CN103909992B - A kind of corridor cleaning robot - Google Patents
A kind of corridor cleaning robot Download PDFInfo
- Publication number
- CN103909992B CN103909992B CN201410146295.3A CN201410146295A CN103909992B CN 103909992 B CN103909992 B CN 103909992B CN 201410146295 A CN201410146295 A CN 201410146295A CN 103909992 B CN103909992 B CN 103909992B
- Authority
- CN
- China
- Prior art keywords
- fuselage
- pivoted arm
- sprocket wheel
- robot
- axle
- 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
Abstract
The invention discloses a kind of corridor cleaning robot, including fuselage, it is symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, is installed on the cleaning agency below fuselage and whistle control system, described fuselage is provided with pivoted arm driving mechanism, described translation rotating leg mechanism includes for supporting leg and the described supporting leg supportting ground by supporting the hinged pivoted arm of axle, be arranged at first sprocket wheel at pivoted arm two ends with described first teeth number of sprocket, the second sprocket wheel that radius is identical, be connected described first sprocket wheel and the chain of described second sprocket wheel.By the synchronous axial system of sprocket wheel, it is achieved the translation rotating motion of the relative fuselage of supporting leg, realize robot steadily above downstairs based on this structure.The robot of the present invention can turn on stairway step tread neatly and clean back and forth, the control system with sensor ensure that robot occurs without and step on sky, collision, it is achieved independently clean stair, it is not necessary to the intervention of people.
Description
Technical field
The present invention relates to a kind of corridor cleaning robot, go downstairs based in translation rotating lower limb formula structure, particularly relate to one and can clean stair and passageway thereof, and take into account the corridor cleaning robot cleaning level land, belong to robot field.
Background technology
Along with socioeconomic development, land use cost constantly raises, and builds and has become a kind of trend to high level development.In the high building stood in great numbers, cleaning stair how effectively, easily is the problem that we need solution badly.For the history that the research of stair climbing robot is existing longer, as far back as the sixties in 20th century, just have begun to the research about stair climbing robot, according to Climbing building device formal classification, it is possible to be divided into planet gear type, crawler type, lower limb foot formula, parallelogram lindage formula etc..The building mode of climbing of the stair climbing robot of several forms is more complicated with self mechanism above, and mechanism is huge, lacks effective space and lays clearing apparatus.And the indoor floor-sweeping machine device people come into vogue in recent years is only used for the cleaning works of plane, answer on this market but without taking into account the product that corridor cleaning cleans pacifically.
At present, both at home and abroad clean robot has been carried out substantial amounts of research, and has achieved some achievements.Such as, Harbin Institute of Technology is engaged former road at the stair clean robot that the first half of the year in 2008 is released by gear and inspires, utilize the method that involute wheel-type climbs building, and then devise a kind of novel climbing machine, and add stair cleaning function on this basis, but the scraper plate that clearing apparatus is fixed length adopted on it, in order to strike off the rubbish on stairway step, thus causing that the stairway width of its adaptation is limited, and can not clean on level land, usage range is extremely limited.
What have in addition adopts a kind of current eight more popular caster structural design corridor cleaning robots, above downstairs steadily, stair can be carried out limited cleaning；Shandong Dezhou College proposes a kind of corridor cleaning robot and utilizes the feature of parallelogram deformation to realize stair activity function.Although reducing to some extent based on structures such as these novel corridor cleaning robot volume opposing tracks formulas climbing building method, but still there is the problem that volume is bigger with floor space, the inconvenient turning flexibly in stair step of robot is caused to clean with walking back and forth, it is also difficult to accomplish to be operable with short, narrow space as current indoor clean robot.
If Chinese patent CN200910028019.6 is with the stairs climbing control method of the caterpillar mobile robot of guide arm, stair climbing method with the caterpillar mobile robot of guide arm, it is characterized in that: step 1: robot approaching stair, guide arm is rotated down, after contacting with stair step, robot is lifted, and speeling stairway forward, when ultrasonic, the infrared distance sensor in robot records robot and objects in front distance more than the width of stair step, think that robot has been climbed to stair top, stop climbing.Step 2: guide arm is rotated down, until guide arm front end and earth surface, when the rotating shaft of guide arm produces torque M more than setting value, guide arm stops operating, and robot continues up climbing, the climbing of guide arm random device people and depart from ground, torque M disappears, and robot stops climbing.Step 3: repeat step 2, the car body that two-dimensional attitude sensor records and horizontal plane angle Φ random device people climbing and reduce, robot continue climbing to described angle Φ no longer reduce time, stop climbing, guide arm back rotation, stops operating when being 45 degree with the angle of car body.The robot of said method, owing to adopting track structure, for in rescue quickly to climb building effective, but huge volume cleans for stair and is not appropriate for, it is 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 auxiliary of robot is relevant sweeps stair, capture the operations such as article makes mechanism huge, it is impossible to working in narrow space, range of applicability reduces；3 these robots are bulky, cause cost high, are unfavorable for marketing.
Summary of the invention
The technical problem to be solved is to provide a kind of corridor cleaning robot, based in translation rotating lower limb formula structure downstairs, there is compact conformation, climb building and succinctly facilitate, stair and passageway thereof can be cleaned, and take into account cleaning level land.
For solving above-mentioned technical problem, the technical scheme is that a kind of corridor cleaning robot, its innovative point is in that to include: fuselage, it is symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, it is installed on the cleaning agency below fuselage and whistle control system, described fuselage is provided with pivoted arm driving mechanism, described pivoted arm driving mechanism includes drive motor, the pivoted arm being connected by gear pair with described drive motor drives axle, described translation rotating leg mechanism includes the supporting leg for supportting ground, the pivoted arm hinged by supporting axle with described supporting leg, it is arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, connect described first sprocket wheel and the chain of described second sprocket wheel, the number of teeth of described first sprocket wheel and described second sprocket wheel, radius is identical, described pivoted arm is connected directly to described pivoted arm and drives on axle, described first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within described pivoted arm and drives on axle, and described first sprocket wheel and described pivoted arm drive between centers to be provided with clutch shaft bearing, described second sprocket wheel is affixed on described supporting leg by described support axle, and it is provided with the second bearing between described support axle and described pivoted arm, described fuselage is fixedly installed the bearing block driving axle traverse for described pivoted arm, described bearing block and described pivoted arm drive between centers to be provided with the 3rd bearing, and described first sprocket wheel is fixedly installed on described bearing block.
Preferably, described fuselage is provided with two driving wheels that auxiliary fuselage advances, and two driving wheels are symmetrically distributed in fuselage down either side；Described fuselage is additionally provided with the universal wheel a and universal wheel b that are respectively distributed to described two driving wheel front and backs.
Preferably, described cleaning agency includes rotating brushes that least one set is connected with driving device, receives box and the described centrifugal dust collector receiving box to connect, described dust-absorbing box is provided with the suction port being in communication with the outside, and described centrifugal dust collector and described receiving are provided with drainage screen between box.
Preferably, described whistle control system includes being symmetrically arranged on two groups of distance measuring sensors of fuselage two sides, is installed on the proximity transducer a at fuselage rear, is installed on the proximity transducer b in fuselage front, is installed on the proximity transducer c below waist and feeds back, with distance measuring sensor signal feedback and proximity transducer signal, the singlechip control panel being connected.
Preferably, described whistle control system also includes the crash sensor being installed on fuselage front, and this collision sensor signal feedback is connected with described singlechip control panel.
Preferably, being fixedly connected as between described bearing block with described first sprocket wheel is welded or bolt.
It is an advantage of the current invention that: common stair can be climbed by translation rotating leg mechanism, and can turn on stairway step tread neatly and clean back and forth.Often complete the cleaning of one-level step, it is possible to independently climb up or climb down one-level step, continue to clean, it is not necessary to the intervention of people.After completing to climb building action, translation rotating leg mechanism is packed up and is put in body both sides, and Climbing building device is evagination not, and overall volume is little, highly low, it is possible to completes the level land identical with commercially available level land robot and cleans task, extends its range 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 fuselage in a kind of corridor cleaning robot of the present invention.
Fig. 6 is the structural representation of fuselage and pivoted arm bound fraction in a kind of corridor cleaning robot of the present invention.
Fig. 7 is the structural representation of fuselage and translation rotating leg mechanism in a kind of corridor cleaning robot of the present invention.
Fig. 8 is the structural representation of cleaning agency in a kind of corridor cleaning robot of the present invention.
Fig. 9 is the top 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 be a kind of corridor cleaning robot of the present invention upper process downstairs in gravity centre distribution situation.
Figure 12 is the kinestate 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-supports axle, 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 drives axle, 11-the 3rd bearing, 12-bearing block, 13-drive motor, 14-gear pair, 15-driving wheel, 16-universal wheel a, 17-universal wheel b, 18-rotating brushes, 19-receives box, 20-centrifugal dust collector, 21-suction port, 22-drainage screen, 23-distance measuring sensor, 24-proximity transducer a, 25-proximity transducer b, 26-proximity transducer c, 27-crash sensor, 28-singlechip control panel.
Detailed description of the invention
The corridor cleaning robot of the present invention includes fuselage 1, translation rotating leg mechanism, cleaning agency and whistle control system, as shown in Figure 1.
As Fig. 3, Fig. 4 and Fig. 6 translation rotating leg mechanism includes for the supporting leg 2 supportting ground and supporting leg 2 by supporting the hinged pivoted arm 4 of axle 3, the first sprocket wheel 5 being arranged at pivoted arm 4 two ends and the second sprocket wheel 6, being connected the chain 7 of the first sprocket wheel 5 and the second sprocket wheel 6, wherein, the first sprocket wheel 5 and the number of teeth of the second sprocket wheel 6, radius are identical.Pivoted arm 4 is connected directly to pivoted arm 4 and drives on axle 10, and the first sprocket wheel 5 is positioned between pivoted arm 4 and fuselage 1 and is enclosed within pivoted arm 4 and drives on axle 10, and the first sprocket wheel 5 and pivoted arm 4 drive and be provided with clutch shaft bearing 9 between axle 10.Second sprocket wheel 6 is affixed on supporting leg 2 by supporting axle 3, and it is provided with the second bearing 8 between support axle 3 and pivoted arm 4, fuselage 1 is fixedly installed the bearing block 12 driving axle 10 traverse for pivoted arm 4, bearing block 12 and pivoted arm 4 drive and are provided with the 3rd bearing 11 between axle 10, and the first sprocket wheel 5 is fixedly installed on described bearing block 12.
In translation rotating leg mechanism, the first sprocket wheel 5 and the second sprocket wheel 6 are respectively hinged on pivoted arm 4, constitute revolute pair, and the first sprocket wheel 5 and the second sprocket wheel 6 form Chain conveyer under the constraint of chain 7.In fig. 2, the first sprocket wheel 5 that the number of teeth, radius are identical and the second sprocket wheel 6 can synchronous axial system under the constraint of sprocket wheel, first sprocket wheel 5 is connected with fuselage 1 and bearing block 12 thereof, and supporting leg 2 is connected by supporting axle 3 and the second sprocket wheel 6, therefore fuselage 1 is relative to the rotation of pivoted arm 4, can synchronizing to pass to supporting leg 2 rotating relative to pivoted arm 4, vice versa.Fuselage 1 can keep the moment parallel with supporting leg 2 in a word, sees Fig. 2 a.Utilizing this phenomenon, during actual upper action downstairs, be that fuselage 1 is motionless, and rotate pivoted arm 4, namely the first sprocket wheel 5 does not rotate, and rotation is pivoted arm 4.But what this did not change the first sprocket wheel 5 and pivoted arm 4 relatively rotates relation, and therefore above-mentioned principle is when pivoted arm 4 rotates, and is still achieved, supporting leg 2 and fuselage 1 keeping parallelism relation.Such as Fig. 2 b, supporting leg 24 is relative in fuselage 1 motor process, owing to the rotation relative to self does not occur supporting leg 2, kinematically it is called " translation ", but supporting leg 2 is rotate relative to the movement locus of fuselage 1, forming a circle, therefore in upper process downstairs, the relative fuselage 1 of supporting leg 2 does " translation rotating ".
As it is shown in figure 5, pivoted arm 4 driving mechanism includes drive motor 13, the pivoted arm 4 that is connected by gear pair 14 with drive motor 13 drives axle 10, this pivoted arm 4 drives axle 10 to be connected directly on pivoted arm 4.By drive motor 13 driven gear pair 14, and utilize gear pair 14 power transmission to drive axle 10 to the pivoted arm 4 direct-connected with pivoted arm 4, drive pivoted arm 4 to drive axle 10 to rotate.Pivoted arm 4 drives the bearing that axle 10 is each passed through respective side edge to be arranged on corresponding bearing block 12, pivoted arm 4 drives axle 10 to be connected with the pivoted arm 4 in the translation rotating leg mechanism of respective side edge respectively, therefore can guarantee that two pivoted arms 4 of dual-side can realize synchronous axial system under the driving that same pivoted arm 4 drives axle 10, it is steadily reliable that the translation rotating leg mechanism synchronization action of both sides can ensure in robot downstairs.
Fuselage 1 is provided with two driving wheels 15 that auxiliary fuselage 1 advances, and two driving wheels 15 are symmetrically distributed in fuselage 1 down either side.Fuselage 1 is additionally provided with the universal wheel a16 and universal wheel b17 that are respectively distributed to two driving wheel 15 front and backs.By controlling the linkage of two driving wheels 15 with differential, it is possible to achieve the walking of robot, turn round, universal wheel a16 and universal wheel b17 plays support and assisted diversion effect, as shown in Figure 7.
As shown in Figure 8, cleaning agency includes rotating brushes 18 that least one set is connected with driving device, receives box 19 and the described centrifugal dust collector 20 receiving box 19 to connect, dust-absorbing box is provided with the suction port 21 being in communication with the outside, and centrifugal dust collector 20 and described receiving are provided with drainage screen 22 between box 19.Owing to centrifugal dust collector 20 is connected with receiver, and seam keeps sealing, and forms negative pressure at suction port 21, thus being sucked in receiver by rubbish, and rubbish is stayed in receiver after drainage screen 22 filters, it is achieved cleaning function.
As shown in Figure 9 and Figure 10, figure whistle control system includes being symmetrically arranged on two groups of distance measuring sensors 23 of fuselage 1 two sides, is installed on the proximity transducer a24 at fuselage 1 rear, is installed on the proximity transducer b25 in fuselage 1 front, is installed on the proximity transducer c26 of lower section in the middle part of fuselage 1, is installed on the crash sensor 27 in fuselage 1 front and feeds back, with crash sensor 27 signal feedback and distance measuring sensor 23 signal feedback and proximity transducer signal, the singlechip control panel 28 being connected.Crash sensor 27 can sense whether front collides, and makes robot avoid colliding with the barrier on stair, half space, level land, distance measuring sensor 23 can detect the air line distance of 3～80cm, and proximity transducer can sense whether front blocks.Control system comprises the task of following components:
1. cleaning action is controlled: whistle control system, by controlling rotating brushes 18 and centrifugal dust collector 20, controls whether robot performs cleaning action.
(strength prevents from falling: is positioned at the two proximity transducer a24 at fuselage 1 rear, is positioned at the proximity transducer d immediately below fuselage 1 and detects, be positioned at the proximity transducer c26 in fuselage 1 front vertically downward and detect obliquely.Signal by four proximity transducer detections, it is judged that fuselage 1 is with or without leaning out stairway step tread, if detecting unobstructed, then driven machine people drives towards safety zone.
3. position centering: the two proximity transducer a24 at fuselage 1 rear are used for judging on rear side of fuselage 1, whether two jiaos stretched out tread, and judge whether fuselage 1 rear portion flushes with step edge, make robot just to edge of marking time.Meanwhile, when stretching out tread for two jiaos simultaneously, illustrating that fuselage 1 rear portion flushes with stair edge, whistle control system controls robot on this basis and performs operation downstairs.The crash sensor 27 in fuselage 1 front, it is possible to detection barrier, on the one hand for robot avoiding obstacles when walking forward, on the other hand, it is ensured that when performing action upstairs, by judging the orientation that upper level step riser touches, make robot just to stair riser, centering effect when playing upstairs.
4. route deviation correction: robot is when marking time walking on left and right directions, route off-set phenomenon can be there is in robot, the distance of the robot two distance measuring sensor 23 detections with upper level step riser by being arranged on fuselage 1 wherein one side, if not etc., robot course is adjusted, it is ensured that Robot is parallel to the route of upper level step riser and advances by whistle control system.
It addition, during upper action downstairs, proximity transducer c26 judges that fuselage 1 is with or without reliably dropping on step tread or ground, namely upstairs in process, if detect block nearby close to sensing c, then whistle control system thus controls the withdrawal of parallel rotating lower limb formula Climbing building device.Position of centre of gravity moment change downstairs in robot, for ensureing the stable operation of robot, center of gravity drops between universal wheel b17 and driving wheel 15 all the time, such as Figure 11.
On this concrete corridor cleaning robot, action downstairs is as follows; as shown in figure 12; upstairs in process; ensure during original state that fuselage 1 and supporting leg 2 fall back on step step surface in the lump; control robot just to upper level step riser; then controlling drive motor 13 drives pivoted arm 4 to rotate to the direction of upper level step step surface; the universal wheel a16 below fuselage 1 is made to fall within upper level step; by proximity transducer a24, it is ensured that the universal wheel b17 below fuselage 1 is on upper level step step surface.Continue to drive pivoted arm 4 to rotate, lift supporting leg 2 and leave when front step step surface, until supporting leg 2 and pivoted arm 4 fall back on the upper level step step surface at fuselage 1 place, building climbed by the stair completing a cycle, can complete climbing building and being aided with stair cleaning of corridor and so forth.
Downstairs process is inverse process upstairs, so downstairs process just starts, make robot universal wheel trailing wheel near and just to when after front step nosing edge, pivoted arm 4 rotates to next stage step direction, then drop on next stage step step surface, then being propped up from when front step step surface by fuselage 1, pivoted arm 4 continues to rotate, to until supporting leg 2 and pivoted arm 4 fall back on the upper level step step surface at fuselage 1 place.
For those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
1. a corridor cleaning robot, it is characterized in that including: fuselage, it is symmetrically distributed in two translation rotating leg mechanisms of fuselage both sides, it is installed on the cleaning agency below fuselage and whistle control system, described fuselage is provided with pivoted arm driving mechanism, described pivoted arm driving mechanism includes drive motor, the pivoted arm being connected by gear pair with described drive motor drives axle, described translation rotating leg mechanism includes the supporting leg for supportting ground, the pivoted arm hinged by supporting axle with described supporting leg, it is arranged at the first sprocket wheel and second sprocket wheel at pivoted arm two ends, connect described first sprocket wheel and the chain of described second sprocket wheel, the number of teeth of described first sprocket wheel and described second sprocket wheel, radius is identical, described pivoted arm is connected directly to described pivoted arm and drives on axle, described first sprocket wheel is positioned between described pivoted arm and described fuselage and is enclosed within described pivoted arm and drives on axle, and described first sprocket wheel and described pivoted arm drive between centers to be provided with clutch shaft bearing, described second sprocket wheel is affixed on described supporting leg by described support axle, and it is provided with the second bearing between described support axle and described pivoted arm, described fuselage is fixedly installed the bearing block driving axle traverse for described pivoted arm, described bearing block and described pivoted arm drive between centers to be provided with the 3rd bearing, and described first sprocket wheel is fixedly installed on described bearing block.
2. a kind of corridor cleaning robot as claimed in claim 1, it is characterised in that: described fuselage is provided with two driving wheels that auxiliary fuselage advances, and two driving wheels are symmetrically distributed in fuselage down either side；Described fuselage is additionally provided with the universal wheel a and universal wheel b that are respectively distributed to described two driving wheel front and backs.
3. a kind of corridor cleaning robot as claimed in claim 1, it is characterized in that: described cleaning agency includes rotating brushes that least one set is connected with driving device, receives box and the described centrifugal dust collector receiving box to connect, described dust-absorbing box is provided with the suction port being in communication with the outside, and described centrifugal dust collector and described receiving are provided with drainage screen between box.
4. corridor cleaning robot as claimed in claim 1 a kind of, it is characterised in that: described whistle control system includes being symmetrically arranged on two groups of distance measuring sensors of fuselage two sides, is installed on the proximity transducer a at fuselage rear, is installed on the proximity transducer b in fuselage front, is installed on the proximity transducer c below waist and feeds back, with distance measuring sensor signal feedback and proximity transducer signal, the singlechip control panel being connected.
5. a kind of corridor cleaning robot as claimed in claim 4, it is characterised in that: described whistle control system also includes the crash sensor being installed on fuselage front, and this collision sensor signal feedback is connected with described singlechip control panel.
6. a kind of corridor cleaning robot as claimed in claim 1, it is characterised in that: being fixedly connected as between described bearing block with described first sprocket wheel is welded or bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146295.3A CN103909992B (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146295.3A CN103909992B (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103909992A CN103909992A (en) | 2014-07-09 |
| CN103909992B true CN103909992B (en) | 2016-06-29 |
Family
ID=51036067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410146295.3A Expired - Fee Related CN103909992B (en) | 2014-04-11 | 2014-04-11 | A kind of corridor cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103909992B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104773225B (en) * | 2015-03-27 | 2017-04-05 | 燕山大学 | A kind of wheel foot combines clean 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 |
| CN104890752B (en) * | 2015-06-15 | 2017-03-08 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot |
| CN105030161B (en) * | 2015-06-17 | 2017-08-11 | 燕山大学 | A kind of sufficient formula floor-mopping robot |
| 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 |
| CN105700531B (en) * | 2016-04-18 | 2019-03-01 | 南京工程学院 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
| CN106567354B (en) * | 2016-09-30 | 2018-08-24 | 安徽工程大学 | A kind of stairway step Automatic vehicle for cleaning road |
| CN106983453B (en) * | 2017-04-27 | 2019-11-12 | 蒋玉素 | A kind of fast sweep machine people that dining room uses |
| CN108042054B (en) * | 2017-12-11 | 2020-06-05 | 宿州市徽腾知识产权咨询有限公司宿马园区分公司 | Automatic robot that cleans of step for corridor |
| CN107953347B (en) * | 2017-12-29 | 2024-01-19 | 洛阳理工学院 | Dual-purpose laborsaving car of level land and step and cleaning robot based on laborsaving car |
| DE102019113881A1 (en) * | 2019-02-12 | 2020-08-13 | Putzmeister Engineering Gmbh | Concrete pump and method of supporting a concrete pump |
| CN113509105B (en) * | 2021-05-07 | 2022-05-06 | 台州职业技术学院 | Automatic cleaning robot for escalator |
| CN114652219B (en) * | 2022-03-17 | 2023-02-24 | 吴琳波 | Cleaning equipment and control method of matched equipment thereof |
| CN114766984B (en) * | 2022-05-26 | 2023-11-28 | 南通大学 | Stair cleaning robot based on telescopic radial arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| CN203195609U (en) * | 2013-04-02 | 2013-09-18 | 宋晓龙 | Overtravel cleaning robot |
| CN203920967U (en) * | 2014-04-11 | 2014-11-05 | 南通大学 | A kind of corridor cleaning robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04283158A (en) * | 1991-03-07 | 1992-10-08 | Toshiba Corp | Robot for running in pipe |
| JP5669710B2 (en) * | 2011-11-10 | 2015-02-12 | 三菱電機特機システム株式会社 | Traveling robot |
| CN102631172B (en) * | 2012-04-20 | 2013-05-08 | 南通大学 | Lifting telescopic corridor cleaning robot |
| KR101304107B1 (en) * | 2012-04-26 | 2013-09-05 | 영남대학교 산학협력단 | Robot for stairs climbing |
| CN103373404A (en) * | 2012-04-27 | 2013-10-30 | 沈阳航空航天大学 | Wheeled-tracked-legged composite type mobile robot |
| KR20130130405A (en) * | 2012-05-22 | 2013-12-02 | 영남대학교 산학협력단 | Climbing robot |
| CN103569232B (en) * | 2013-11-14 | 2015-08-12 | 哈尔滨工程大学 | A kind of continuous Pa Tai mechanism of trigger-type |
-
2014
- 2014-04-11 CN CN201410146295.3A patent/CN103909992B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| CN203195609U (en) * | 2013-04-02 | 2013-09-18 | 宋晓龙 | Overtravel cleaning robot |
| CN203920967U (en) * | 2014-04-11 | 2014-11-05 | 南通大学 | A kind of corridor cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103909992A (en) | 2014-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103909992B (en) | A kind of corridor cleaning robot | |
| CN203920967U (en) | A kind of corridor cleaning robot | |
| CN102631172B (en) | Lifting telescopic corridor cleaning robot | |
| CN105151151B (en) | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs | |
| CN104127157A (en) | Wheel-leg type stair sweeping robot | |
| CN105962858A (en) | Obstacle-crossing type robot for cleaning building external wall | |
| CN109567681A (en) | It can lifting type corridor and level land clean robot | |
| CN107471188A (en) | A kind of walking mechanism of Intelligent robot for sweeping floor | |
| CN103895728B (en) | A kind of translation rotating leg formula stair clean robot and upper method downstairs | |
| WO2021082290A1 (en) | Cleaning robot chassis and cleaning robot | |
| KR101016775B1 (en) | A stair robot cleaner | |
| CN207139783U (en) | Self-movement robot | |
| TWM594432U (en) | Automatic cross-barrier sweeping robot | |
| CN2406781Y (en) | Cleaning robot | |
| WO2023226857A1 (en) | Stair cleaning robot based on retractable rotating arms | |
| CN113693480B (en) | Self-propelled household dust collector | |
| CN101803980B (en) | Barrier free wheelchair | |
| CN111616650A (en) | All-terrain sweeping robot | |
| CN206366987U (en) | The special Stair climbing device of sweeping robot | |
| CN110080139B (en) | Automatic cleaning device for contour belt of highway | |
| CN112857190A (en) | Protection trolley for measuring pavement in road pit | |
| CN109998804B (en) | Double-crawler self-adaptive stair climbing electric wheelchair | |
| CN212281225U (en) | Multi-dimensional space sweeping robot | |
| CN206393619U (en) | The Stair climbing device of sweeping robot | |
| CN114343506B (en) | Polymorphic building step cleans machine people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Lei Inventor after: Zhang Buxiang Inventor after: Tang Jinxiao Inventor after: Sun Xiaogang Inventor after: Yang Yuan Inventor after: Cao Xin Inventor after: Wang Hancheng Inventor after: Li Lingfeng Inventor after: Ling Jun Inventor after: Gu Yugang Inventor after: Hu Jinfei Inventor before: Sun Xiaogang Inventor before: Cao Xin Inventor before: Zhang Lei Inventor before: Wang Hancheng Inventor before: Ling Jun Inventor before: Hu Jinfei Inventor before: Yang Yuan |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20190411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |