CN106798528B - Domestic stair all-around mobile clean robot - Google Patents

Domestic stair all-around mobile clean robot Download PDF

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Publication number
CN106798528B
CN106798528B CN201710077291.8A CN201710077291A CN106798528B CN 106798528 B CN106798528 B CN 106798528B CN 201710077291 A CN201710077291 A CN 201710077291A CN 106798528 B CN106798528 B CN 106798528B
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CN
China
Prior art keywords
screw rod
slide block
lifting
guide rail
lifting frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710077291.8A
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Chinese (zh)
Other versions
CN106798528A (en
Inventor
刘振鹏
王冬梅
戴仁俊
赵文哲
陈林
赵俊奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Dianji University
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Shanghai Dianji University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Dianji University filed Critical Shanghai Dianji University
Priority to CN201710077291.8A priority Critical patent/CN106798528B/en
Publication of CN106798528A publication Critical patent/CN106798528A/en
Application granted granted Critical
Publication of CN106798528B publication Critical patent/CN106798528B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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
    • 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
    • B62D57/028—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 having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to domestic stair all-around mobile clean robots, including suspension mechanism, it is set to the lifting mechanism of the suspension mechanism lower end, it is set to the slide block mechanism of the suspension mechanism lower end, it is set to the cleaning trolley of the slide block mechanism lower end, the lifting mechanism includes pedestal, the lifting frame for being set to the pedestal upper end and being bolted with pedestal, the gear engagement mechanism being respectively arranged inside the lifting frame top and bottom, the first screw rod being arranged in inside the lifting frame, the lifting motor for being set to the screw rod side and being connected with the first screw rod；The slide block mechanism includes guide rail, the second screw rod for being arranged in the guide rail interior, is set to the guide rail lower end and the sliding block being connected with guide rail, the stepper motor for being set to second screw rod side and being connected with the second screw rod.

Description

Domestic stair all-around mobile clean robot
Technical field
The present invention relates to cleaning machine field, in particular to a kind of domestic stair all-around mobile clean robot.
Background technique
Robot technology and household cleaning machine people's technology have been goed deep into our production and living, have been developed that climb now The robot of stair climbing, technology is mature, and the stair clean robot developed can smoothly complete the cleaning to stair, household Clean robot comes into people's lives, but the compound stair clean robot of family is seldom at present, but existing cleaning Robot has the disadvantage that the stair machine human body product (1) developed now is excessive, is not suitable for household；(2) existing robot Stair turning can be damaged during upstairs；(3) existing robot cannot complete the cleaning to the compound stair of family, Especially rotary compound stair；(4) not specifically for the stair clean robot of home interior；
Therefore, in order to solve disadvantages described above, a kind of domestic stair all-around mobile clean robot is needed, to solve these Problem.
Summary of the invention
The object of the present invention is to provide a kind of domestic stair all-around mobile clean robots, multiple for automated cleaning family Formula stair, lighten one's labor, and improve life convenience.
The present invention be solve its technical problem the technical scheme adopted is that
Domestic stair all-around mobile clean robot including suspension mechanism, is set to the act of the suspension mechanism lower end Liter mechanism, the slide block mechanism for being set to the suspension mechanism lower end, the cleaning trolley for being set to the slide block mechanism lower end:
The lifting mechanism include pedestal, the lifting frame for being set to the pedestal upper end and being bolted with pedestal, It is respectively arranged at the gear engagement mechanism inside the lifting frame top and bottom, first be arranged in inside the lifting frame Bar, the lifting motor for being set to the screw rod side and being connected with the first screw rod；Lifting motor passes through the first screw rod of driving Operating is to adjust the height of lifting frame, to realize the height adjustment of entire lifting mechanism；
The slide block mechanism includes guide rail, the second screw rod for being arranged in the guide rail interior, is set to the guide rail lower end And the sliding block being connected with guide rail, the stepper motor for being set to second screw rod side and being connected with the second screw rod；Second Screw rod is arranged in guide rail interior, and second screw rod one end is connected with sliding block, and the operating of the second screw rod is driven by stepper motor, To realize movement of the sliding block on guide rail；
The cleaning trolley includes car body, the Mecanum wheel for being set to the vehicle body side, is set to the car body side The identification device sensor in face, the brush for being set to the vehicle bottom, the suction inlet for being set to the vehicle bottom；It cleans small Vehicle is internally provided with the control system for integrally controlling, and cleaning trolley is set to slide block mechanism lower end, and cleans trolley upper end It is bolted to connection with the sliding block lower end inside slide block mechanism, due to the operating of slide block mechanism, to drive cleaning trolley Position translation, cleaning trolley realizes any direction of the cleaning trolley on stair face by the Mecanum wheel of vehicle body side Plane motion, Mecanum wheel completes to drive by interior four set coding motor, and identification device sensor is set to clearly The four direction all around of clean trolley guarantees car safety work and does not fall or do not collide with；
Further, the suspension mechanism is connected with lifting mechanism and slide block mechanism respectively, the lifting mechanism quantity It is two, is not set to two side position of slide block mechanism, and two lifting mechanism keeping parallelisms, the lifting frame of the lifting mechanism Upper surface is connected by bolt with suspension mechanism, and the guide rail of the slide block mechanism is connected by bolt with suspension mechanism；
Further, the lifting frame is furcated mechanism；
Further, the brush quantity is four, is respectively arranged at vehicle bottom marginal position, the suction inlet is " ten " font, allows and is easily inhaled into suction inlet by the rubbish that brush is swept into, and pick-up performance is more preferable；
It is an advantage of the current invention that
Cleaning of the domestic stair all-around mobile clean robot for stair in people's life, is conducive to as people's saving A large amount of time and energy, have filled up the deficiency and defect of existing clean robot, have very strong innovative with economic valence Value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of domestic stair all-around mobile clean robot proposed by the present invention；
Fig. 2 is the structural schematic diagram of the lifting mechanism of domestic stair all-around mobile clean robot proposed by the present invention；
Fig. 3 is the structural schematic diagram of domestic stair all-around mobile clean robot cleaning trolley proposed by the present invention；
Fig. 4 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Fig. 5 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Fig. 6 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Wherein: 1- suspension mechanism；2- lifting mechanism；21- pedestal；22- lifting frame；23- gear engagement mechanism；24- first Screw rod；25- lifting motor；3- slide block mechanism；31- guide rail；The second screw rod of 32-；33- sliding block；34- stepper motor；4- cleaning is small Vehicle；41- car body；42- Mecanum wheel；43- identification device sensor；44- brush；45- suction inlet.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Diagram and specific embodiment are closed, the present invention is further explained.
As shown in Figures 1 to 6, domestic stair all-around mobile clean robot proposed by the present invention, including suspension mechanism 1, it is set to the lifting mechanism 2 of the suspension mechanism lower end, the slide block mechanism 3 for being set to the suspension mechanism lower end, is set to The cleaning trolley 4 of the slide block mechanism lower end:
The lifting frame that the lifting mechanism includes pedestal 21, is set to the pedestal upper end and is bolted with pedestal 22, it is respectively arranged at the gear engagement mechanism 23 inside the lifting frame top and bottom, is arranged in inside the lifting frame First screw rod 24, the lifting motor 25 for being set to the screw rod side and being connected with the first screw rod；Lifting motor passes through driving The operating of first screw rod is to adjust the height of lifting frame, to realize the height adjustment of entire lifting mechanism；
The slide block mechanism includes guide rail 31, the second screw rod 32 for being arranged in the guide rail interior, is set to the guide rail Lower end and the sliding block 33 being connected with guide rail, the stepper motor for being set to second screw rod side and being connected with the second screw rod 34；Second screw rod is arranged in guide rail interior, and second screw rod one end is connected with sliding block, drives the second screw rod by stepper motor Operating, to realize movement of the sliding block on guide rail；
The cleaning trolley includes car body 41, the Mecanum wheel 42 for being set to the vehicle body side, is set to the vehicle The identification device sensor 43 of body side surface, the brush 44 for being set to the vehicle bottom, the dust suction for being set to the vehicle bottom Mouth 45；Cleaning car interior is provided with the control system for integrally controlling, and cleaning trolley is set to slide block mechanism lower end, and clear Clean trolley upper end is bolted to connection with the sliding block lower end inside slide block mechanism, due to the operating of slide block mechanism, thus band The position translation of dynamic cleaning trolley, cleaning trolley realize cleaning trolley on stair face by the Mecanum wheel of vehicle body side Any direction plane motion, Mecanum wheel completes to drive by interior four set coding motor, identification device sensing Device is set to the four direction all around of cleaning trolley, guarantees car safety work and does not fall or do not collide with；
Further, the suspension mechanism is connected with lifting mechanism and slide block mechanism respectively, the lifting mechanism quantity It is two, is not set to two side position of slide block mechanism, and two lifting mechanism keeping parallelisms, the lifting frame of the lifting mechanism Upper surface is connected by bolt with suspension mechanism, and the guide rail of the slide block mechanism is connected by bolt with suspension mechanism；
Further, the lifting frame is furcated mechanism；
Further, the brush quantity is four, is respectively arranged at vehicle bottom marginal position, the suction inlet is " ten " font, allows and is easily inhaled into suction inlet by the rubbish that brush is swept into, and pick-up performance is more preferable；
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent defines.

Claims (1)

1. domestic stair all-around mobile clean robot, including suspension mechanism (1), it is set to the act of the suspension mechanism lower end Rise mechanism (2), the slide block mechanism (3) that is set to the suspension mechanism lower end, the cleaning for being set to the slide block mechanism lower end it is small Vehicle (4):
The lifting frame that the lifting mechanism includes pedestal (21), is set to the pedestal upper end and is bolted with pedestal (22), it is respectively arranged at the gear engagement mechanism (23) inside the lifting frame top and bottom, is arranged in the lifting frame First screw rod (24) in portion, the lifting motor (25) for being set to the screw rod side and being connected with the first screw rod (24)；Lifting Motor adjusts the height of lifting frame by the operating of the first screw rod of driving, to realize the height adjustment of entire lifting mechanism；
The slide block mechanism include guide rail (31), the second screw rod (32) for being arranged in the guide rail interior (31), be set to it is described The guide rail lower end and sliding block being connected with guide rail (33), the step that is set to second screw rod side and is connected with the second screw rod Into motor (34)；Second screw rod is arranged in guide rail interior, and second screw rod one end is connected with sliding block, is driven by stepper motor The operating of second screw rod, to realize movement of the sliding block on guide rail；
The cleaning trolley includes car body (41), the Mecanum wheel (42) for being set to the vehicle body side, is set to the vehicle The identification device sensor (43) of body side surface, is set to the vehicle bottom at the brush (44) for being set to the vehicle bottom Suction inlet (45)；Cleaning car interior is provided with the control system for integrally controlling, and cleaning trolley is set under slide block mechanism End, and clean trolley upper end and be bolted to connection with the sliding block lower end inside slide block mechanism, due to the operating of slide block mechanism, To drive the position translation of cleaning trolley, cleaning trolley realizes cleaning trolley in building by the Mecanum wheel of vehicle body side The plane motion of any direction on tread, Mecanum wheel are completed to drive by interior four set coding motor, identification dress The four direction all around that sensor is set to cleaning trolley is set, guarantee car safety work and does not fall or does not collide with；
The suspension mechanism is connected with lifting mechanism and slide block mechanism respectively, and the lifting mechanism quantity is two, sets respectively It is placed in two side position of slide block mechanism, and two lifting mechanism keeping parallelisms, the upper surface of the lifting frame of the lifting mechanism pass through Bolt is connected with suspension mechanism, and the guide rail of the slide block mechanism is connected by bolt with suspension mechanism.
CN201710077291.8A 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot Expired - Fee Related CN106798528B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710077291.8A CN106798528B (en) 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710077291.8A CN106798528B (en) 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot

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Publication Number Publication Date
CN106798528A CN106798528A (en) 2017-06-06
CN106798528B true CN106798528B (en) 2019-02-15

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107440596B (en) * 2017-08-23 2020-12-22 上海交通大学 Remove domestic window robot of wiping based on all-round mecanum wheel
CN107874709B (en) * 2017-10-18 2019-11-01 衢州学院 A kind of cylinder balustrade cleaner
CN108113581A (en) * 2017-12-25 2018-06-05 苏州塔比诺机电有限公司 A kind of sweeping robot
CN114767006B (en) * 2022-04-06 2024-06-04 同济大学 Stair climbing mechanism applied to sweeping robot
CN114920161A (en) * 2022-04-27 2022-08-19 一汽奔腾轿车有限公司 Driving device of electric lifting device

Citations (10)

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CN201683852U (en) * 2010-06-08 2010-12-29 德州学院 Corridor cleaning robot
CN102631172A (en) * 2012-04-20 2012-08-15 南通大学 Lifting telescopic corridor cleaning robot
CN103072885A (en) * 2013-01-24 2013-05-01 苏州科莱尼机电科技有限公司 Cleaning device for stairs of escalator with convenience in operation and safety performance
CN204071957U (en) * 2014-08-01 2015-01-07 西南科技大学 A kind of Intelligent sweeping machine device people
CN104627899A (en) * 2015-02-04 2015-05-20 黄骅 Shear type lifting platform
CN105151151A (en) * 2014-05-08 2015-12-16 南通大学 Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs
DE102014011235A1 (en) * 2014-08-05 2016-02-25 Gerald Amler Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices
CN105996910A (en) * 2016-05-19 2016-10-12 上海电机学院 Domestic stair automatic cleaning robot
DE102016111826A1 (en) * 2015-07-21 2017-01-26 Miele & Cie. Kg Self-propelled staircase floor cleaning device and method for overcoming a step by a self-propelled floor cleaning device
CN106379834A (en) * 2016-11-24 2017-02-08 华南理工大学 Liftable moving robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201683852U (en) * 2010-06-08 2010-12-29 德州学院 Corridor cleaning robot
CN102631172A (en) * 2012-04-20 2012-08-15 南通大学 Lifting telescopic corridor cleaning robot
CN103072885A (en) * 2013-01-24 2013-05-01 苏州科莱尼机电科技有限公司 Cleaning device for stairs of escalator with convenience in operation and safety performance
CN105151151A (en) * 2014-05-08 2015-12-16 南通大学 Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs
CN204071957U (en) * 2014-08-01 2015-01-07 西南科技大学 A kind of Intelligent sweeping machine device people
DE102014011235A1 (en) * 2014-08-05 2016-02-25 Gerald Amler Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices
CN104627899A (en) * 2015-02-04 2015-05-20 黄骅 Shear type lifting platform
DE102016111826A1 (en) * 2015-07-21 2017-01-26 Miele & Cie. Kg Self-propelled staircase floor cleaning device and method for overcoming a step by a self-propelled floor cleaning device
CN105996910A (en) * 2016-05-19 2016-10-12 上海电机学院 Domestic stair automatic cleaning robot
CN106379834A (en) * 2016-11-24 2017-02-08 华南理工大学 Liftable moving robot

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