CN105996910A - Domestic stair automatic cleaning robot - Google Patents
Domestic stair automatic cleaning robot Download PDFInfo
- Publication number
- CN105996910A CN105996910A CN201610334684.8A CN201610334684A CN105996910A CN 105996910 A CN105996910 A CN 105996910A CN 201610334684 A CN201610334684 A CN 201610334684A CN 105996910 A CN105996910 A CN 105996910A
- Authority
- CN
- China
- Prior art keywords
- automatic cleaning
- cleaning machine
- machine people
- dust suction
- sweeper
- 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.)
- Granted
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
Abstract
The invention discloses a domestic stair automatic cleaning robot, which comprises a dust-collection cleaner which is provided with a walking mechanism, and further comprises mounting racks which are connected to the dust-collection cleaner and are capable of moving relative to the dust-collection cleaner in longitudinal and horizontal directions, a horizontal motion driving mechanism by which the dust-collection cleaner and the mounting racks are driven to do relative motion in the longitudinal and horizontal directions, telescopic brackets which are connected to the connecting racks and are capable of expanding and folding in a vertical direction, and telescopic driving devices for driving the telescopic brackets to expand/fold in the vertical direction. The robot disclosed by the invention is simple and skillful in structure and is quite convenient to use; and the robot is capable of automatically cleaning stairs, so that people's time of cleaning the stairs by manpower is saved and people's workload of doing home cleaning is relieved.
Description
Technical field
The invention belongs to Smart Home technical field, be specifically related to a kind of domestic stair automatic cleaning machine people.
Background technology
The household cleaning machine people developed now, mainly indoor cleaning machine people, clears up exclusively for stair
The robot of design seldom relates to, and be the compound staircase design of family clean robot more less it.
Summary of the invention
The present invention seeks to: for the deficiencies in the prior art, devise a light, small and exquisite domestic stair
Automatic cleaning machine people, carries out the amount of labour of domestic hygiene cleaning alleviating people.
The technical scheme is that a kind of domestic stair automatic cleaning machine people, including band walking mechanism
Dust suction sweeper, also includes:
It is connected on described dust suction sweeper and can be relative to described dust suction sweeper in anterior-posterior horizontal direction
The installing rack of movement；
Described dust suction sweeper and installing rack is driven to move horizontally driving machine in the relative movement of anterior-posterior horizontal direction
Structure；
The telescope support being connected on described link and can stretch at vertical direction/close up；
Drive the telescopic drive equipment that described telescope support stretches at vertical direction/closes up.
The present invention, on the basis of technique scheme, also includes following preferred version:
Described dust suction sweeper includes housing, the dirt cup being located in described housing, is opened in described housing bottom
And be connected with described dirt cup suction port, be located at described housing in and connect with described suction port gas phase negative
Pressure air exhauster.
The top of described housing is provided with the dirt cup lid for opening/close described dirt cup.
The bottom of described housing is provided with and is arranged in three round brush that described suction port is peripheral.
Described suction port is in " ten " font structure.
Described walking mechanism include two drivewheels that movable motor and described movable motor be in transmission connection, two
Individual driven pulley, two described drivewheels and two driven pulleys be all located at described dust suction sweeper bottom and in
Distributed rectangular.
Described walking mechanism also includes that two can be connected to horizontally rotating bottom described dust suction sweeper turn
Dish, two described drivewheels are separately mounted on the two rotating disk, and described driven pulley is universal rolling wheel.
Described move horizontally screw mandrel that drive mechanism includes being connected between described dust suction sweeper and installing rack,
Drive the lead screw motor that described screw mandrel rotates.
Described telescope support includes two semi-frames being arranged in described installing rack arranged on left and right sides, each
Described semi-frame all includes a support baseboard, two first poles and two second connecting rods, described two first
Bar is in " X " type arranged crosswise and is hinged, and described two second connecting rods are in " X " type arranged crosswise and phase
The most hinged, one end of described two first poles is hinged on described support baseboard, described two second connecting rods
One end be hinged on described installing rack, the other end of described two first poles and described two second connecting rods
The other end be respectively articulated with.
Described telescopic drive equipment is that one end is hinged on the other end and a wherein institute on described support baseboard
State the electric pushrod that the second pole is hinged.
The invention have the advantage that the present invention this domestic stair automatic cleaning machine people's simple and ingenious structure, make
With being convenient to, it can clear up stair automatically, the time saving hand sweeping stair for people, subtracts
Light people sweep the amount of labour of domestic hygiene.
Accompanying drawing explanation
The invention will be described further with specific embodiment below in conjunction with the accompanying drawings:
Fig. 1 is the perspective view of the embodiment of the present invention this domestic stair automatic cleaning machine people；
Fig. 2 is that the stereochemical structure at another visual angle of the embodiment of the present invention this domestic stair automatic cleaning machine people is shown
It is intended to；
Fig. 3 be the embodiment of the present invention this domestic stair automatic cleaning machine people look up structural representation；
Fig. 4～Fig. 7 is the work process demonstration graph of the embodiment of the present invention this domestic stair automatic cleaning machine people；
Wherein: 1-dust suction sweeper, 2-installing rack, 3-moves horizontally drive mechanism, 4-telescope support, and 5-stretches
Contracting driving equipment, 6-walking mechanism, 1a-housing, 1b-suction port, 1c-dirt cup lid, 1d-round brush, 3a-screw mandrel,
4a-the first pole, 4b-the second pole, 6a-drivewheel, 6b-driven pulley, 6c-rotating disk.
Detailed description of the invention
Fig. 1～Fig. 7 shows a specific embodiment of the present invention this domestic stair automatic cleaning machine people,
Identical with conventional domestic sweeping robot, it also includes the dust suction sweeper 1 of band walking mechanism 6, this suction
The function of dirt sweeper 1 is similar with the vacuum cleaner of domestic or sweeping robot with structure.
The key improvements of the present embodiment is, this robot also include installing rack 2, move horizontally drive mechanism 3,
Telescope support 4 and telescopic drive equipment 5.Wherein:
Installing rack 2 is connected on described dust suction sweeper 1, and installing rack 2 can clean relative to dust suction
Device 1 moves in anterior-posterior horizontal direction.
Move horizontally drive mechanism 3 for driving described dust suction sweeper 1 and installing rack 2 in anterior-posterior horizontal side
To relative movement.
Telescope support 4 is connected on described link 2, and this telescope support 4 can enter at vertical direction
Row stretching, extension/closing action.
Telescopic drive equipment 5 is used for driving described telescope support 4 to stretch at vertical direction/close up.
With reference to shown in Fig. 4～Fig. 7, when using this domestic stair automatic cleaning machine people to clean stair, first will
Robot is placed on the entering on terrace land face of stair bottom.Telescopic drive equipment 5 controls telescope support 4 and erects
To expansion, and then dust suction sweeper 1 is made to be raised to stair first order shoulder height, now telescope support 4
Bottom support on the ground, upper support lives dust suction sweeper 1, such as Fig. 4.Then, driving is moved horizontally
Mechanism 3 controls dust suction sweeper 1 and moves forward relative to installing rack 2, and dust suction sweeper 1 is in
Stair first order step top position, such as Fig. 5.Afterwards, to control telescope support 4 vertical for telescopic drive equipment 5
Close up, so that dust suction sweeper 1 falls on stair first order step, be now in stretching of closed configuration
Contracting support 4 is connected on dust suction sweeper 1 by support, such as Fig. 6.Then, move horizontally drive mechanism 3 to control
Installing rack 2 processed moves forward relative to dust suction sweeper 1, and makes installing rack 2 and dust suction sweeper 1 recover
To initial condition, dust suction sweeper 1 carries out cleaning dust absorption to stair first order step, treats stair first order platform
After cleaning dust absorption completes, repeating above-mentioned action and stair second level platform is carried out cleaning dust absorption, the rest may be inferred, complete
The cleaning dust absorption of paired whole stair.
This robot is when speeling stairway step, high owing to dust suction sweeper 1 to be pushed to correct stair
Degree, therefore robot is provided with the sensor of sensing stair height.In order to prevent screw mandrel by dust suction sweeper 1
During propelling movement is placed on step, because the reach of dust suction sweeper 1 makes centre-of gravity shift cause robot to incline
Tiltedly, robot is provided with the distance detecting distance therebetween between dust suction sweeper 1 and installing rack 2
Sensor, when dust suction sweeper 1 is anterior and stair span is from during less than 1 centimetre, and dolly stops reach and also opens
Movable wire bar driven by motor screw mandrel rotates, and is pushed by dust suction sweeper 1 and is placed on step.
The dirt cup that in this example, described dust suction sweeper 1 includes housing 1a, be located in described housing is (in dirt cup
Be provided with filter screen), be opened in described housing bottom and the suction port 1b being connected with described dirt cup, be located at described shell
Negative pressure air exhauster that is internal and that connect with described suction port gas phase.And be provided with at the top of described housing 1a
For opening/close the dirt cup lid 1c of described dirt cup.During work, the negative-pressure sucking that negative pressure air exhauster produces is by ring
Dust in border sucks in dirt cup, after dust suction completes, opens described dirt cup lid 1c and is poured out by dust.
Additionally, this example is provided with in the bottom of described housing 1a is arranged in peripheral three of described suction port 1b
Round brush 1d, these three round brush are arranged in the front side of suction port 1b, left side and right side.So ensure dust suction
Dust around mouth 1b all can be swept up at suction port, and then is inhaled in dirt cup.
And described suction port 1b is designed to " ten " font structure by this example.So that from front round brush
The rubbish that the rubbish swept into and roller brush at side sweep into can be inhaled into suction port easily.Such as Fig. 3.
In this example, described walking mechanism 6 include movable motor (not shown), two drivewheel 6a and
Two driven pulley 6b.Two drivewheel 6a are in transmission connection with described movable motor, and two drivewheel 6a
The bottom of described dust suction sweeper 1 and rectangular distribution all it is located at two driven pulley 6b.During work, walking
Motor powered drivewheel 6a rotates, and drags dust suction sweeper 1 and walk, in the mistake of dust suction sweeper 1 walking
Cheng Zhong, driven pulley 6b are by frictional force effect transfer.
So that described dust suction sweeper 1 has turning function, barrier can be got around in the process of walking.
Described driven pulley 6b in this example uses universal rolling wheel, and described walking mechanism 6 also includes connecting with horizontally rotating
It is connected on two rotating disk 6c bottom described dust suction sweeper 1, two described drivewheel 6a and is separately mounted to this
On two rotating disk 6c, the walking mechanism 6 with this turning function is often employed on toy car.When
So, we can also arrange and turn to driving equipment with described rotating disk 6c is connected, clean actively controlling dust suction
Turning to of device 1.
The described drive mechanism 3 that moves horizontally includes being connected between described dust suction sweeper 1 and installing rack 2
Screw mandrel 6a, drive the lead screw motor (being not drawn in figure) that described screw mandrel rotates.During work, pass through lead screw motor
Drive screw mandrel 6a to rotate, and then drive dust suction sweeper 1 and installing rack 2 be along screw mandrel axial direction relative movement,
Realize dust suction sweeper 1 and installing rack 2 anterior-posterior horizontal direction close to each other/be located remotely from each other.
Described telescope support 4 includes two semi-frames being arranged in described installing rack 2 arranged on left and right sides, often
One described semi-frame all includes a support baseboard 4a, two first pole 4b and two second connecting rod 4c, described
Two first pole 4b in " X " type arranged crosswise and are hinged, and described two second connecting rod 4c are in " X "
Type arranged crosswise and being hinged, one end of described two first pole 4b is hinged on described support baseboard,
One end of described two second connecting rod 4c is hinged on described installing rack, and described two first pole 4b's is another
One end is respectively articulated with the other end of described two second connecting rod 4c.
Described telescopic drive equipment 5 is hinged on the other end and wherein on described support baseboard 4a for one end
Described in root second electric pushrod hinged for pole 4c.
During electric pushrod elongation, telescope support 4 makees elongation expansion action upwards.When electric pushrod shrinks,
Telescope support 4 makees downward contraction closing action.
Certainly, above-described embodiment, only for technology design and the feature of the explanation present invention, its object is to allow people
Will appreciate that present disclosure and implement according to this, can not limit the scope of the invention with this.All
The equivalent transformation done according to the spirit of main technical schemes of the present invention or modification, all should contain in the present invention
Protection domain within.
Claims (10)
1. a domestic stair automatic cleaning machine people, including the dust suction sweeper (1) of band walking mechanism (6),
Characterized by further comprising:
It is connected to described dust suction sweeper (1) upper and can be relative to described dust suction sweeper (1) front
The installing rack (2) that rear horizontal direction moves；
Drive described dust suction sweeper (1) and installing rack (2) in the level of anterior-posterior horizontal direction relative movement
Moving drive mechanism (3)；
It is connected to the telescope support (4) that described link (2) is upper and can stretch at vertical direction/close up；
Drive the telescopic drive equipment (5) that described telescope support (4) stretches at vertical direction/closes up.
Domestic stair automatic cleaning machine people the most according to claim 1, it is characterised in that: described suction
Dirt sweeper (1) includes housing (1a), be located in described housing dirt cup, it is opened in described housing bottom
And be connected with described dirt cup suction port (1b), be located at described housing in and connect with described suction port gas phase
Negative pressure air exhauster.
Domestic stair automatic cleaning machine people the most according to claim 2, it is characterised in that: described shell
The top of body (1a) is provided with the dirt cup lid (1c) for opening/close described dirt cup.
Domestic stair automatic cleaning machine people the most according to claim 3, it is characterised in that: described shell
The bottom of body (1a) is provided with and is arranged in three round brush (1d) that described suction port (1b) is peripheral.
Domestic stair automatic cleaning machine people the most according to claim 2, it is characterised in that: described suction
Dirt mouth (1b) is in " ten " font structure.
Domestic stair automatic cleaning machine people the most according to claim 1, it is characterised in that: described row
Walk two drivewheels (6a) that mechanism (6) includes that movable motor and described movable motor be in transmission connection, two
Individual driven pulley (6b), two described drivewheels (6a) and two driven pulleys (6b) are all located at described dust suction
The bottom of sweeper (1) and rectangular distribution.
Domestic stair automatic cleaning machine people the most according to claim 6, it is characterised in that: described
Walking mechanism (6) also includes can be connected to described dust suction sweeper (1) bottom with horizontally rotating two and turns
Dish (6c), two described drivewheels (6a) are separately mounted on the two rotating disk (6c), described driven
Wheel (6b) is universal rolling wheel.
Domestic stair automatic cleaning machine people the most according to claim 1, it is characterised in that: described water
Flat moving drive mechanism (3) includes the silk being connected between described dust suction sweeper (1) and installing rack (2)
Bar (3a), drive the lead screw motor that described screw mandrel rotates.
Domestic stair automatic cleaning machine people the most according to claim 1, it is characterised in that stretch described in:
Contracting support (4) includes two semi-frames being arranged in described installing rack (2) arranged on left and right sides, each
Described semi-frame all includes a support baseboard (4a), two first poles (4b) and two second connecting rods (4c),
Described two first poles (4b) in " X " type arranged crosswise and are hinged, described two second connecting rods (4c)
In " X " type arranged crosswise and be hinged, one end of described two first poles (4b) is hinged on described
On support base plate, one end of described two second connecting rods (4c) is hinged on described installing rack, described two pieces the
The other end of one pole (4b) is respectively articulated with the other end of described two second connecting rods (4c).
Domestic stair automatic cleaning machine people the most according to claim 9, it is characterised in that: described
Telescopic drive equipment (5) be one end be hinged on that described support baseboard (4a) is upper and the other end with wherein one
The electric pushrod that described second pole (4c) is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334684.8A CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334684.8A CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105996910A true CN105996910A (en) | 2016-10-12 |
| CN105996910B CN105996910B (en) | 2018-06-29 |
Family
ID=57095711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610334684.8A Expired - Fee Related CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105996910B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017088048A1 (en) * | 2015-11-23 | 2017-06-01 | Quantum Robotic Systems Inc. | Stair traversing device |
| CN106798528A (en) * | 2017-02-14 | 2017-06-06 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| CN111297267A (en) * | 2020-03-09 | 2020-06-19 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN111387882A (en) * | 2020-04-15 | 2020-07-10 | 马俊 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| WO2021170979A1 (en) | 2020-02-27 | 2021-09-02 | Dyson Technology Limited | Robotic device with tri-star wheels and actuated arm and method of navigating a surface with a robotic device |
| JP6955836B1 (en) * | 2021-06-19 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| JP6955835B1 (en) * | 2021-03-20 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| CN114767006A (en) * | 2022-04-06 | 2022-07-22 | 同济大学 | Be applied to stair climbing mechanism of robot of sweeping floor |
| WO2023088397A1 (en) * | 2021-11-18 | 2023-05-25 | 高蔚智能机器人(深圳)有限公司 | Transporter |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10925782B2 (en) | 2015-11-23 | 2021-02-23 | Quantum Robotic Systems Inc. | Stair traversing device |
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| CN106798528B (en) * | 2017-02-14 | 2019-02-15 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| WO2021170979A1 (en) | 2020-02-27 | 2021-09-02 | Dyson Technology Limited | Robotic device with tri-star wheels and actuated arm and method of navigating a surface with a robotic device |
| CN111297267A (en) * | 2020-03-09 | 2020-06-19 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN111387882A (en) * | 2020-04-15 | 2020-07-10 | 马俊 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| CN111387882B (en) * | 2020-04-15 | 2021-10-29 | 蔚蓝计划(北京)科技有限公司 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| JP6955835B1 (en) * | 2021-03-20 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| JP2022145348A (en) * | 2021-03-20 | 2022-10-04 | 裕司 志村 | Staircase lifting work device |
| JP6955836B1 (en) * | 2021-06-19 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| JP2023000959A (en) * | 2021-06-19 | 2023-01-04 | 裕司 志村 | Stair lifting work device |
| WO2023088397A1 (en) * | 2021-11-18 | 2023-05-25 | 高蔚智能机器人(深圳)有限公司 | Transporter |
| CN114767006A (en) * | 2022-04-06 | 2022-07-22 | 同济大学 | Be applied to stair climbing mechanism of robot of sweeping floor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105996910B (en) | 2018-06-29 |
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