CN101697865A - Intelligent stair cleaning machine - Google Patents
Intelligent stair cleaning machine Download PDFInfo
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- CN101697865A CN101697865A CN200910149477A CN200910149477A CN101697865A CN 101697865 A CN101697865 A CN 101697865A CN 200910149477 A CN200910149477 A CN 200910149477A CN 200910149477 A CN200910149477 A CN 200910149477A CN 101697865 A CN101697865 A CN 101697865A
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- stair
- cleaning machine
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- finish
- machine
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Abstract
The invention relates to an intelligent stair cleaning machine capable of cleaning stairs, which completes the process of moving up and down on the stairs in a lifting mode by connecting a slide way, a slide bar, a pulley and a steel wire rope, completes intelligent walking and turning of the machine on the stairs through a photosensitive sensor, a photoelectric code disk, a photoelectric sensor and a microswitch, and completes the maintenance task of the machine at the same time of cleaning the stairs through the designs of symmetrical water tanks and roller brushes, thereby greatly reducing the difficulty of manual maintenance.
Description
Affiliated technical field
This invention is intended to solve the problem that stair clean, and especially makes machine finish cleaning task to stair when stablize stair climbing, thus the intellectuality of realization machine.
Background technology
At present, known stair cleaning machine is to rely on manually to finish mostly, and in use noise is big, is subject to the influence of position of source, and power line is longer.And common stair cleaning machine is because heavy, causes inconvenience in the moving up and down of stair.Cleaning to machine itself after stair are cleaned is again more loaded down with trivial details thing.In addition, owing to there is the influence of artificial subjective mood, can not effectively clean completely stair.Cleaning machine price on the market is generally higher, and is not easy to be accepted by masses.
Summary of the invention
In order to overcome many shortcomings of existing stair cleaning machine, a kind of novel intelligent stair cleaning machine now is provided, this machine not only can be autonomous the process up and down of finishing stair, and when having cleaned stair, finish cleaning, thereby reduce manually difficulty the maintenance of machine to own round brush.
The specific embodiment:
Intelligent stair cleaning machine mainly is divided into two parts: stair climbing mechanism and stair cleaning machine system.
Circuit part: all motion processes of three STC89C52 Single-chip Controlling cleaning machines, adopt the mode of flag bit to finish communicating by letter between single-chip microcomputer and the single-chip microcomputer.L298N is a motor drive ic, and single-chip microcomputer is finished the exercises of intelligent stair cleaning machine by the adjusting of control L298N realization motor positive and inverse and speed.A L298N need take 6 I/O of single-chip microcomputer and drive two 12 volts motor, just need merge into the drive current that a passage increases motor to the binary channels of L298N but the load of the motor band that has is too many.Shared 6 L298N have driven 8 motors, and 2 motors of wheel are rinsed 4 motors with washing, 2 motors of lifting.Make a photoelectric code disk with RPR220, single-chip microcomputer is regulated rotating speed of motor by the signal of handling RPR220.
Stair climbing mechanism: steady elevating mechanism is adopted in this design.Adopt litter and slideway to combination, finish the lifting process successively of main body and framework.Detailed process is as follows: from initialization, framework steadily rises along slideway and litter under driven by motor, stop motion after running into microswitch.Simultaneously, framework steadily advances under the drive of motor forwardly, stop motion and begin to descend after running into the microswitch of front, thus finish the process of the stair climbing of framework.Simultaneously, main body begins along slideway after accepting single-chip microcomputer instruction and litter is stable rises, and stops running into microswitch after, and moves forward under the drive of motor forwardly, stops after meeting another impact switch, begins decline.Thereby finish the stair climbing process of machine.
Stair cleaning machine system: be equipped with two driving wheels and a universal wheel in machine chassis, driving wheel adopts two motors to control respectively.In the straight line moving process of stair, adopt photoelectric code disk that two driving wheels are monitored in real time, finish the adjustment of two wheel rotor speeds, thereby finish accurate control straight line moving.Turning on the problem machine self in addition, in the existence of considering different stair environment, adopt impact switch and photoelectric sensor to mix the design of using---when stair marginal existence wall, can turn to after running into impact switch, in the there that balustrade is arranged, turning to of wheel finished in the judgement that clear is arranged by the photoelectric sensor that stretches out.Intelligent stair cleaning machine adopts bilateral symmetry roller brushes structure and tank design.By the different dynamics that strengthen ground that turn to of round brush and wheel, and, different processing modes is taked on different ground at car body chassis installation gray-scale sensor.In addition, after the cleaning task of finishing joint stair, the round brush return flume that overturns under the drive of motor carries out self cleaning.
Description of drawings
Below in conjunction with accompanying drawing further specifying to this machine.
Fig. 1 is the pictorial diagram of type of the present invention
Among Fig. 1,1. pulley, 2. regularly foreleg, 3. rising framework, 4. slideway, 5. litter, 6. main body, 7. water tank, 8. round brush, 9. microswitch, 10. photoelectric sensor.
In Fig. 1, slideway, litter, pulley are connected as a single entity main body and framework by the connection of steel wire rope; Regularly foreleg is climbed on the stair ladder second from the bottom at intelligent stair cleaning machine and is put down in good time, the auxiliary final section stair of climbing up; Photoelectric tube RPR-220 is by to photoelectric code disk emission infrared ray, according to the high-low level signal that is received is passed to single-chip microcomputer, thereby realizes the straight line moving of machine by the adjusting to vehicle wheel rotational speed; By the control of microswitch and photoelectric sensor, finish intelligent stair cleaning machine turning on stair.
Fig. 2 is transformation, the mu balanced circuit of intelligent stair cleaning machine power supply, and adopts 5V and 12V dual power supply.
Fig. 3 is an intelligent stair cleaning machine driving wheel drive circuit.Because the restriction of load weight, we are to driving 5,10 mouthfuls of parallel connections of chip L298N, and 7,12 mouthfuls of parallel connections are finished driving to heavy load by increasing output current.
Fig. 4 drives the drive circuit of chip to motors such as round brush, round brush arms for intelligent stair cleaning machine adopts L298n.
Fig. 5 controls the circuit of elevating mechanism by relay for intelligent stair cleaning machine.
Claims (4)
1. an intelligent stair cleaning machine adopts elevating mechanism to finish the process up and down of stair; Finishing stair by symmetrical round brush and waterbox design cleans and own maintenance work.
2. intelligent stair cleaning machine according to claim 1 is characterized in that: litter and ramp design, connect main body and framework with steel wire rope, and finish the lifting process of main body and framework by fixed pulley; The foreleg of intelligent stair cleaning machine is finished last lifting process on stair putting down on the step second from the bottom under steering wheel control.
3. intelligent stair cleaning machine according to claim 1 is characterized in that: adopt photoelectric code disk, microswitch, optoelectronic switch design, finish its on stair intelligent walking and turn to task.
4. intelligent stair cleaning machine according to claim 1 is characterized in that: increase the flexibility of machine by multi-joint design, thereby finish the realization of exercises.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910149477A CN101697865A (en) | 2009-06-19 | 2009-06-19 | Intelligent stair cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910149477A CN101697865A (en) | 2009-06-19 | 2009-06-19 | Intelligent stair cleaning machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101697865A true CN101697865A (en) | 2010-04-28 |
Family
ID=42146330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910149477A Pending CN101697865A (en) | 2009-06-19 | 2009-06-19 | Intelligent stair cleaning machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101697865A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108125631A (en) * | 2017-12-20 | 2018-06-08 | 长安大学 | One kind drags suction stair clean robot |
-
2009
- 2009-06-19 CN CN200910149477A patent/CN101697865A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108125631A (en) * | 2017-12-20 | 2018-06-08 | 长安大学 | One kind drags suction stair clean robot |
| CN108125631B (en) * | 2017-12-20 | 2020-08-11 | 长安大学 | Drag-and-suck type stair cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100428 |