CN103909992A - Robot cleaner for corridors - Google Patents
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- CN103909992A CN103909992A CN201410146295.3A CN201410146295A CN103909992A CN 103909992 A CN103909992 A CN 103909992A CN 201410146295 A CN201410146295 A CN 201410146295A CN 103909992 A CN103909992 A CN 103909992A
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- fuselage
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- sprocket wheel
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Abstract
The invention discloses a robot cleaner for corridors. The robot cleaner comprises a cleaner body, two translational rotating leg mechanisms, a sweeping mechanism and a signal control system, wherein the two translational rotating leg mechanisms are symmetrically distributed at the two sides of the cleaner body, the sweeping mechanism and the signal control system are arranged below the cleaner body, and the cleaner body is provided with a rotating arm driving mechanism; the translational rotating leg mechanisms comprise support legs, rotating arms, first chain wheels, second chain wheels and chains, wherein the support legs are used for supporting, the rotating arms are hinged with the support legs through support shafts, the first chain wheels are arranged at the two ends of the rotating arms, the number of teeth and the semi-diameter of the first chain wheels are the same as the second chain wheels, and the chains are used for connecting the first chain wheels with the second chain wheels. The translational rotational motion of the support legs corresponding to the cleaner body can be realized by the synchronous rotation of the chain wheels, and the robot can steadily go upstairs and downstairs based on the structure. The robot provided by the invention is capable of flexibly turning on the step treads of the stairs and cleaning back and forth, the conditions that the robot does not miss one step and is not collided can be guaranteed by a control system provided with a sensor, the stairs can be autonomously swept, and the interference of people can not be needed.
Description
Technical field
The present invention relates to a kind of corridor cleaning robot, based on going downstairs in translation rotating leg formula structure, relate in particular to one and can clean stair and passageway thereof, and take into account the corridor cleaning robot on cleaning level land, belong to robot field.
Background technology
Along with socioeconomic development, land use cost constantly raises, and building has become a kind of trend to high level development.In the high building standing in great numbers, cleaning stair how effectively, is easily problems that we need solution badly.For the existing longer history of research of stair climbing robot, as far back as the sixties in 20th century, just start the research about stair climbing robot, according to Climbing building device formal classification, can be divided into planet gear type, crawler type, leg foot formula, parallelogram lindage formula etc.The stair climbing robot Pa building mode of several forms and self mechanism's more complicated above, mechanism is huge, lacks actv. space and lays clearing apparatus.And the indoor floor-sweeping machine device people of coming into vogue in recent years can only be used for the cleaning works of plane, should on this market, also there is no to take into account the corridor cleaning product of cleaning pacifically.
At present, clean robot has been carried out to a large amount of research both at home and abroad, and obtained some achievements.For example, the stair clean robot that Harbin Institute of Technology released the first half of the year in 2008 is subject to gear to engage former road to inspire, utilize the method in involute Lun Xingpa building, and then designed a kind of novel climbing machine, and increased on this basis stair cleaning function, but the scraper plate that the clearing apparatus adopting on it is fixed length, in order to strike off the rubbish on stairway step, cause thus the stairway width of its adaptation limited, and can not on level land, clean, usage range is very limited.
In addition a kind of current eight more popular caster structure design corridor cleaning robots of employing that have, upper steady downstairs, can carry out limited cleaning to stair; Shandong Dezhou College proposes the feature that a kind of corridor cleaning robot utilizes parallelogram deformation and realizes stair activity function.Although reduce to some extent based on structures such as these novel relative crawler types of corridor cleaning robot volume of climbing building method, but still there is volume and the larger problem of floor area, cause robot inconvenience to turn flexibly and walk back and forth in stair step and clean, be also difficult to accomplish can work in short, narrow space as current indoor cleaning machine people.
If Chinese patent CN200910028019.6 is with the stairs climbing control method of caterpillar mobile robot of leading arm, with the stair climbing method of caterpillar mobile robot of leading arm, it is characterized in that: step 1: robot approaching stair, leading arm is rotated down, after contacting with stair step, robot is lifted, and speeling stairway forward, in the time that ultrasonic, infrared distance sensor on robot record robot and objects in front distance and are greater than the width of stair step, think that robot climbed to stair top, stop climbing.Step 2: lead arm and be rotated down, contact with ground until lead arm front end, in the time producing torque M on the S. A. of leading arm and be greater than setting value, lead arm and stop operating, robot continues upwards climbing, leads arm random device people's climbing and departs from ground, torque M disappears, and robot stops climbing.Step 3: repeating step 2, the car body that two-dimensional attitude sensor records and horizontal plane angle Φ random device people climb and reduce, and robot continues to climb while no longer reducing to described angle Φ, stops climbing, leading arm and rotate backward, is 45 to stop operating while spending with the angle of car body.The robot of said method, owing to adopting track structure, for in rescue to climb fast building effective, but huge volume cleans for stair and is not suitable for, be embodied in: 1, robot cannot complete the cleaning task back and forth on stairway step step surface, causes Practical Performance limited, can only climb building; 2, the additional related of robot is swept the operation such as stair, crawl article and is made mechanism huge, can not work in narrow space, and range of applicability reduces; 3 these robots are bulky, cause cost high, are unfavorable for to marketing.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of corridor cleaning robot, based in translation rotating leg formula structure downstairs, there is compact conformation, to climb building succinctly convenient, can clean stair and passageway thereof, and take into account cleaning level land.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of corridor cleaning robot, its innovative point is to comprise: fuselage, be symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, be installed on cleaning mechanism and the whistle control system of fuselage below, on described fuselage, be provided with pivoted arm driver train, described pivoted arm driver train comprises drive motor, the pivoted arm axle drive shaft being connected by gear pair with described drive motor, described translation rotating leg mechanism comprises the supporting leg for supportting ground, pass through the hinged pivoted arm of pivot shaft with described supporting leg, be arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, connect the chain of described the first sprocket wheel and described the second sprocket wheel, the number of teeth of described the first sprocket wheel and described the second sprocket wheel, radius is identical, described pivoted arm is direct-connected to described pivoted arm axle drive shaft, described the first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within on described pivoted arm axle drive shaft, and be provided with clutch shaft bearing between described the first sprocket wheel and described pivoted arm axle drive shaft, described the second sprocket wheel is affixed on described supporting leg by described pivot shaft, and be provided with the second bearing between described pivot shaft and described pivoted arm, on described fuselage, be fixedly installed the bearing seat passing for described pivoted arm axle drive shaft, between described bearing seat and described pivoted arm axle drive shaft, be provided with the 3rd bearing, and described the first sprocket wheel is fixedly installed on described bearing seat.
Preferably, on described fuselage, be provided with two drive wheels that auxiliary fuselage advances, and two drive wheels are symmetrically distributed in fuselage down either side; On described fuselage, be also provided with the cardan wheel a and the cardan wheel b that are distributed in respectively described two drive wheel fronts and rear.
Preferably, described cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device, receives box, with described in receive box to be communicated with centrifugal dust collector, on described dust-absorbing box, be provided with the suction port being in communication with the outside, and described centrifugal dust collector and described in receive and between box, be provided with filtering net.
Preferably, described whistle control system comprises that symmetry is installed on two groups of distance measuring sensors of fuselage two sides, is installed on proximity transducer a, the proximity transducer b that is installed on fuselage front, the proximity transducer c that is installed on waist below and the singlechip control panel being connected with proximity transducer signal feedback with distance measuring sensor signal feedback at fuselage rear.
Preferably, described whistle control system also comprises the crash sensor that is installed on fuselage front, and this crash sensor signal feedback is connected with described singlechip control panel.
Preferably, being fixedly connected as between described bearing seat and described the first sprocket wheel welded or bolt.
The invention has the advantages that: can climb common stair by translation rotating leg mechanism, and can on stairway step tread, turn to neatly and clean back and forth.Often complete the cleaning of one-level step, can independently climb up or climb down one-level step, continue cleaning, without people's intervention.Climb after building action completing, translation rotating leg mechanism is packed up and is put in body both sides, and Climbing building device is evagination not, overall volume is little, highly low, can complete the level land cleaning task identical with commercially available level land robot, expand its field of application, be conducive to marketing.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Fig. 1 is the structural representation of a kind of corridor cleaning robot of the present invention.
Fig. 2 is the fundamental diagram of translation rotating leg mechanism in a kind of corridor cleaning robot of the present invention.
Fig. 3 is the structural representation of translation rotating leg mechanism in a kind of corridor cleaning robot of the present invention.
Fig. 4 is the structural representation of supporting leg and pivoted arm bound fraction in a kind of corridor cleaning robot of the present invention.
Fig. 5 is the structural representation of a kind of corridor cleaning robot middle machine body of the present invention.
Fig. 6 is the structural representation of a kind of corridor cleaning robot middle machine body of the present invention and pivoted arm bound fraction.
Fig. 7 is the structural representation of a kind of corridor cleaning robot middle machine body of the present invention and translation rotating leg mechanism.
Fig. 8 is the structural representation of cleaning mechanism in a kind of corridor cleaning robot of the present invention.
Fig. 9 is the birds-eye view structural representation of whistle control system in a kind of corridor cleaning robot of the present invention.
Figure 10 is the left view structural representation of whistle control system in a kind of corridor cleaning robot of the present invention.
Figure 11 is gravity centre distribution situation in the upper process downstairs of a kind of corridor cleaning robot of the present invention.
Figure 12 is the state of kinematic motion schematic diagram upstairs or in the process of going downstairs of a kind of corridor cleaning robot of the present invention.
In figure: 1-fuselage, 2-supporting leg, 3-pivot shaft, 4-pivoted arm, 5-the first sprocket wheel, 6-the second sprocket wheel, 7-chain, 8-the second bearing, 9-clutch shaft bearing, 10-pivoted arm axle drive shaft, 11-the 3rd bearing, 12-bearing seat, 13-drive motor, 14-gear pair, 15-drive wheel, 16-cardan wheel a, 17-cardan wheel b, 18-rotating brushes, 19-receives box, 20-centrifugal dust collector, 21-suction port, 22-filtering net, 23-distance measuring sensor, 24-proximity transducer a, 25-proximity transducer b, 26-proximity transducer c, 27-crash sensor, 28-singlechip control panel.
The specific embodiment
Corridor cleaning robot of the present invention comprises fuselage 1, translation rotating leg mechanism, cleaning mechanism and whistle control system, as shown in Figure 1.
As Fig. 3, Fig. 4 and Fig. 6 translation rotating leg mechanism comprise supporting leg 2 for supportting ground, with supporting leg 2 by the hinged pivoted arm 4 of pivot shaft 3, the first sprocket wheel 5 that is arranged at pivoted arm 4 two ends and the second sprocket wheel 6, be connected the chain 7 of the first sprocket wheel 5 and the second sprocket wheel 6, wherein, the first sprocket wheel 5 is identical with the number of teeth, the radius of the second sprocket wheel 6.Pivoted arm 4 is direct-connected to pivoted arm 4 axle drive shafts 10, and the first sprocket wheel 5 is positioned between pivoted arm 4 and fuselage 1 and is enclosed within on pivoted arm 4 axle drive shafts 10, and is provided with clutch shaft bearing 9 between the first sprocket wheel 5 and pivoted arm 4 axle drive shafts 10.The second sprocket wheel 6 is affixed on supporting leg 2 by pivot shaft 3, and between pivot shaft 3 and pivoted arm 4, be provided with the second bearing 8, on fuselage 1, be fixedly installed the bearing seat 12 passing for pivoted arm 4 axle drive shafts 10, between bearing seat 12 and pivoted arm 4 axle drive shafts 10, be provided with the 3rd bearing 11, and the first sprocket wheel 5 is fixedly installed on described bearing seat 12.
In translation rotating leg mechanism, the first sprocket wheel 5 and the second sprocket wheel 6 are hinged on respectively on pivoted arm 4, form revolute pair, and the first sprocket wheel 5 and the second sprocket wheel 6 form chain transmission under the constraint of chain 7.In Fig. 2, the number of teeth, the first sprocket wheel 5 and the second sprocket wheel 6 that radius is identical can synchronously rotate under the constraint of sprocket wheel, the first sprocket wheel 5 is connected with fuselage 1 and bearing seat 12 thereof, and supporting leg 2 is connected by pivot shaft 3 and the second sprocket wheel 6, therefore fuselage 1 is with respect to the rotation of pivoted arm 4, can synchronously pass to supporting leg 2 relative to the rotating of pivoted arm 4, vice versa.Fuselage 1 can keep the moment parallel with supporting leg 2 in a word, sees Fig. 2 a.Utilize this phenomenon, actual upper while downstairs moving, be that fuselage 1 is motionless, and rotate pivoted arm 4, the first sprocket wheel 5 does not rotate, rotation be pivoted arm 4.But this does not change the relation that relatively rotates of the first sprocket wheel 5 and pivoted arm 4, and therefore above-mentioned principle, in the time that pivoted arm 4 rotates, is still achieved, supporting leg 2 and fuselage 1 keeping parallelism relation.As Fig. 2 b, supporting leg 24 is with respect in fuselage 1 motion process, because the rotation with respect to self does not occur supporting leg 2, in kinematics, be called " translation ", but supporting leg 2 is rotation with respect to the path of motion of fuselage 1, form a circle, therefore, in upper process of going downstairs, the relative fuselage 1 of supporting leg 2 does " translation rotating ".
As shown in Figure 5, pivoted arm 4 axle drive shafts 10 that pivoted arm 4 driver trains comprise drive motor 13, are connected by gear pair 14 with drive motor 13, these pivoted arm 4 axle drive shafts 10 are direct-connected to pivoted arm 4.By drive motor 13 driven gear pairs 14, and utilize gear pair 14 power transmissions to direct-connected pivoted arm 4 axle drive shafts 10 of pivoted arm 4, drive pivoted arm 4 axle drive shafts 10 to rotate.Pivoted arm 4 axle drive shafts 10 are arranged on corresponding bearing seat 12 through the bearing of respective side edge respectively, pivoted arm 4 axle drive shafts 10 respectively with the translation rotating leg mechanism of respective side edge in pivoted arm 4 be connected, two pivoted arms 4 that therefore can guarantee dual-side can be realized synchronous rotation under the driving of same pivoted arm 4 axle drive shafts 10, and it is steadily reliable that the translation rotating leg mechanism synchronization action of both sides can guarantee to go downstairs on robot.
On fuselage 1, be provided with two drive wheels 15 that auxiliary fuselage 1 advances, and two drive wheels 15 are symmetrically distributed in fuselage 1 down either side.On fuselage 1, be also provided with the cardan wheel a16 and the cardan wheel b17 that are distributed in respectively two drive wheel 15 fronts and rear.By controlling the interlock of two drive wheels 15 and differential, can realize robot walking, turn round, cardan wheel a16 and cardan wheel b17 play and support and assisted diversion effect, as shown in Figure 7.
As shown in Figure 8, cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device 18, receives box 19, with described in receive box 19 to be communicated with centrifugal dust collector 20, on dust-absorbing box, be provided with the suction port 21 being in communication with the outside, and centrifugal dust collector 20 and described in receive and between box 19, be provided with filtering net 22.Because centrifugal dust collector 20 is connected with receiver, and interface keeps sealing, form negative pressure, thereby rubbish is sucked in receiver, and rubbish stays in receiver after filter screen 22 filters at suction port 21, realizes cleaning function.
As shown in Figure 9 and Figure 10, figure whistle control system comprises that symmetry is installed on two groups of distance measuring sensors 23 of fuselage 1 two sides, is installed on the proximity transducer a24, the proximity transducer b25 that is installed on fuselage 1 front, the proximity transducer c26 that is installed on fuselage 1 middle part below, the singlechip control panel 28 that is installed on the crash sensor 27 in fuselage 1 front and is connected with distance measuring sensor 23 signal feedback and proximity transducer signal feedback with crash sensor 27 signal feedback at fuselage 1 rear.Whether crash sensor 27 can bump in sensing front, make robot avoid with stair, half space, level land on obstacle collision, the straight-line distance that distance measuring sensor 23 can be surveyed 3～80cm, whether proximity transducer can block in sensing front.The task that control system comprises following components:
1. control cleaning action: whistle control system is by controlling rotating brushes 18 and centrifugal dust collector 20, and whether control carries out cleaning action.
(strength prevents from falling: be positioned at fuselage 1 rear two proximity transducer a24, be positioned at proximity transducer d under fuselage 1 and survey vertically downward, be positioned at the oblique lower detection of proximity transducer c26 in fuselage 1 front.The signal detecting by four proximity transducers, judges that fuselage 1 has or not to lean out stairway step tread, if detect unobstructedly, drive machines people is driven towards safety zone.
3. position centering: the two proximity transducer a24 at fuselage 1 rear are used for judging whether two jiaos of fuselage 1 rear sides stretch out tread, and judge that whether fuselage 1 rear portion flushes with step edge, makes robot just to the edge of marking time.Meanwhile, in the time stretching out tread for two jiaos, illustrate that fuselage 1 rear portion flushes with stair edge, whistle control system on this basis control is carried out operation downstairs simultaneously.The crash sensor 27 in fuselage 1 front, can detect obstacle, on the one hand for robot avoiding obstacles in the time walking forward, on the other hand, guarantee to carry out while action upstairs, by the orientation that judges that upper class step riser touches, make robot just to stair riser, the centering effect while playing upstairs.
4. route departs from correction: robot is marking time while walking on left and right directions, can there is route off-set phenomenon in robot, robot is by being arranged on wherein two distance measuring sensors, 23 detections of a side and the distance of upper class step riser of fuselage 1, if not etc., adjust machine People's Bank of China route line by whistle control system, guarantee that the route that Robot is parallel to upper class step riser advances.
In addition, on while downstairs moving, proximity transducer c26 judges that fuselage 1 has or not and reliably drops on step tread or ground, upstairs in process, detect nearby and block if approach sensing c, whistle control system is controlled the withdrawal of parallel rotating leg formula Climbing building device thus.On robot, downstairs the center-of-gravity position moment changes, and for guaranteeing the smooth operation of robot, center of gravity drops between cardan wheel b17 and drive wheel 15, as Figure 11 all the time.
On this concrete corridor cleaning robot, downstairs action is as follows; as shown in figure 12; upstairs in process; when initial condition, guarantee that fuselage 1 and supporting leg 2 fall back on step step surface in the lump; control is just to upper class step riser; then control drive motor 13 and drive the direction rotation of pivoted arm 4 to upper class step step surface; the cardan wheel a16 of fuselage 1 below is fallen within on upper class step; by proximity transducer a24, guarantee that the cardan wheel b17 of fuselage 1 below is on upper class step step surface.Continue to drive pivoted arm 4 to rotate, lifting supporting leg 2 leaves when front step step surface, until supporting leg 2 falls back on the upper class step step surface at fuselage 1 place with pivoted arm 4, the stair that complete one-period are climbed building, can complete and so forth corridor Pa building and be aided with stair clean.
Downstairs process is inverse process upstairs, so downstairs process just starts, make robot cardan wheel trailing wheel near and just to when after front step nosing edge, pivoted arm 4 is to next stage step direction rotation, then drop on next stage step step surface, then by fuselage 1 from propping up when front step step surface, pivoted arm 4 continues rotation, to until supporting leg 2 fall back on the upper class step step surface at fuselage 1 place with pivoted arm 4.
For those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. a corridor cleaning robot, it is characterized in that comprising: fuselage, be symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, be installed on cleaning mechanism and the whistle control system of fuselage below, on described fuselage, be provided with pivoted arm driver train, described pivoted arm driver train comprises drive motor, the pivoted arm axle drive shaft being connected by gear pair with described drive motor, described translation rotating leg mechanism comprises the supporting leg for supportting ground, pass through the hinged pivoted arm of pivot shaft with described supporting leg, be arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, connect the chain of described the first sprocket wheel and described the second sprocket wheel, the number of teeth of described the first sprocket wheel and described the second sprocket wheel, radius is identical, described pivoted arm is direct-connected to described pivoted arm axle drive shaft, described the first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within on described pivoted arm axle drive shaft, and be provided with clutch shaft bearing between described the first sprocket wheel and described pivoted arm axle drive shaft, described the second sprocket wheel is affixed on described supporting leg by described pivot shaft, and be provided with the second bearing between described pivot shaft and described pivoted arm, on described fuselage, be fixedly installed the bearing seat passing for described pivoted arm axle drive shaft, between described bearing seat and described pivoted arm axle drive shaft, be provided with the 3rd bearing, and described the first sprocket wheel is fixedly installed on described bearing seat.
2. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: on described fuselage, be provided with two drive wheels that auxiliary fuselage advances, and two drive wheels are symmetrically distributed in fuselage down either side; On described fuselage, be also provided with the cardan wheel a and the cardan wheel b that are distributed in respectively described two drive wheel fronts and rear.
3. a kind of corridor cleaning robot as claimed in claim 1, it is characterized in that: described cleaning mechanism comprises at least one group of rotating brushes being connected with actuating device, receives box, with described in receive box to be communicated with centrifugal dust collector, on described dust-absorbing box, be provided with the suction port being in communication with the outside, and described centrifugal dust collector and described in receive and between box, be provided with filtering net.
4. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: described whistle control system comprises that symmetry is installed on two groups of distance measuring sensors of fuselage two sides, is installed on proximity transducer a, the proximity transducer b that is installed on fuselage front, the proximity transducer c that is installed on waist below and the singlechip control panel being connected with proximity transducer signal feedback with distance measuring sensor signal feedback at fuselage rear.
5. a kind of corridor cleaning robot as claimed in claim 4, is characterized in that: described whistle control system also comprises the crash sensor that is installed on fuselage front, this crash sensor signal feedback is connected with described singlechip control panel.
6. a kind of corridor cleaning robot as claimed in claim 1, is characterized in that: being fixedly connected as between described bearing seat and described the first sprocket wheel welded or bolt.
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| CN201410146295.3A CN103909992B (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
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| CN201410146295.3A CN103909992B (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
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| CN103909992B CN103909992B (en) | 2016-06-29 |
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| CN104127157A (en) * | 2014-08-04 | 2014-11-05 | 南京信息工程大学 | Wheel-leg type stair sweeping robot |
| CN104438161A (en) * | 2014-11-19 | 2015-03-25 | 成都华瑞祥电器成套设备有限公司 | Cleaning device for distribution box |
| CN104773225A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Wheel-foot combined cleaning robot |
| CN104828172A (en) * | 2015-04-29 | 2015-08-12 | 东华大学 | Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot |
| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
| CN105030161A (en) * | 2015-06-17 | 2015-11-11 | 燕山大学 | Foot type mopping robot |
| CN105700531A (en) * | 2016-04-18 | 2016-06-22 | 南京工程学院 | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof |
| CN106567354A (en) * | 2016-09-30 | 2017-04-19 | 安徽工程大学 | Automatic sweeping vehicle for stair steps |
| 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 |
| CN108042054A (en) * | 2017-12-11 | 2018-05-18 | 李霞林 | A kind of corridor is with step automatic cleaning machine people |
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| CN113412355A (en) * | 2019-02-12 | 2021-09-17 | 普茨迈斯特工程有限责任公司 | Concrete pump and method for supporting a concrete pump |
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