CN106393057A - Special stair-climbing device of sweeping robot - Google Patents

Special stair-climbing device of sweeping robot Download PDF

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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
climbing
attached
stair
sweeping robot
mainframe
Prior art date
Application number
CN201611172983.2A
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Chinese (zh)
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CN106393057B (en
Inventor
邹家福
Original Assignee
遂宁市长丰机械科技有限公司
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Priority to CN201611172983.2A priority Critical patent/CN106393057B/en
Publication of CN106393057A publication Critical patent/CN106393057A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4069Driving or transmission means for the cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4072Arrangement of castors or wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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

The special Stair climbing device of sweeping robot
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.
CN201611172983.2A 2016-12-18 2016-12-18 The special Stair climbing device of sweeping robot Active CN106393057B (en)

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CN106393057B CN106393057B (en) 2018-10-09

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Citations (8)

* Cited by examiner, † Cited by third party
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
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
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
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

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Effective date of registration: 20180824

Address after: 324199 Quzhou, Zhejiang, Jiangshan City, Hushan Street Chengnan Chengyin 12 yuan 202 Garden

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Address before: 324199 Quzhou, Zhejiang, Jiangshan City, Hushan Street Chengnan Chengyin 12 yuan 202 Garden

Patentee before: Zhejiang Tonghe Catering Management Co., Ltd.