CN106343927A - Automatic stairs climbing and stairs step sweeping device - Google Patents
Automatic stairs climbing and stairs step sweeping device Download PDFInfo
- Publication number
- CN106343927A CN106343927A CN201610902617.1A CN201610902617A CN106343927A CN 106343927 A CN106343927 A CN 106343927A CN 201610902617 A CN201610902617 A CN 201610902617A CN 106343927 A CN106343927 A CN 106343927A
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle frame
- running gear
- axle
- gear
- 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
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 13
- 238000010408 sweeping Methods 0.000 title abstract 5
- 238000004140 cleaning Methods 0.000 claims abstract description 50
- 230000000694 effects Effects 0.000 claims abstract description 11
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 30
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 9
- 230000001052 transient effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000002493 climbing effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- A47L11/4072—Arrangement of castors or wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an automatic stairs climbing and stairs step sweeping device, which comprises a vehicle frame, a garbage can, a front wheel walking device, a back wheel walking device, a cleaning device, a cam connecting rod device and a support mechanism, wherein the garbage can is arranged above the vehicle frame; the front wheel walking device and the back wheel walking device are correspondingly arranged at the front end and the back end of the vehicle frame; the cleaning device is arranged at the front part of the vehicle frame and is used for stairs sweeping; the cam connecting rod device is arranged on the vehicle frame, is connected with the front wheel walking device, and is harmoniously matched with the front wheel walking device for realizing the stairs step climbing action; the support mechanism is connected with the vehicle frame, and is also harmoniously matched with the front wheel walking device to work for achieving the effect of temporarily supporting the whole device; the stairs climbing and stairs cleaning action coordination of the whole device, and the turning at the stairs platform part are transferred through collected information; a PLC (programmable logic controller) issues a command to automatically complete each action. The automatic stairs climbing and stairs step sweeping device has the advantages that the automatic stairs climbing sweeping work is realized; the problem of manual stairs cleaning difficulty is solved; the operation is simple; the dismounting and the mounting are convenient; safety and reliability are realized.
Description
Technical field
The present invention relates to a kind of cleaning stair device, specifically a kind of device of automatic stari creeping ladder cleaning stairway step, belong to
Clearing apparatus technical field in stairway step.
Background technology
Development with social economy and the raising of scientific and technological level, the skyscraper of China increasing although most of
Construction and installation elevator, but in order to prevent the generation of power-off and some emergencies, stair are requisite.Present stair
Cleaning is mostly to be artificial cleaning, but not only workload is big for skyscraper stair cleaning, causes the waste of very big human resourcess,
And efficiency is also than relatively low.At present, on this field domestic market or blank out, thus need design a kind of efficient from
The dynamic intelligent stair sweeper cleaning stair.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of automatic stari creeping ladder to clean the dress of stairway step
Put, there is simple to operate, easy accessibility, safe and reliable feature, it is possible to resolve the difficult problem of artificial cleaning stair.
To achieve these goals, a kind of automatic stari creeping ladder that the present invention adopts cleans the device of stairway step, including car
Frame, it is arranged on refuse bin above vehicle frame, is arranged on the trailing wheel running gear of vehicle frame rear end, is arranged in the front-wheel row of vehicle frame front end
Walking apparatus, it is arranged on anterior cleaning device, cam link device and the supporting mechanism cleaning for stair of vehicle frame, trailing wheel is walked
Device can be walked under the driving of motor i；Cam link device is arranged on vehicle frame, and is connected with front-wheel running gear,
Realize stairs step action with front-wheel running gear cooperation；Supporting mechanism is connected with vehicle frame, walks with front-wheel simultaneously
Device cooperation works, and can play the temporary transient effect supporting whole device；Whole device stair climbing and cleaning stair action
Coordinate, and control in information transmission all collected by each sensor on cleaning device for the turning at landing to plc
Device processed, and issued an order by plc controller and be automatically performed each action.
Preferably, described trailing wheel running gear includes rear axle, rear axle lid and is arranged on two ends about rear axle
Two rear wheels, described rear axle includes belt pulley ii, drive shaft, main reducing gear, differential mechanism, axle i and axle ii, belt pulley ii
It is connected with one end of drive shaft, the other end of drive shaft passes through main reducing gear and differential mechanism is connected with one end of axle i, axle ii；Axle i
The other end be connected with bearing i, the other end of axle ii is connected with bearing ii；The corresponding peace of bearing i, bearing ii turns in two rear wheels
On；On axle i, axle ii, correspondence is provided with ratchet i, the ratchet ii of stopping function, and ratchet i, ratchet ii and flexible member coordinate and be used for
Prevent the rear cunning that whole device is gone upstairs when cleaning；Motor i driving belt pulley ii rotates, and belt pulley ii drives drive shaft rotation
Turn, drive shaft drives two axle rotations through main reducing gear, thus driving two rear wheel rotations.
Preferably, described front-wheel running gear includes motor ii, decelerator ii, gear iii, the front truck being arranged in juxtaposition
Bridge bracket and tooth bar connecting rod, be connected to front truck bridge bracket and tooth bar connecting rod two ends two knuckles and with two knuckles pair
Two front vehicle wheels that should connect, motor ii and decelerator ii are fixedly mounted on front truck bridge bracket, gear iii and decelerator
The output shaft of ii connects.When sensor judges to need to turn to, sensor passes signal controls to plc controller, plc controller
Motor ii, motor ii, through decelerator ii, carry moving gear iii rotation, it is past that gear iii rotation makes tooth bar connecting rod do straight line
Multiple motion, thus driving the knuckle at two ends to rotate, realizes the steering of front vehicle wheel.
Preferably, described cam link device includes cam, connecting rod, motor iii, decelerator i and engages each other
Gear i and gear ii, gear i is connected with cam coaxial, and gear ii is arranged on the outfan of decelerator i, the input of decelerator i
End is connected with motor iii；Cam is connected with the rear end of connecting rod, and connecting rod is with the rotary motion of cam；It is provided with connecting rod
Fixing axle, and can swing up and down around fixing axle；The front end of connecting rod is connected with front-wheel running gear；Front-wheel running gear and vehicle frame
Junction is provided with the hydraulic support device that can move up and down along it, and hydraulic support device includes bracing frame i, leading truck and plays
Support the spring with cushioning effect, the movement locus of connecting rod front end are matched with the track of leading truck makes front-wheel running gear along admittedly
Fixed track moves up and down, and realizes front-wheel running gear during whole device stair climbing and is lifted up, next is climbed up by front-wheel running gear
Rank stair；Motor iii is by plc controller control work.
Preferably, described cam has groove, bearing pin is installed in groove, and is connected by the rear end of bearing pin and connecting rod
Connect；During cam rotation, bearing pin moves along impression orbit, and drivening rod does rule along it and moves.
Preferably, described supporting mechanism has two groups, is arranged symmetrically in the both sides of vehicle frame；Every group of supporting mechanism include successively by
Bracing frame ii, support link i, support link ii and hydraulically extensible tappet that sequence connects, bracing frame ii is provided with support car
Wheel；Hydraulically extensible tappet does stretching under the driving of hydraulic pump, drive support link ii, support link i, bracing frame ii and
Support wheel movement, so that support wheel is put down, play the temporary transient effect supporting whole device；Meanwhile, before cam link device makes
Wheel running gear is lifted up, and when front-wheel running gear lifts to next stairway step upwards, hydraulically extensible tappet is in hydraulic pressure
Do stretching motion under the driving of pump, drive support link ii, support link i, bracing frame ii and support wheel movement, make support car
Wheel shrinks upwards；Period, plc controller controls trailing wheel running gear to move to lower single order stair.
Preferably, described cleaning device includes clearing apparatus, contiguous block, hydraulic tappet i, hydraulic tappet ii, hydraulic tappet
Iii, fixed flat planar and move horizontally flat board, clearing apparatus is connected by the front side of hydraulic tappet ii, hydraulic tappet iii and contiguous block
Connect, the upside of contiguous block is connected by the flat board that moves horizontally of hydraulic tappet i；Move horizontally flat board to be arranged on fixed flat planar
Side, and can be along moving horizontally guide rail side-to-side movement on fixed flat planar；Whole cleaning device is fixed on vehicle frame by fixed flat planar
Front portion, drives contiguous block and clearing apparatus to move up and down, hydraulic tappet ii, hydraulic tappet iii are real when hydraulic tappet i stretches up and down
Stretching motion before and after now and the rotary oscillation around fixing point.
Preferably, described clearing apparatus comprises suction box and motor case, and suction box is provided with garbage outlet pipeline, inhales
It is provided with multiple equally distributed rotatable broom heads, each broom head is driven by the motor in motor case in dirt case
Carry out rotary cleaning.
Preferably, the end of each broom head is provided with belt pulley i, and all belt pulley i pass through belt and motor case
Interior motor connects.
Compared with prior art, the present invention mainly by vehicle frame, be arranged on refuse bin above vehicle frame, be arranged on vehicle frame rear end
Trailing wheel running gear, be arranged in the front-wheel running gear of vehicle frame front end, be arranged on the anterior cleaning cleaning for stair of vehicle frame
Device, cam link device and supporting mechanism composition.When front-wheel running gear reaches under single order stairway step, car senses
Signal experienced by device, delivers a signal to plc controller, and at this moment middle supporting mechanism, does stretching motion via hydraulic pump drive and put
Under, play the temporary transient effect supporting whole device.Cam link device can make whole front-wheel running gear be lifted up simultaneously,
Period vehicle frame remains stationary as, and front-wheel running gear is lifted up.When next stairway step lifted to by front-wheel running gear, middle
Supporting mechanism stretching motion done by hydraulic pump drive shrink upwards, period, plc controller controls motor i work,
Drive the walking of trailing wheel running gear, move to lower single order stair it is achieved that the stair climbing action of whole device.Now, whole dress
Put stop, plc controller controls anterior cleaning device, is cleaned.Wherein, front-wheel running gear can achieve and turns to, when need
When to be turned to, to plc controller, plc controller controls its steering to sensor passes signal.Finally, achievable intelligent stair is clear
Sweep work, solve the problems, such as manually to clean stair difficulty, it is simple to operate, easy accessibility, safe and reliable.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of trailing wheel running gear of the present invention；
Fig. 3 is the partial schematic diagram at rear axle of the present invention；
Fig. 4 is the structural representation of front-wheel running gear of the present invention and cam link device；
Fig. 5 is the partial schematic diagram at front axle of the present invention；
Fig. 6 is the other direction schematic diagram of Fig. 5；
Fig. 7 is the structural representation of leading truck of the present invention；
Fig. 8 is the right view of Fig. 7；
Fig. 9 is the structural representation of bracing frame i of the present invention.
Figure 10 is the structural representation of cam gear of the present invention；
Figure 11 is the structural representation of supporting mechanism of the present invention；
Figure 12 is the structural representation of cleaning device of the present invention；
Figure 13 is the structural representation of clearing apparatus of the present invention.
In figure: 1, rear wheel i, 2, ratchet i, 3, flexible member, 4, refuse bin, 5, supporting mechanism, 6, front axle, 7, connect
Block, 8, hydraulic tappet i, 9, hydraulic tappet ii, 10, belt pulley i, 11, belt, 12, clearing apparatus, 13, garbage outlet pipeline,
14th, hydraulic tappet iii, 15, horizontally moving device, 16, front vehicle wheel i, 17, garbage inlet pipeline, 18, vehicle frame, 19, motor
I, 20, rear axle, 21, rear axle lid, 22, belt pulley ii, 23, rear wheel ii, 24, clamp nut i, 25, fastening bolt i, 26,
Ratchet ii, 27, bearing i, 28, back-up ring, 29, bearing ii, 30, axle ii, 31, main reducing gear, 32, axle i, 33, differential mechanism, 34, subtract
Fast device i, 35, cam, 36, connecting rod, 37, leading truck, 38, bracing frame i, 39, decelerator ii, 40, motor ii, 41, support
Plate i, 42, axle iv, 43, front truck bridge bracket, 44, knuckle i, 45, front vehicle wheel ii, 46, gear i, 47, gear ii, 48, connect
Pin, 49, knuckle ii, 50, gear iii, 51, tooth bar connecting rod, 52, motor iii, 53, support wheel, 54, bracing frame ii,
55th, support link i, 56, support link ii, 57, hydraulically extensible tappet, 58, move horizontally guide rail, 59, fixed flat planar, 60, water
The dynamic flat board of translation, 61, broom head, 62, suction box, 63, motor case, 64, drive shaft.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 to figure 13, a kind of automatic stari creeping ladder cleans the device of stairway step, including vehicle frame 18, is arranged on car
The refuse bin 4 of frame 18 top, it is arranged on the trailing wheel running gear of vehicle frame 18 rear end, is arranged in the front-wheel walking dress of vehicle frame 18 front end
Put, be arranged on anterior cleaning device, cam link device and the supporting mechanism 5 cleaning for stair of vehicle frame 18, trailing wheel is walked
Device can be walked under the driving of motor i19；Cam link device is arranged on vehicle frame 18, and with front-wheel running gear even
Connect, realize stairs step action with front-wheel running gear cooperation；Supporting mechanism 5 is connected with vehicle frame 18, simultaneously with front
Wheel running gear cooperation work, can play the temporary transient effect supporting whole device；Whole device stair climbing and cleaning stair
The coordination of action, and information transmission all collected by each sensor on cleaning device for the turning at landing to
Plc controller, and issued an order by plc controller and be automatically performed each action.
Work process:
When front-wheel running gear reaches under single order stairway step, on car, signal experienced by sensor, delivers a signal to plc control
Device processed, at this moment middle supporting mechanism 5, does stretching motion via hydraulic pump drive and puts down, and plays temporary transient support whole device
Effect.Cam link device can make whole front-wheel running gear be lifted up simultaneously, and period vehicle frame 16 remains stationary as, front-wheel row
Walking apparatus are lifted up.When next stairway step lifted to by front-wheel running gear, middle supporting mechanism 5 is by hydraulic pump drive
Do stretching motion to shrink upwards, period, plc controller controls motor i 19 to work, and drives trailing wheel running gear row
Walk, move to lower single order stair it is achieved that the stair climbing action of whole device.Now, whole device stop, plc controller control
The anterior cleaning device of system, is cleaned.Wherein, front-wheel running gear can achieve and turns to, when needing to turn to, sensor passes
To plc controller, plc controller controls its steering to signal.Finally, achievable intelligent stair cleaning works, solves manually clear
The difficult problem of clean stair, it is simple to operate, easy accessibility, safe and reliable.
As shown in Figures 2 and 3, after above-mentioned trailing wheel running gear may include rear axle 20, rear axle lid 21 and is arranged on
Two rear wheels (i.e. rear wheel i 1 and rear wheel ii23) at vehicle bridge 20 about two ends, rear axle 20 includes belt pulley ii22, drive
Moving axis 64, main reducing gear 31, differential mechanism 33, axle i32 and axle ii30, belt pulley ii22 is connected with one end of drive shaft 64, drives
The other end of moving axis 64 passes through main reducing gear 31 and differential mechanism 33 is connected with one end of axle i32, axle ii30；The other end of axle i32
It is connected with bearing i27, the other end of axle ii30 is connected with bearing ii29；The corresponding peace of bearing i27, bearing ii29 turns in two rear cars
On wheel；On axle i32, axle ii30, correspondence is provided with ratchet i2, the ratchet ii26 of stopping function, ratchet i2, ratchet ii26 and elasticity
Element coordinates the rear cunning for preventing whole device from going upstairs when cleaning.Plc controller controls motor i 19 to work afterwards, can
The number of turns with the rotating speed of precise control motor i 19 and rotation.Driving belt pulley under plc control for the motor i 19
Ii22 rotate, belt pulley ii22 drive drive shaft 64 rotate, drive shaft 64 through main reducing gear 31, differential mechanism 33 carry moving axis i32,
Axle ii30 rotates, thus driving two rear wheels (i.e. rear wheel i 1 and rear wheel ii23) to rotate, realizes whole trailing wheel walking dress
The walking put.The setting of differential mechanism 33 may insure that the steering of whole device is steady.On axle i32, axle ii30 install ratchet i2,
The cooperation of ratchet ii26 and corresponding flexible member can prevent the rear cunning that whole device is gone upstairs when cleaning, and plays good stop
Effect.
As shown in Fig. 4 to Fig. 9, above-mentioned front-wheel running gear may include motor ii40, decelerator ii39, gear
Iii50, the front truck bridge bracket 43 being arranged in juxtaposition and tooth bar connecting rod 51, it is connected to front truck bridge bracket 43 and tooth bar connecting rod 51 two ends
Two front vehicle wheels of two knuckles (i.e. knuckle i44 and knuckle ii49) and connection corresponding with two knuckles are (before i.e.
Wheel i 16 and front vehicle wheel ii45), motor ii40 and decelerator ii39 is fixedly mounted on front truck bridge bracket 43, gear
Iii50 is connected with the output shaft of decelerator ii39.When sensor judges to need to turn to, sensor passes signal is to plc control
Device, plc controller controls motor ii40, and motor ii40 is through decelerator ii39 band moving gear iii50 rotation, gear
Iii50 rotation makes tooth bar connecting rod 51 do straight reciprocating motion, thus driving the knuckle i44 and knuckle ii49 at two ends to rotate,
And then drive front vehicle wheel i 16 and front vehicle wheel ii45 to turn to, realize the steering of two front vehicle wheels.
As shown in Fig. 4 and Figure 10, above-mentioned cam link device may include cam 35, connecting rod 36, motor iii52, subtracts
Fast device i34 and pitch wheel i46 and gear ii47, gear i46 are coaxially connected with cam 35, and gear ii47 is arranged on
The outfan of decelerator i34, the input of decelerator i34 is connected with motor iii52；Cam 35 is connected with the rear end of connecting rod 36
Connect, connecting rod 36 is with the rotary motion of cam 35；Fixing axle 48 is provided with connecting rod 36, and can swing up and down around fixing axle 48；
The front end of connecting rod 36 is connected with the front truck bridge bracket 43 in front-wheel running gear；For the compound movement of coupler link 36, front truck
Bridge bracket 43 is provided with, with the junction of vehicle frame 18, the hydraulic support device that can move up and down along it, and hydraulic support device includes supporting
Frame i38, leading truck 37 and the spring playing support and cushioning effect, the movement locus of connecting rod 36 front end and leading truck 37
Matching in track makes front truck bridge bracket 43 move up and down along fixation locus, realize during whole device stair climbing front-wheel running gear to
On lift, lower single order stair climbed up by front-wheel running gear.Motor iii52 is by plc controller control work, i.e. motor
Iii52 driving cam 35 under the control of plc controller rotates, and can effectively control its rotating speed and turn-taked number.Specifically,
Motor iii52 drives the high-precision engaging through gear ii47 and gear i46 for the decelerator i34, thus transmitting power to cam
35, band moving cam 35 rotates.Groove can be had on described cam 35, in groove, bearing pin is installed, and by bearing pin and connecting rod 36
Rear end connect；During cam 35 rotation, bearing pin moves along impression orbit, and drivening rod 36 does rule along it and moves.Meanwhile, even
Bar 36 can swing up and down around fixing axle 48, and the movement locus of connecting rod 36 front end are matched with the track of leading truck 37 and so that front axle is propped up
Frame 43 moves up and down along fixation locus, it is achieved thereby that front truck bridge bracket 43 is walked together with whole front-wheel during whole device stair climbing
Device is lifted up, and two front vehicle wheels climb up lower single order stair.Period, the spring in hydraulic support device both can play support
Effect, can reach damping effect again.
As shown in figure 11, above-mentioned supporting mechanism 5 has two groups, is arranged symmetrically in the both sides of vehicle frame 18；Every group of supporting mechanism 5 can
Including the bracing frame ii54 sequentially connecting successively, support link i55, support link ii56 and hydraulically extensible tappet 57, support
Support wheel 53 is provided with frame ii54；Hydraulically extensible tappet 57 does stretching under the driving of hydraulic pump, drives the company of support
Bar ii56, support link i55, bracing frame ii54 and support wheel 53 move, and so that support wheel 53 is put down, and play temporary transient support whole
Individual device effect (cleaning car not stair climbing step when, support wheel is accepted, and during stair climbing, front-wheel is lifted by cam mechanism
Rise, support wheel plays the effect of Auxiliary support)；Meanwhile, aforementioned cam linkage can make front-wheel running gear be lifted up, that is,
Front truck bridge bracket 43 can be made to be lifted up along leading truck 37 track, period vehicle frame 16 remains stationary as, spring-compressed, two front trucks
Wheel is lifted up；When two front vehicle wheels lift to next stairway step upwards, hydraulically extensible tappet 57 is in the driving of hydraulic pump
Under do stretching motion, drive support link ii56, support link i55, bracing frame ii54 and support wheel 53 to move, make support car
Wheel 53 shrinks upwards；Period, plc controller controls motor i 19 to work, and drives two rear wheel rotations, moves to
Lower single order stair.Now, whole device stop, plc controller controls cleaning device, is cleaned.
As shown in Figure 12 and Figure 13, above-mentioned cleaning device may include clearing apparatus 12, contiguous block 7, hydraulic tappet i8, hydraulic pressure
Tappet ii9, hydraulic tappet iii 14, fixed flat planar 59 and move horizontally flat board 60, clearing apparatus 12 pass through hydraulic tappet ii9,
Hydraulic tappet iii 14 is connected with the front side of contiguous block 7, and what hydraulic tappet i8 was passed through in the upside of contiguous block 7 moves horizontally flat board 60
Connect；Move horizontally flat board 60 to be arranged on above fixed flat planar 59, and can along on fixed flat planar 59 to move horizontally guide rail 58 left
Right motion；Whole cleaning device is fixed on vehicle frame 18 front portion, the company of drive when hydraulic tappet i8 stretches up and down by fixed flat planar 59
Connect block 7 and clearing apparatus 12 move up and down, hydraulic tappet ii9, hydraulic tappet iii 14 realize before and after stretching motion and around solid
The rotary oscillation of fixed point, by the cleaning of the control realization stair of each hydraulic tappet and clearing apparatus.
Preferably, described clearing apparatus 12 comprises suction box 62 and motor case 63, and suction box 62 is provided with rubbish and goes out
Mouth pipeline 13, is provided with multiple equally distributed rotatable broom heads 61, each broom head 61 is by motor in suction box 62
Motor in case 63 drives and carries out rotary cleaning.Garbage inlet pipeline 17 on garbage outlet pipeline 13 and refuse bin 4 it
Between can connect dust sucting pipeline, can in time cleaning prevent atmosphere pollution by the airborne dust in suction box 62.
Preferably, the end of each broom head 61 is provided with belt pulley i 10, all belt pulley i 10 pass through belt 11 with
Motor in motor case 63 connects.
From said structure, the present invention mainly by vehicle frame, be arranged on refuse bin above vehicle frame, be arranged on vehicle frame rear end
Trailing wheel running gear, be arranged in the front-wheel running gear of vehicle frame front end, be arranged on the anterior cleaning cleaning for stair of vehicle frame
Device, cam link device and supporting mechanism composition.When front-wheel running gear reaches under single order stairway step, car senses
Signal experienced by device, delivers a signal to plc controller, and at this moment middle supporting mechanism, does stretching motion via hydraulic pump drive and put
Under, play the temporary transient effect supporting whole device.Cam link device can make whole front-wheel running gear be lifted up simultaneously,
Period vehicle frame remains stationary as, and front-wheel running gear is lifted up.When next stairway step lifted to by front-wheel running gear, middle
Supporting mechanism stretching motion done by hydraulic pump drive shrink upwards, period, plc controller controls motor i work,
Drive the walking of trailing wheel running gear, move to lower single order stair it is achieved that the stair climbing action of whole device.Now, whole dress
Put stop, plc controller controls anterior cleaning device, is cleaned.Wherein, front-wheel running gear can achieve and turns to, when need
When to be turned to, to plc controller, plc controller controls its steering to sensor passes signal.Finally, achievable intelligent stair is clear
Sweep work, solve the problems, such as manually to clean stair difficulty, it is simple to operate, easy accessibility, safe and reliable.
Claims (9)
1. a kind of automatic stari creeping ladder cleans the device of stairway step it is characterised in that including vehicle frame (18), being arranged on vehicle frame (18)
Top refuse bin (4), be arranged on vehicle frame (18) rear end trailing wheel running gear, be arranged in vehicle frame (18) front end front-wheel walking
Device, it is arranged on anterior cleaning device, cam link device and the supporting mechanism (5) cleaning for stair of vehicle frame (18), after
Wheel running gear can be walked under the driving of motor i (19)；Cam link device is arranged on vehicle frame (18), and and front-wheel
Running gear connects, and realizes stairs step action with front-wheel running gear cooperation；Supporting mechanism (5) and vehicle frame (18)
Connect, work with front-wheel running gear cooperation simultaneously, the temporary transient effect supporting whole device can be played；Whole device climbs building
Ladder and the coordination of cleaning stair action, and in the turning at landing all collected by each sensor on cleaning device
Information transmission to plc controller, and issued an order by plc controller and be automatically performed each action.
2. a kind of automatic stari creeping ladder according to claim 1 cleans the device of stairway step it is characterised in that described trailing wheel
Running gear includes rear axle (20), rear axle lid (21) and two rear wheels being arranged on rear axle (20) left and right two ends,
Described rear axle (20) include belt pulley ii (22), drive shaft (64), main reducing gear (31), differential mechanism (33), axle i (32) and
Axle ii (30), belt pulley ii (22) is connected with one end of drive shaft (64), and the other end of drive shaft (64) passes through main reducing gear
(31) it is connected with one end of axle i (32), axle ii (30) with differential mechanism (33)；The other end of axle i (32) is connected with bearing i (27),
The other end of axle ii (30) is connected with bearing ii (29)；The corresponding peace of bearing i (27), bearing ii (29) turns on two rear wheels；
The upper correspondence of axle i (32), axle ii (30) is provided with ratchet i (2), the ratchet ii (26) of stopping function, ratchet i (2), ratchet ii (26)
Coordinate the rear cunning for preventing whole device from going upstairs when cleaning with flexible member；Motor i (19) driving belt pulley ii
(22) rotate, belt pulley ii (22) drives drive shaft (64) rotation, drive shaft (64) drives two axles through main reducing gear (31)
Rotation, thus drive two rear wheel rotations.
3. a kind of automatic stari creeping ladder according to claim 1 cleans the device of stairway step it is characterised in that described front-wheel
Running gear includes motor ii (40), decelerator ii (39), gear iii (50), the front truck bridge bracket (43) being arranged in juxtaposition
Two knuckles with tooth bar connecting rod (51), being connected to front truck bridge bracket (43) and tooth bar connecting rod (51) two ends and turning with two
To corresponding two front vehicle wheels connecting of section, motor ii (40) and decelerator ii (39) is fixedly mounted on front truck bridge bracket (43)
On, gear iii (50) is connected with the output shaft of decelerator ii (39),
When sensor judges to need to turn to, sensor passes signal controls motor ii to plc controller, plc controller
(40), motor ii (40), through decelerator ii (39), carries moving gear iii (50) rotation, and gear iii (50) rotation makes tooth bar even
Bar (51) does straight reciprocating motion, thus driving the knuckle at two ends to rotate, realizes the steering of front vehicle wheel.
4. a kind of automatic stari creeping ladder according to claim 1 cleans the device of stairway step it is characterised in that described cam
Linkage includes cam (35), connecting rod (36), motor iii (52), decelerator i (34) and pitch wheel i
(46) and gear ii (47), gear i (46) is coaxially connected with cam (35), and gear ii (47) is arranged on the defeated of decelerator i (34)
Go out end, the input of decelerator i (34) is connected with motor iii (52)；Cam (35) is connected with the rear end of connecting rod (36), even
Bar (36) is with the rotary motion of cam (35)；Fixing axle (48) is provided with connecting rod (36), and can around fixing axle (48) up and down
Swing；The front end of connecting rod (36) is connected with front-wheel running gear；Front-wheel running gear is provided with energy edge with the junction of vehicle frame (18)
Its move up and down hydraulic support device, hydraulic support device include bracing frame i (38), leading truck (37) and play support and
The spring of cushioning effect, the movement locus of connecting rod (36) front end are matched with the track of leading truck (37) and make front-wheel running gear edge
Fixation locus move up and down, and realize front-wheel running gear during whole device stair climbing and are lifted up, front-wheel running gear is climbed up down
Single order stair；Motor iii (52) is by plc controller control work.
5. a kind of automatic stari creeping ladder according to claim 4 cleans the device of stairway step it is characterised in that described cam
(35) have groove on, bearing pin is installed in groove, and be connected with the rear end of connecting rod (36) by bearing pin；Cam (35) rotates
When, bearing pin moves along impression orbit, and drivening rod (36) does rule along it and moves.
6. a kind of automatic stari creeping ladder according to claim 1 cleans the device of stairway step it is characterised in that described support
Mechanism (5) has two groups, is arranged symmetrically in the both sides of vehicle frame (18)；The support that every group of supporting mechanism (5) inclusion sequentially connects successively
Frame ii (54), support link i (55), support link ii (56) and hydraulically extensible tappet (57), bracing frame ii (54) is upper to be installed
There is support wheel (53)；Hydraulically extensible tappet (57) does stretching under the driving of hydraulic pump, drive support link ii (56),
Support link i (55), bracing frame ii (54) and support wheel (53) motion, make support wheel (53) put down, and play temporary transient support
The effect of whole device；Meanwhile, cam link device makes front-wheel running gear be lifted up, and treats that front-wheel running gear is lifted to upwards
During next stairway step, hydraulically extensible tappet (57) does stretching motion under the driving of hydraulic pump, drives support link ii
(56), support link i (55), bracing frame ii (54) and support wheel (53) motion, make support wheel (53) shrink upwards；
Period, plc controller controls trailing wheel running gear to move to lower single order stair.
7. a kind of automatic stari creeping ladder according to claim 1 cleans the device of stairway step it is characterised in that described cleaning
Device includes clearing apparatus (12), contiguous block (7), hydraulic tappet i (8), hydraulic tappet ii (9), hydraulic tappet iii (14), consolidates
Allocate plate (59) and move horizontally flat board (60), clearing apparatus (12) pass through hydraulic tappet ii (9), hydraulic tappet iii (14) with
The front side of contiguous block (7) connects, and the upside of contiguous block (7) is connected by the flat board (60) that moves horizontally of hydraulic tappet i (8)；Water
The dynamic flat board (60) of translation is arranged on above fixed flat planar (59), and can along on fixed flat planar (59) to move horizontally guide rail (58) left
Right motion；Whole cleaning device is fixed on vehicle frame (18) front portion by fixed flat planar (59), when hydraulic tappet i (8) stretches up and down
Contiguous block (7) and clearing apparatus (12) is driven to move up and down, stretching before and after hydraulic tappet ii (9), hydraulic tappet iii (14) realization
Contracting motion and the rotary oscillation around fixing point.
8. a kind of automatic stari creeping ladder according to claim 7 cleans the device of stairway step it is characterised in that described cleaning
Device (12) comprises suction box (62) and motor case (63), and suction box (62) is provided with garbage outlet pipeline (13), dust suction
It is provided with multiple equally distributed rotatable broom heads (61), each broom head (61) is by motor case (63) in case (62)
Motor drive carry out rotary cleaning.
9. a kind of automatic stari creeping ladder according to claim 8 cleans the device of stairway step it is characterised in that each besom
The end of head (61) is provided with belt pulley i (10), and all belt pulley i (10) are passed through in belt (11) and motor case (63)
Motor connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902617.1A CN106343927B (en) | 2016-10-18 | 2016-10-18 | Device for automatically climbing stairs and cleaning stairs steps |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610902617.1A CN106343927B (en) | 2016-10-18 | 2016-10-18 | Device for automatically climbing stairs and cleaning stairs steps |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106343927A true CN106343927A (en) | 2017-01-25 |
| CN106343927B CN106343927B (en) | 2021-11-23 |
Family
ID=57865945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610902617.1A Expired - Fee Related CN106343927B (en) | 2016-10-18 | 2016-10-18 | Device for automatically climbing stairs and cleaning stairs steps |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106343927B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107913032A (en) * | 2017-12-29 | 2018-04-17 | 洛阳理工学院 | A kind of full-automatic cleaning floor cleaning machine of stair |
| CN108814414A (en) * | 2018-05-21 | 2018-11-16 | 西安工业大学 | A kind of dust collection equipment that can be walked on ladder |
| CN108951518A (en) * | 2018-09-11 | 2018-12-07 | 哈尔滨哈锅锅炉容器工程有限责任公司 | A kind of automatic snow cleaner for exterior stair |
| CN109431390A (en) * | 2018-12-20 | 2019-03-08 | 哈尔滨理工大学 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
| CN109620068A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | Chassis assembly and floor-cleaning machine with it |
| CN110238859A (en) * | 2019-05-10 | 2019-09-17 | 长沙学院 | A kind of stair climbing clean robot |
| CN112842160A (en) * | 2020-12-31 | 2021-05-28 | 科沃斯商用机器人有限公司 | Cleaning equipment and self-moving cleaning robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0428091A1 (en) * | 1989-11-14 | 1991-05-22 | Gec Alsthom Sa | Driving device for independently rotating wheels of a railway vehicle with driving shaft |
| CN1179392A (en) * | 1997-06-16 | 1998-04-22 | 俎宏伟 | Vehicle wheel driving mode and power transmission arrangement thereof |
| CN101224698A (en) * | 2008-01-28 | 2008-07-23 | 南京航空航天大学 | Retracting-releasing device of amphibious vehicle wheel |
| CN101235628A (en) * | 2008-02-29 | 2008-08-06 | 长沙中联重工科技发展股份有限公司 | Sweeping disc with self-adapting adjusting device |
| CN101648525A (en) * | 2008-08-14 | 2010-02-17 | 邹长江 | Car for going upstairs and downstairs |
| CN102319153A (en) * | 2011-06-23 | 2012-01-18 | 耿冬 | Manual stairs-mover |
| CN203876899U (en) * | 2014-05-13 | 2014-10-15 | 中国石油大学(华东) | Three-wheeled trolley with motion trail controllable |
| CN104127157A (en) * | 2014-08-04 | 2014-11-05 | 南京信息工程大学 | Wheel-leg type stair sweeping robot |
| CN104455947A (en) * | 2014-12-07 | 2015-03-25 | 隆鑫通用动力股份有限公司 | Lifting mechanism of lift-type machine frame |
| CN104546327A (en) * | 2015-01-20 | 2015-04-29 | 王宝金 | Folding type transversely-moving electric stair climbing wheelchair |
| CN104986030A (en) * | 2015-07-14 | 2015-10-21 | 安徽工程大学 | Electric vehicle wheel side driving system and driving method |
| CN205168618U (en) * | 2015-11-11 | 2016-04-20 | 吉林大学 | Independent a steering system of commercial car front wheel based on double reduction unit constructs |
-
2016
- 2016-10-18 CN CN201610902617.1A patent/CN106343927B/en not_active Expired - Fee Related
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0428091A1 (en) * | 1989-11-14 | 1991-05-22 | Gec Alsthom Sa | Driving device for independently rotating wheels of a railway vehicle with driving shaft |
| CN1179392A (en) * | 1997-06-16 | 1998-04-22 | 俎宏伟 | Vehicle wheel driving mode and power transmission arrangement thereof |
| CN101224698A (en) * | 2008-01-28 | 2008-07-23 | 南京航空航天大学 | Retracting-releasing device of amphibious vehicle wheel |
| CN101235628A (en) * | 2008-02-29 | 2008-08-06 | 长沙中联重工科技发展股份有限公司 | Sweeping disc with self-adapting adjusting device |
| CN101648525A (en) * | 2008-08-14 | 2010-02-17 | 邹长江 | Car for going upstairs and downstairs |
| CN102319153A (en) * | 2011-06-23 | 2012-01-18 | 耿冬 | Manual stairs-mover |
| CN203876899U (en) * | 2014-05-13 | 2014-10-15 | 中国石油大学(华东) | Three-wheeled trolley with motion trail controllable |
| CN104127157A (en) * | 2014-08-04 | 2014-11-05 | 南京信息工程大学 | Wheel-leg type stair sweeping robot |
| CN104455947A (en) * | 2014-12-07 | 2015-03-25 | 隆鑫通用动力股份有限公司 | Lifting mechanism of lift-type machine frame |
| CN104546327A (en) * | 2015-01-20 | 2015-04-29 | 王宝金 | Folding type transversely-moving electric stair climbing wheelchair |
| CN104986030A (en) * | 2015-07-14 | 2015-10-21 | 安徽工程大学 | Electric vehicle wheel side driving system and driving method |
| CN205168618U (en) * | 2015-11-11 | 2016-04-20 | 吉林大学 | Independent a steering system of commercial car front wheel based on double reduction unit constructs |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107913032A (en) * | 2017-12-29 | 2018-04-17 | 洛阳理工学院 | A kind of full-automatic cleaning floor cleaning machine of stair |
| CN107913032B (en) * | 2017-12-29 | 2023-03-14 | 洛阳理工学院 | Full-automatic cleaning floor mopping machine for stairs |
| CN108814414A (en) * | 2018-05-21 | 2018-11-16 | 西安工业大学 | A kind of dust collection equipment that can be walked on ladder |
| CN108951518A (en) * | 2018-09-11 | 2018-12-07 | 哈尔滨哈锅锅炉容器工程有限责任公司 | A kind of automatic snow cleaner for exterior stair |
| CN108951518B (en) * | 2018-09-11 | 2024-01-02 | 哈尔滨哈锅锅炉容器工程有限责任公司 | Automatic snow removing device for outdoor stairs |
| CN109431390A (en) * | 2018-12-20 | 2019-03-08 | 哈尔滨理工大学 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
| CN109620068A (en) * | 2018-12-21 | 2019-04-16 | 安徽信息工程学院 | Chassis assembly and floor-cleaning machine with it |
| CN110238859A (en) * | 2019-05-10 | 2019-09-17 | 长沙学院 | A kind of stair climbing clean robot |
| CN112842160A (en) * | 2020-12-31 | 2021-05-28 | 科沃斯商用机器人有限公司 | Cleaning equipment and self-moving cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106343927B (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106343927A (en) | Automatic stairs climbing and stairs step sweeping device | |
| CN204825770U (en) | Special -purpose vehicle device is maintained to track cleanness | |
| CN106567354B (en) | A kind of stairway step Automatic vehicle for cleaning road | |
| US20210140682A1 (en) | Dust removal device for solar panel | |
| CN205617303U (en) | Groove rail cleaning device | |
| CN107386176A (en) | A kind of combined sweeper | |
| CN205661424U (en) | Automatic washing equipment of intelligence | |
| CN213077872U (en) | Building site spray dust collector | |
| CN111762131B (en) | Intelligent carriage cleaning system for empty line and cleaning method thereof | |
| CN105569401B (en) | Planar movement stacking class mechanical type parking apparatus | |
| CN206359933U (en) | A kind of hand-push type ground sweeper | |
| CN206289573U (en) | A kind of stairway step Automatic vehicle for cleaning road | |
| CN206285063U (en) | A kind of automatic stari creeping ladder cleans the device of stairway step | |
| CN107262412A (en) | A kind of brake clutch piece production dust arrester | |
| CN110065830A (en) | The flat coal equipment of unit train | |
| CN105035031B (en) | A kind of high ferro cleaning equipment | |
| CN203898206U (en) | Stairway cleaning device | |
| CN110665873A (en) | Solar photovoltaic panel cleaning robot | |
| CN206706871U (en) | A kind of sludge scavenging device of steam turbine | |
| CN207554071U (en) | A kind of self-propelled multifunctional maintenance trolley | |
| CN201005624Y (en) | Rail-climbing equipment capable of climbing slope | |
| CN207244518U (en) | A kind of full revolute pair Three Degree Of Freedom greenbelt dust suction sweeping machine device people | |
| CN205576710U (en) | Concrete road reducing mechanism | |
| CN210766565U (en) | Dust-free road sweeper | |
| CN209610993U (en) | It is a kind of for cleaning the device of glass curtain wall |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211123 |