CN106393057A - Special stair-climbing device of sweeping robot - Google Patents
Special stair-climbing device of sweeping robot Download PDFInfo
- Publication number
- CN106393057A CN106393057A CN201611172983.2A CN201611172983A CN106393057A CN 106393057 A CN106393057 A CN 106393057A CN 201611172983 A CN201611172983 A CN 201611172983A CN 106393057 A CN106393057 A CN 106393057A
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- CN
- China
- Prior art keywords
- attached
- stair
- climbing device
- sweeping robot
- climbing
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a special stair-climbing device of a sweeping robot. The special stair-climbing device comprises a main climbing mechanism, an auxiliary climbing mechanism, a main rack, an auxiliary rack, a bottom plate, a baffle, a turning mechanism, a detector and a control system, wherein crawler-type climbing mechanisms are installed at the two sides of each of the auxiliary rack and the main rack. The auxiliary rack is hinged at the front end of the main rack. The turning mechanism is installed between the main rack and the auxiliary rack. The bottom plate is installed below the middle of the main rack, and the baffle is connected to the rear end of the bottom plate. The robot meets with the stair-climbing device upstairs and downstairs while being about to go upstairs or downstairs. The auxiliary rack rotates upwards, and the robot climbs onto the bottom plate in place through the middle below the auxiliary rack. The auxiliary rack rotates upwards and the robot climbs onto a floor through the middle below the auxiliary rack after the robot goes upstairs or downstairs. The auxiliary climbing mechanism is capable of changing an angle with the main climbing mechanism according to the condition of going upstairs or downstairs. The stair-climbing device has a wireless connection function with the robot. The auxiliary climbing mechanism rotates upwards and is vertically close to a wall when not in use, and occupies less space. The problem that the sweeping robot cannot go upstairs or downstairs is solved.
Description
Technical field
The invention belongs to the special Stair climbing device in environmental protection machinery field, particularly sweeping robot.
Background technology
Existing sweeping robot small volume, can enter huge numbers of families and clean floor, because it is highly short, can enter
Under cabinet, sofa below go clean rubbish.But all can not go upstairs, go downstairs.Duplex type, splitlevel suite have ladder step now.
One sweeping robot can only upstairs, or can only clean it is impossible to building in several rooms cleaning work of same aspect downstairs
On downstairs all rooms clean.
Content of the invention
The invention aims to overcoming the shortcomings of existing sweeping robot, enable the upper and lower stair of sweeping robot,
Can to upstairs, the special Stair climbing device of each room is cleaned downstairs sweeping robot.
The present invention is realized in：The special Stair climbing device of sweeping robot, is a kind of and the supporting use of sweeping robot
Device in upper and lower stair.Stair climbing device include main climbing mechanism, attached climbing mechanism, mainframe, attached frame, base plate, baffle plate,
Turnover mechanism, detector, control system.Turnover mechanism is installed between attached frame and mainframe, attached frame rear end is hinged at master
Frame front end, can be around hinge axis rotation.Base plate is installed below mainframe, base plate rear end is fixedly connected with baffle plate.Master creeps
Mechanism is arranged on mainframe, and attached climbing mechanism is arranged on attached frame.Turnover mechanism includes drive sprocket, attached sprocket wheel, main tooth
Wheel, attached gear, support, turnover motor, chain.Master gear is fixed on mainframe front end, after attached gear is arranged on attached frame
End, master gear is engaged with attached gear.Drive sprocket is arranged on turnover motor, and turnover motor is arranged on the support at attached frame rear
On, attached sprocket wheel and attached gear coaxial line are connected integral, and attached sprocket wheel and drive sprocket are provided with chain.Sweeping robot
When wanting upper and lower stair, attached frame is rotated up, and sweeping robot is climbed to through idle space middle below attached frame and arrived on base plate
Position, after the completion of Stair climbing device carries the upper and lower stair of sweeping robot, attached frame is rotated up, and sweeping robot is through under attached frame
Square intermediate space is climbed on floor.Detector is installed below mainframe.When Stair climbing device does not use, attached frame is upwards collected through,
Dock to specified location, reduce and take up an area space.Main climbing mechanism and attached climbing mechanism are by respective crawler belt, driving wheel, guide wheel, drive
Dynamic motor composition.There is the radio contact function of cooperating between Stair climbing device and sweeping robot.Stair climbing device has wirelessly to be led
Boat function.There is the function of automatically climbing up base plate, climb down base plate in the control system of sweeping robot.
The present invention is a set of special Stair climbing device supporting to existing sweeping robot, hereinafter referred to as Stair climbing device.Sweep the floor
Hereinafter referred to as robot of robot.The main frame of Stair climbing device is made up of mainframe, attached frame, and mainframe and attached frame both sides are each
Self installation has a set of crawler type climbing mechanism.Attached frame rear end is hinged at mainframe front end.Install between attached frame and mainframe
There is turnover mechanism.Turnover mechanism is made up of drive sprocket, attached sprocket wheel, master gear, attached gear, support, turnover motor, chain.Main
Frame front end is mounted with master gear, can not rotate between master gear and mainframe.The hinge centres of mainframe front end and master
Gear centre coaxial line.Attached frame rear end is provided with attached gear, and attached gear mutually can be rotated with attached frame.Attached gear and main tooth
Wheel engagement.The attached sprocket wheel coaxial with attached gear and attached gear are integrally fixed.Turnover electricity is provided with the support of attached frame rear end
Machine.On turnover motor, drive sprocket is installed.Attached sprocket wheel and drive sprocket are by chain drive.When turnover motor positive and inverse, drive
Attached sprocket wheel and attached pinion rotation, make whole attached frame and attached climbing mechanism rotate up and down under the reaction force of master gear, permissible
Change the angle of attached climbing mechanism and main climbing mechanism.
Detector is installed below mainframe, by image or range finding detection, can be detector position upper
Building or the downstairs middle ladder step incoming control system of sequence number passed through.After control system is computed processing according to this signal, instruction turns
Folding motor adjusts the angle between attached climbing mechanism and main climbing mechanism, to ensure this Stair climbing device smoothly smoothly upper and lower building
Ladder.User only needs to TIP that series stair, the height of ladder step and width input in Stair climbing device just.
Base plate is arranged on below mainframe centre, is suitably above ground.Base plate front end bevel, facilitates robot to climb
Above, climb down base plate.Base plate rear end is fixedly connected with baffle plate.
There is the function of radio contact between Stair climbing device and robot.Stair climbing device has navigation feature, that is, have and refer to from it
Determine the route identification function at stair for the parking place.
Robot will upper and lower stair, first give one wireless signal of Stair climbing device, Stair climbing device receives after signal i.e. and machine
People joins on stair or below stair.Attached frame is rotated up certain angle.Robot is automatically through middle below attached frame
Space is climbed on base plate.Then, after device carries the upper and lower stair of robot upstairs, attached frame turns, robot is through under attached frame
Square intermediate space is climbed on floor.
When Stair climbing device does not use, move to specified stand.Attached climbing mechanism is rotated up drawing in uprightly, can lean on
Nearly wall, takes up space less.
Stair climbing device is charged using wireless charging mode.
It is an advantage of the current invention that：1st, mounting base below mainframe centre, base plate rear end arranges baffle plate.Stair climbing
When, baffle plate can block robot, and robot will not fall down because mainframe tilts.2nd, attached frame can be around mainframe front end
Hinge rotate.During stair climbing, thus it is possible to vary the angle between attached frame and mainframe, facilitate upper and lower stair.When not using,
Attached frame be rotated up packing up upright, lean on wall, greatly reduce and take up room.3rd, Stair climbing device is had and is mutually wirelessly joined with robot
The function of system and navigation feature, can convenient be coordinated at any time upstairs with downstairs with robot.Solve existing Household floor-sweeping machine device people
Can not upper and lower building a difficult problem.4th, the control system of robot has the function of automatically climbing up, climb down stair, and robot can climb automatically
Above, stair are climbed down.
Brief description
Fig. 1 is the overall structure figure of the special Stair climbing device of sweeping robot.
Fig. 2 is main, attached frame structure and section connecting element installation situation figure.
Fig. 3 is that Stair climbing device is gone upstairs procedure chart.
Fig. 4 is that Stair climbing device is gone upstairs procedure chart.
Fig. 5 is that Stair climbing device is gone upstairs procedure chart.
Fig. 6 is that Stair climbing device is gone upstairs procedure chart.
Fig. 7 is that Stair climbing device is gone upstairs procedure chart.
In accompanying drawing：Attached frame 1, crawler belt 2, battery 3, guide wheel 4, driving wheel 5, wall 6, motor 7, TIP 8,
Sweeping robot 9, base plate 10, baffle plate 11, mainframe 12, floor 13, support 14, drive sprocket 15, turnover motor 16, chain
17th, master gear 18, detector 19, attached gear 20, attached sprocket wheel 21, stair 22.
Specific embodiment
In Fig. 1, it is the overall structure figure of the special Stair climbing device of sweeping robot, be also that attached climbing mechanism is rotated up directly
Vertical situation map.Climbing mechanism is crawler type climbing mechanism.In Fig. 1, before attached frame 1 both sides lower end is hinged at mainframe 12 both sides
End.Main climbing mechanism and attached climbing mechanism are all made up of crawler belt 2, guide wheel 4, driving wheel 5, motor 7.Install on mainframe 12
Main climbing mechanism, attached frame 1 is installed attached climbing mechanism.On master, attached frame, both sides are fitted with guide wheel 4.Mainframe rear end, attached
Frame upper end both sides are provided with motor 7.Angle between main climbing mechanism and attached climbing mechanism can adjust.Guide wheel 4 He
Driving wheel 5 is all arranged on main, attached frame both sides, and crawler belt 2 is rubber belt track, is arranged on guide wheel 4 and driving wheel 5.Mainframe with
Turnover mechanism is installed between attached frame.Clear for drawing, in Fig. 1, turnover mechanism is not drawn into.
Base plate 10 is arranged on below mainframe centre.Base plate 10 rear end is connected with baffle plate 11.In Fig. 1, sweeping robot 9 stops
It is placed on base plate 10.
When situation in Fig. 1 is that Stair climbing device does not use, it is parked in specified location, attached climbing mechanism is rotated up uprightly,
Near wall 6, take up room very little.
In Fig. 2, it is main, attached frame structure and section connecting element installation situation figure.Mainframe 12, attached frame 1 both sides have
Wheel carrier, wheel carrier is used for installing the main, driving wheel of attached climbing mechanism and guide wheel.Attached frame front end depicts motor 7, and only draws
Go out a guide wheel 4.The wheel carrier rear end on attached frame both sides is the wheel carrier front end that lower end in Fig. 1 is hinged at mainframe both sides, hinge
Even central axis pin is separately fixed at mainframe wheel carrier front end both sides.Mainframe 12 front end is mounted with master gear 18, master gear
Axle center and master, the hinge centres coaxial line of attached frame.Master gear can not mutually be rotated with mainframe.Attached frame rear end is provided with attached
Gear 20, attached gear mutually can be rotated with attached frame.Master gear 18 is engaged with attached gear 20.Attached gear 20 is with attached sprocket wheel 21 even
Connect and be integrally fixed, be arranged on fixing same pivot pin on attached frame.Fixing support on the wheel carrier of attached frame rear side edge
Turnover motor 16 is installed on 14, turnover motor 16 is provided with drive sprocket 15.Pacify between drive sprocket 15 and attached sprocket wheel 21
Equipped with chain 17.Turnover motor positive and inverse, that is, drive attached frame to rotate an angle.Install solid below the wheel carrier on mainframe both sides
Surely there is base plate 10, base plate links into an integrated entity the wheel carrier on both sides.Base plate 10 rear end is connected with baffle plate 11.Storage is provided with attached frame
Battery 3 and TIP 8.In Fig. 2, in front of the wheel carrier of mainframe, lower section is provided with a detector 19.
In Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, it is that Stair climbing device is gone upstairs procedure chart.Clear for drawing, in Fig. 3 to Fig. 7 all
It is not drawn into motor of transferring.When robot will go upstairs, first send a signal to Stair climbing device, Stair climbing device receives after signal i.e.
Join all below stair with robot.Attached frame is rotated up, and reveals underlying space.Robot is through middle empty below attached frame
Between climb up base plate.Robot crawls into base plate and puts in place, is blocked by baffle plate.When upstairs, attached climbing mechanism first rides over first order stair 22
Seamed edge on, as shown in Figure 3.Stair climbing device stair climbing upwards immediately.When detector detects position through afterbody
During stair 22, as shown in figure 4, attached climbing mechanism rotates down, on the floor 13 that falls in front of attached climbing mechanism above stair,
Stair climbing device continues to go ahead, and attached climbing mechanism changes an angle with the rising of main climbing mechanism, as shown in Figure 5.When master climbs
When row mechanism climbs up afterbody stair completely, main climbing mechanism is still walked a segment distance on floor, as shown in Figure 6.At this moment
Attached climbing mechanism is rotated up, and so that master, attached climbing mechanism is all landed, attached climbing mechanism continues up rotation, as shown in Figure 7.
Carry out cleaning works on the floor 13 that robot intermediate space below attached frame is climbed to upstairs.Stair climbing device is in shape of awaiting orders
State, uses when going downstairs for robot, or Stair climbing device can return to specified location and await orders.
Downstairs process is contrary with process upstairs for robot, is a reverse process.Be its be sequentially as Fig. 7, Fig. 6, Fig. 5,
The order of Fig. 4, Fig. 3.
When robot will go downstairs, first send a signal to Stair climbing device, Stair climbing device and robot are all on stair
Join in face.Turn on attached frame, base plate is climbed up through intermediate space below attached frame by robot, as shown in Figure 7.When downstairs, master creeps
Front, retroversion is creeped for mechanism.Attached climbing mechanism turns to Fig. 6 position, and Stair climbing device is advanced to stair, climbs down stair, as Fig. 5 institute
Show.Attached climbing mechanism is rotated up, as shown in Figure 4.Stair climbing device continues to climb down stair, finally reaches the floor below stair
On, as shown in Figure 3.Downstairs process terminates.
There is the function of radio contact between Stair climbing device and robot.Stair climbing device has self-navigation function, that is, from stair
The identification function of route between specified parking a little.
Claims (5)
1. the special Stair climbing device of sweeping robot, is a kind of and the supporting device for upper and lower stair of sweeping robot, and it is special
Levy and be：Stair climbing device includes main climbing mechanism, attached climbing mechanism, mainframe, attached frame, base plate, baffle plate, turnover mechanism, inspection
Survey device, control system；
Turnover mechanism is installed between attached frame and mainframe, attached frame rear end is hinged at mainframe front end, can be around hinge axle center
Rotate；
Base plate is installed below mainframe, base plate rear end is fixedly connected with baffle plate；
Main climbing mechanism is arranged on mainframe, and attached climbing mechanism is arranged on attached frame；
Turnover mechanism includes drive sprocket, attached sprocket wheel, master gear, attached gear, support, turnover motor, chain；
Master gear is fixed on mainframe front end, and attached gear is arranged on attached frame rear end, and master gear is engaged with attached gear；
Drive sprocket is arranged on turnover motor, and turnover motor is arranged on the support at attached frame rear, attached sprocket wheel and attached gear
Coaxial line is connected integral, and attached sprocket wheel and drive sprocket are provided with chain；
When sweeping robot wants upper and lower stair, attached frame is rotated up, and sweeping robot is through idle space middle below attached frame
Climb to and put in place on base plate, after the completion of Stair climbing device carries the upper and lower stair of sweeping robot, attached frame is rotated up, machine of sweeping the floor
People climbs on floor through intermediate space below attached frame；
Detector is installed below mainframe；
When Stair climbing device does not use, attached frame is upwards collected through, and docks to specified location, reduces and takes up an area space.
2. sweeping robot according to claim 1 special Stair climbing device it is characterised in that：Main climbing mechanism and attached climb
Row mechanism is made up of respective crawler belt, driving wheel, guide wheel, motor.
3. sweeping robot according to claim 1 special Stair climbing device it is characterised in that：Stair climbing device and sweeper
There is the radio contact function of cooperating between device people.
4. sweeping robot according to claim 1 special Stair climbing device it is characterised in that：Stair climbing device has wirelessly to be led
Boat function.
5. sweeping robot according to claim 1 special Stair climbing device it is characterised in that：The control of sweeping robot
There is the function of automatically climbing up base plate, climb down base plate in system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611172983.2A CN106393057B (en) | 2016-12-18 | 2016-12-18 | The special Stair climbing device of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611172983.2A CN106393057B (en) | 2016-12-18 | 2016-12-18 | The special Stair climbing device of sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106393057A true CN106393057A (en) | 2017-02-15 |
| CN106393057B CN106393057B (en) | 2018-10-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611172983.2A Expired - Fee Related CN106393057B (en) | 2016-12-18 | 2016-12-18 | The special Stair climbing device of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393057B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024067873A1 (en) * | 2022-09-29 | 2024-04-04 | 苏州宝时得电动工具有限公司 | Transport device, cleaning system, control method, and maintenance system |
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| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| KR20110006457U (en) * | 2009-12-21 | 2011-06-29 | 조재호 | Cleaner for stair nonslip |
| CN103863424A (en) * | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN105700531A (en) * | 2016-04-18 | 2016-06-22 | 南京工程学院 | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof |
| CN205721357U (en) * | 2016-04-18 | 2016-11-23 | 南京工程学院 | A kind of domestic two-layer based on self-defined map work sweeping robot |
| CN206366987U (en) * | 2016-12-18 | 2017-08-01 | 遂宁市长丰机械科技有限公司 | The special Stair climbing device of sweeping robot |
-
2016
- 2016-12-18 CN CN201611172983.2A patent/CN106393057B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009090795A (en) * | 2007-10-09 | 2009-04-30 | Ihi Corp | Multi-leg type traveling device |
| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| KR20110006457U (en) * | 2009-12-21 | 2011-06-29 | 조재호 | Cleaner for stair nonslip |
| CN103863424A (en) * | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN105700531A (en) * | 2016-04-18 | 2016-06-22 | 南京工程学院 | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof |
| CN205721357U (en) * | 2016-04-18 | 2016-11-23 | 南京工程学院 | A kind of domestic two-layer based on self-defined map work sweeping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024067873A1 (en) * | 2022-09-29 | 2024-04-04 | 苏州宝时得电动工具有限公司 | Transport device, cleaning system, control method, and maintenance system |
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| Publication number | Publication date |
|---|---|
| CN106393057B (en) | 2018-10-09 |
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Effective date of registration: 20180824 Address after: 324199 Quzhou, Zhejiang, Jiangshan City, Hushan Street Chengnan Chengyin 12 yuan 202 Garden Applicant after: Zhejiang is the same as he Catering Management Co.,Ltd. Address before: 629000 4-26-6, 139 of Shu Xiu street, Suining, Sichuan. Applicant before: SUINING CHANGFENG MECHANICAL TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191028 Address after: 221361 eight village, Bayi Town, Pizhou City, Xuzhou, Jiangsu Patentee after: Pizhou Ruihe Agricultural Development Co.,Ltd. Address before: 324199 Quzhou, Zhejiang, Jiangshan City, Hushan Street Chengnan Chengyin 12 yuan 202 Garden Patentee before: Zhejiang is the same as he Catering Management Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181009 |