A Active CN111528741B (en) | 2020-05-21 | 2020-05-21 | Floor sweeping robot capable of carrying out stair sweeping |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111528741B (en) |
| AU (1) | AU2021100504A4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766975A (en) * | 2022-04-13 | 2022-07-22 | 江苏商贸职业学院 | Floor sweeping robot special for stair cleaning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528805A (en) * | 2012-02-23 | 2012-07-04 | 西华大学 | Multifunctional serpentiform robot |
| US20130238123A1 (en) * | 2012-03-12 | 2013-09-12 | Empire Technology Development Llc | Robotic appendages |
| CN105769055A (en) * | 2016-03-28 | 2016-07-20 | 山东国兴智能科技有限公司 | Multifunctional stair cleaning robot with capacity of automatic adjustment |
| US20190022849A1 (en) * | 2017-07-18 | 2019-01-24 | General Electric Company | In situ gap inspection robot system and method |
| CN208640610U (en) * | 2018-02-01 | 2019-03-26 | 兰州工业学院 | A kind of stair cleaning device |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
| CN110179408A (en) * | 2019-06-21 | 2019-08-30 | 烟台大学 | A kind of chain type bench group stair cleaning machine |
-
2020
- 2020-05-21 CN CN202010435828.5A patent/CN111528741B/en active Active
-
2021
- 2021-01-27 AU AU2021100504A patent/AU2021100504A4/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528805A (en) * | 2012-02-23 | 2012-07-04 | 西华大学 | Multifunctional serpentiform robot |
| US20130238123A1 (en) * | 2012-03-12 | 2013-09-12 | Empire Technology Development Llc | Robotic appendages |
| CN105769055A (en) * | 2016-03-28 | 2016-07-20 | 山东国兴智能科技有限公司 | Multifunctional stair cleaning robot with capacity of automatic adjustment |
| US20190022849A1 (en) * | 2017-07-18 | 2019-01-24 | General Electric Company | In situ gap inspection robot system and method |
| CN208640610U (en) * | 2018-02-01 | 2019-03-26 | 兰州工业学院 | A kind of stair cleaning device |
| CN109799819A (en) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | Snake-shaped robot mechanism and motion control method based on gyroscopic procession effect |
| CN110179408A (en) * | 2019-06-21 | 2019-08-30 | 烟台大学 | A kind of chain type bench group stair cleaning machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766975A (en) * | 2022-04-13 | 2022-07-22 | 江苏商贸职业学院 | Floor sweeping robot special for stair cleaning |
| CN114766975B (en) * | 2022-04-13 | 2023-06-02 | 江苏商贸职业学院 | Floor sweeping robot special for cleaning stairs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111528741B (en) | 2021-10-19 |
| AU2021100504A4 (en) | 2021-04-15 |
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