CN108042054A - A kind of corridor is with step automatic cleaning machine people - Google Patents
A kind of corridor is with step automatic cleaning machine people Download PDFInfo
- Publication number
- CN108042054A CN108042054A CN201711307898.7A CN201711307898A CN108042054A CN 108042054 A CN108042054 A CN 108042054A CN 201711307898 A CN201711307898 A CN 201711307898A CN 108042054 A CN108042054 A CN 108042054A
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- Prior art keywords
- babinet
- module
- shaft
- rubbish
- middle housing
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- 238000004140 cleaning Methods 0.000 title claims abstract description 51
- 238000001179 sorption measurement Methods 0.000 claims abstract description 20
- 230000007423 decrease Effects 0.000 claims abstract description 9
- 238000010521 absorption reaction Methods 0.000 claims abstract description 6
- 239000004677 Nylon Substances 0.000 claims description 25
- 229920001778 nylon Polymers 0.000 claims description 25
- 230000009184 walking Effects 0.000 claims description 5
- 230000002776 aggregation Effects 0.000 claims description 3
- 238000004220 aggregation Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 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
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Cleaning In General (AREA)
Abstract
The invention belongs to robotic technology fields, specifically a kind of corridor is with step automatic cleaning machine people, including babinet, laterally clean module, rubbish concentrating module, auxiliary decline module, box body splicing module and adsorption module, connecting portion between babinet is correspondingly arranged on cone boss and conical socket, electromagnet one is both provided in conical socket and cone boss, the bottom of right case is provided with horizontal traveling wheel, and the bottom of middle housing is provided with longitudinal traveling wheel；Laterally clean the cleaning that module is used to implement rubbish on step；Rubbish concentrating module is used to rubbish being cleaned to next step from a upper step；Assistance for lifting module is used to that the babinet on the left side to be made to keep falling on next step surface under horizontality；Box body splicing module is used to that three babinets to be made to form a whole；Adsorption module is used to make babinet absorption on the ground without movement.The configuration of the present invention is simple can smoothly realize movement between step, and operational process is steady, work efficiency is high.
Description
Technical field
The invention belongs to robotic technology fields, are specifically a kind of corridor with step automatic cleaning machine people.
Background technology
With economic rapid development, high-riser and high-rise residential building quantity abruptly increase are modernized, labour supplies
To deficiency, the realistic problems such as employed labor force's cost is huge, make our active demand intelligent passageway sweeping robots.For climbing building
The research of robot has had considerably long phase of history, presently, there are stair climbing robot be broadly divided into following four class
Type：Planet gear type, crawler type, leg foot formula and parallelogram lindage formula.Planet gear type:Meeting certain terrain adaptability premise
Under, the advantages that mobile robot movement is flexible, control is simple can be given full play to, but since conventional planetary wheel wheel group structure does not conform to
Reason, climbs inefficient during building, and the whole stationarity of robot hardly results in guarantee during operation.Crawler type:Track type climbing-building mechanism
With extensive, especially it is very welcomed in all kinds of anti-riot robots make.It is mainly characterized by:Obstacle climbing ability is strong, and can be with
Different stair are adapted to, center of gravity fluctuation is small during stair activity, and movement is quite steady.When its maximum deficiency is level walking
Resistance is larger, moves dumb, high energy consumption, in stair climbing, if design is improper, crawler belt is also easily damaged stair ladder edge.This
Outside, at a certain moment of just going downstairs, entire mechanism can tilt suddenly.Legged mobile robot:Ground is adaptable, and stability is high, but
Mechanism and control are complicated, the speed of service is low and the cost of manufacture also costly.Parallelogram lindage formula：Lifting is devised with stretching
Stair activity is realized in the movement of two degree of freedom of contracting, and the robot architecture is reasonable, and working performance is preferable.But similary stability is owed
Good, robot easily tumbles in itself, it is more difficult to control, operational efficiency is not high.
More than four kinds of stair climbing robots be current most common type, each has the characteristics that it, but also not
Foot, this also greatly limits its application in wider scope.
In consideration of it, a kind of corridor of the present invention is with step automatic cleaning machine people, using split-type design, structure letter
It is single, movement is rapid, can realize the cleaning of corridor step, control mode of getting out of a predicament or an embarrassing situation is simple, and to step without destructiveness, low energy consumption,
The scope of application is wider, specifically has the beneficial effect that：
1. a kind of corridor of the present invention is made of with step automatic cleaning machine people, institute's babinet of the present invention three parts,
The spelling of babinet is realized using the mutual cooperation of dual-axle motor, nylon rope, cone boss and conical socket by box body splicing module
It connects, box body combinations are integral equal with step surface width, realize and clean along the length direction of step surface；When needs are got out of a predicament or an embarrassing situation
When, three babinets realize separation, complete the work got out of a predicament or an embarrassing situation one by one, simple in structure, and movement is rapid, work efficiency is high.
2. a kind of corridor of the present invention cleans module in horizontal walking with step automatic cleaning machine people, the transverse direction
The cleaning of rubbish on step surface is realized under the drive of wheel, rubbish is moved to corner in the drive for laterally cleaning module, then leads to
It crosses rubbish concentrating module the rubbish on a upper step surface is cleaned on next step surface, realizes the aggregation of rubbish.
3. a kind of corridor of the present invention declines module, box body splicing with step automatic cleaning machine people, the auxiliary
Module and adsorption module cooperate, and realize three babinet steady falls to next step surface, move mode flexibly, need not
Manual operation, adaptive ability are strong.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention proposes a kind of corridor step automatic cleaning machine people, this hair
It is bright to be mainly used for solving the problems, such as that corridor sweeping robot is expensive, control mode is complicated, movement is slow, stability is insufficient.
The present invention just can once realize step surface by setting split type babinet, horizontal traveling wheel and laterally clean module
Cleaning, improves the efficiency of cleaning, cleaning process is steady, simple in structure；Meanwhile the auxiliary set on babinet declines module, case
Body concatenation module and adsorption module realize is moved to babinet on next step surface one by one, without human intervention, control mode
Flexibly.
The technical solution adopted by the present invention to solve the technical problems is：A kind of corridor step of the present invention is automatic
Sweeping robot including babinet, laterally cleans module, rubbish concentrating module, auxiliary decline module, box body splicing module and absorption
Module, the babinet quantity are three, the horizontal through hole opened up with perforation front/rear end on babinet, along case on the front/rear end of babinet
Body bottom surface is provided with rectangular recess, and the right side centre position of left side babinet offers conical socket, the left side of middle housing
Upper correspondence position offers cone boss, and identical cone boss, the right babinet are symmetrically offered on the right side of middle housing
Left side on correspondence position offer conical socket, be both provided with electromagnetism on the head of the bottom of conical socket and cone boss
Iron one, on the bottom surface of right case it is each it is vertical open up there are two sliding slot, the bottom of right case is each provided with four laterally walkings
Wheel, there are two longitudinal traveling wheels for the bottom setting of middle housing；The module that laterally cleans is arranged at three babinet front end faces
In rectangular recess, the cleaning that module is used to implement rubbish on step is laterally cleaned；The rubbish concentrating module is arranged at three casees
In the rectangular recess of body rear end face, the rubbish that rubbish concentrating module is used to sweep to laterally cleaning module corner is clear from a upper step
It manages on next step；The assistance for lifting module is arranged at the bottom of box on the left side, and assistance for lifting module is used to make the left side
Babinet keeps falling on next step surface under horizontality；The box body splicing module is whole for making three babinets compositions one
Body；The adsorption module is arranged at the bottom of right case, and adsorption module is used to make babinet absorption on the ground without moving
It is dynamic.
The module that laterally cleans includes shaft one, hairbrush and motor one, and the shaft one is located at the square of babinet front end face
In connected in star, shaft one is installed on babinet, equal along the circumferential surface of shaft one on one right side of shaft on the babinet of the left side
It is even to be provided with rectangular recess, in one both ends of the surface of shaft on middle housing rectangle is correspondingly arranged on along the circumferential surface of shaft one
Boss is evenly arranged with rectangular recess on one left side of shaft on the babinet of the right along the circumferential surface of shaft one；The hair
Brush is evenly arranged in the circumferential surface of shaft one；The motor one is fixed on babinet, and motor one is connected with one end of shaft one
It connects.During work, motor one drives shaft one to rotate, and hairbrush realizes movement under the drive of shaft one, so as to smoothly realize step
The cleaning of rubbish on face.
The rubbish concentrating module includes shaft two, wiper and motor two, and the shaft two is located at box back face
On rectangular recess in, shaft two is installed on babinet, along the circumference of shaft two on two right side of shaft on the babinet of the left side
Surface is evenly arranged with rectangular recess, is correspondingly arranged in two both ends of the surface of shaft on middle housing along the circumferential surface of shaft two
There is a rectangular boss, rectangular recess is evenly arranged with along the circumferential surface of shaft two on two left side of shaft on the babinet of the right；
The wiper is arranged at the circumferential surface of shaft two in the shape of a spiral；The motor two is fixed on babinet, and motor two is with turning
One end of axis two is connected.During work, motor two drives shaft two to rotate, and the wiper in shaft two turns with shaft two
It is dynamic that screw occurs, the rubbish for laterally cleaning module aggregates to corner is shifted onto on next step surface.
It is described auxiliary decline module include outer barrel, sliding seat, connecting rod, torsional spring and gear, the outer barrel be cuboid, outer barrel
It is fixed on the lower section of left side babinet, level offers rectangular through-hole to outer barrel along its length, the bottom of along on outer barrel right side
Face opens up fluted；For the retractable seat in the rectangular through-hole of outer barrel, sliding seat is cuboid, is opened up on the bottom surface of sliding seat
There is one section of groove, groove is located at the right side of sliding seat, and groove is communicated with the right side of sliding seat, and the upper surface of sliding seat is provided with
Tooth-shape structure；The connecting rod is located in the groove of sliding seat, and connecting rod is hinged with sliding seat；The torsional spring is arranged at connecting rod and work
The hinge point of dynamic seat；The gear is installed on the bottom of babinet, and gear is meshed with the tooth-shape structure in sliding seat.Work as the left side
When babinet is moved by a upper step during a lower step, gear, which rotates, drives sliding seat to move right, and connecting rod is in the drive of sliding seat
Lower synchronously to move right, due to the presence of torsional spring, connecting rod tilts down after removing the groove of outer barrel, and gear is rotated further so that connecting
Bar is in contact with the vertical plane of step, and so avoiding babinet during the decline of left side babinet overturns.
The box body splicing module includes dual-axle motor, spool and nylon rope, and the dual-axle motor quantity is two, twin shaft electricity
Machine is symmetrical set in the through hole of middle housing；The spool is installed on the both ends of dual-axle motor output shaft；The nylon
One end restrict on spool, the nylon rope other end is separately fixed at the bottom of the conical socket on right case through middle housing
Portion.When needing to clean, three babinets, which need to form a whole, carrys out work, and the sum of width of three babinets is equal to the width of step surface
Degree, so as to complete the cleaning works of level-one step surface in a transverse movement；Before work, the twin shaft electricity inside middle housing
Machine drives spool to rotate, and for the nylon rope on spool on spool, nylon rope furthers the babinet on both sides to middle housing, by
The presence of cone boss and conical socket on the outside of babinet so that babinet smoothly completes splicing, and electromagnet one is powered babinet jail
Jail inhale together, so as to by box body combinations into an entirety.When needing to get out of a predicament or an embarrassing situation, electromagnet one powers off, longitudinal traveling wheel
Slowly push the babinet on the left side to next step surface, when the babinet on the left side soon removes a upper step surface, dual-axle motor drives
Spool rotates backward, and nylon rope causes the babinet on the left side slowly to depart from middle housing, so as to smoothly drop to the babinet on the left side
On next step surface.
The adsorption module includes sucker, supporting rod, electromagnet two, spring and vacuum pump, and the sucker is located at left and right case
The lower section of body, sucker upper end are fixed on supporting rod；The supporting rod is located in sliding slot, and supporting bar top is provided with electromagnet
Two, the bottom of babinet sliding slot is again provided with electromagnet two；The spring pocket on supporting rod, spring be located at sucker and babinet it
Between；The vacuum pump is fixed on the bottom of babinet, and vacuum pump is used to extract out the air in sucker.It is moved by the babinet on the left side
During to next step surface, the adsorption module of the right bottom of box needs firmly to adsorb on ground, avoids what is declined in left side babinet
Other two babinets are pulled down in the process；Electromagnet two powers off first, and sucker extends downwardly under the action of the spring and platform
Terrace contacts, and then vacuum pump work extracts the air in sucker out, so as to firmly be adsorbed the right babinet by adsorption module
On step surface.
The longitudinal direction traveling wheel is mounted on by transmission shaft on support plate；Movable plate, intermediate box are provided at the top of the support plate
The bottom of body offers guide groove, and guide groove is connected with the through hole of babinet；The movable plate is located in the guide groove of middle housing, activity
Plate upper surface is fixed on the piston rod head of cylinder；The cylinder is fixed on the top of middle housing through hole.When horizontal traveling wheel
When drive case realizes cleaning, in order to avoid the generation friction between longitudinal traveling wheel and ground, robot is caused to be hindered when cleaning
Power is excessive, it is necessary to which longitudinal traveling wheel is made to be disengaged with ground；Cylinder drives movable plate along the guide groove of middle housing to moving up
It is dynamic, so as to which longitudinal traveling wheel be driven to move upwards, smoothly realize the separation of longitudinal traveling wheel and step surface.
The beneficial effects of the invention are as follows：
1. a kind of corridor of the present invention is made of with step automatic cleaning machine people, institute's babinet of the present invention three parts,
The spelling of babinet is realized using the mutual cooperation of dual-axle motor, nylon rope, cone boss and conical socket by box body splicing module
It connects, box body combinations are integral equal with step surface width, realize and clean along the length direction of step surface；When needs are got out of a predicament or an embarrassing situation
When, three babinets realize separation, complete the work got out of a predicament or an embarrassing situation one by one, simple in structure, and movement is rapid, work efficiency is high.
2. a kind of corridor of the present invention cleans module in horizontal walking with step automatic cleaning machine people, the transverse direction
The cleaning of rubbish on step surface is realized under the drive of wheel, rubbish is moved to corner in the drive for laterally cleaning module, then leads to
It crosses rubbish concentrating module the rubbish on a upper step surface is cleaned on next step surface, realizes the aggregation of rubbish.
3. a kind of corridor of the present invention declines module, box body splicing with step automatic cleaning machine people, the auxiliary
Module and adsorption module cooperate, and realize three babinet steady falls to next step surface, move mode flexibly, need not
Manual operation, adaptive ability are strong.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is the front view of the present invention；
Fig. 2 is A-A sectional views in Fig. 1；
Fig. 3 is the enlarged drawing of left side babinet in Fig. 1；
Fig. 4 is the enlarged drawing of middle housing in Fig. 1；
Fig. 5 is the enlarged drawing of left side babinet in Fig. 2；
Fig. 6 is the enlarged drawing of the right babinet in Fig. 2；
In figure：Babinet 1 laterally cleans module 2, rubbish concentrating module 3, auxiliary decline module 4, box body splicing module 5, suction
Attached module 6, cone boss 11, electromagnet 1, horizontal traveling wheel 13, longitudinal traveling wheel 14, shaft 1, hairbrush 22, motor
One 23, shaft 2 31, wiper 32, motor 2 33, outer barrel 41, sliding seat 42, connecting rod 43, gear 44, dual-axle motor 51, volume
Axis 52, nylon rope 53, sucker 61, supporting rod 62, electromagnet 2 63, spring 64, vacuum pump 65, support plate 15, movable plate 16, cylinder
17。
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
Specific embodiment is closed, the present invention is further explained.
As shown in Figures 1 to 6, a kind of corridor of the present invention is with step automatic cleaning machine people, including babinet 1, horizontal
It is counted to module 2, rubbish concentrating module 3, auxiliary decline module 4, box body splicing module 5 and adsorption module 6, the babinet 1 is cleaned
It measures as three, the horizontal through hole opened up with perforation front/rear end on babinet 1, is provided on the front/rear end of babinet 1 along 1 bottom surface of babinet
Rectangular recess, the right side centre position of left side babinet 1 offer conical socket, correspondence position on the left side of middle housing 1
Cone boss 11 is offered, identical cone boss 11, a left side for the right babinet 1 are symmetrically offered on the right side of middle housing 1
Correspondence position offers conical socket on end face, and electromagnet is both provided on the head of the bottom of conical socket and cone boss 11
1, on the bottom surface of right case 1 it is each it is vertical open up there are two sliding slot, the bottom of right case 1 is each provided with four lateral lines
Wheel 13 is walked, there are two longitudinal traveling wheels 14 for the bottom setting of middle housing 1；The module 2 that laterally cleans is arranged at three babinets 1
In the rectangular recess of front end face, the cleaning that module 2 is used to implement rubbish on step is laterally cleaned；The rubbish concentrating module 3 is set
It is placed in the rectangular recess of three 1 rear end faces of babinet, rubbish concentrating module 3 is used to sweep to laterally cleaning module 2 rubbish in corner
Rubbish is cleaned to from a upper step on next step；The assistance for lifting module is arranged at 1 bottom of babinet on the left side, assistance for lifting mould
Block is used to that the babinet 1 on the left side to be made to keep falling on next step surface under horizontality；The box body splicing module 5 is used to make three
Babinet 1 forms a whole；The adsorption module 6 is arranged at the bottom of right case 1, and adsorption module 6 is used to adsorb babinet 1
On the ground without movement.
The module 2 that laterally cleans includes shaft 1, hairbrush 22 and motor 1, and the shaft 1 is located at babinet 1
In the rectangular recess of front end face, shaft 1 is installed on babinet 1, on one 21 right side of shaft on left side babinet 1 along turn
The circumferential surface of axis 1 is evenly arranged with rectangular recess, along shaft 1 in one 21 both ends of the surface of shaft on middle housing 1
Circumferential surface be correspondingly arranged on rectangular boss, along the circumference of shaft 1 on one 21 left side of shaft on the right babinet 1
Surface is evenly arranged with rectangular recess, and the rectangular recess being uniformly arranged in shaft 1 and rectangular boss, which can be realized mutually, matches somebody with somebody
It closes；The hairbrush 22 is evenly arranged in the circumferential surface of shaft 1；The motor 1 is fixed on babinet 1, motor 1
It is connected with one end of shaft 1.During work, motor 1 drives shaft 1 to rotate, and hairbrush 22 is in the drive of shaft 1
It is lower to realize movement, so as to smoothly realize the cleaning of rubbish on step surface.
The rubbish concentrating module 3 includes shaft 2 31, wiper 32 and motor 2 33, and the shaft 2 31 is located at case
In rectangular recess on 1 rear end face of body, shaft 2 31 is installed on babinet 1, edge on 2 31 right side of shaft on left side babinet 1
The circumferential surface for shaft 2 31 is evenly arranged with rectangular recess, along shaft in 2 31 both ends of the surface of shaft on middle housing 1
2 31 circumferential surface is correspondingly arranged on rectangular boss, along shaft 2 31 on 2 31 left side of shaft on the right babinet 1
Circumferential surface is evenly arranged with rectangular recess, and the rectangular recess being uniformly arranged in shaft 2 31 and rectangular boss can be realized mutually
Cooperation；The wiper 32 is arranged at the circumferential surface of shaft 2 31 in the shape of a spiral；The motor 2 33 is fixed on babinet 1
On, motor 2 33 is connected with one end of shaft 2 31.During work, motor 2 33 drives shaft 2 31 to rotate, in shaft 2 31
Wiper 32 screw occurs with the rotation of shaft 2 31, will laterally clean module 2 and gather the rubbish in corner and push away
Onto next step surface.
The auxiliary, which declines module 4, includes outer barrel 41, sliding seat 42, connecting rod 43, torsional spring and gear 44, and the outer barrel 41 is
Cuboid, outer barrel 41 are fixed on the lower section of left side babinet 1, and level offers rectangular through-hole along its length inside outer barrel 41, outside
It is opened up on 41 right sides of cylinder along bottom surface fluted；The sliding seat 42 is located in the rectangular through-hole of outer barrel 41, and sliding seat 42 is
Cuboid, one section of groove is offered on the bottom surface of sliding seat 42, and groove is located at the right side of sliding seat 42, groove and sliding seat 42
Right side communicates, and the upper surface of sliding seat 42 is provided with tooth-shape structure；The connecting rod 43 is located in the groove of sliding seat 42, connecting rod
43 are hinged with sliding seat 42；The torsional spring is arranged at the hinge point of connecting rod 43 and sliding seat 42；The gear 44 is installed on
The bottom of babinet 1, gear 44 are meshed with the tooth-shape structure in sliding seat 42.When left side babinet 1 is moved at present by a upper step
During one step, gear 44, which rotates, drives sliding seat 42 to move right, and connecting rod 43 synchronously moves right under the drive of sliding seat 42,
Due to the presence of torsional spring, connecting rod 43 tilts down after removing the groove of outer barrel 41, and gear 44 is rotated further so that connecting rod 43 and platform
The vertical plane of rank is in contact, and babinet 1 is so avoided during the decline of left side babinet 1 and is overturn.
The box body splicing module 5 includes dual-axle motor 51, spool 52 and nylon rope 53, and 51 quantity of dual-axle motor is
Two, dual-axle motor 51 is symmetrical set in the through hole of middle housing 1；The spool 52 is installed on 51 output shaft of dual-axle motor
Both ends；On spool 52,53 other end of nylon rope is separately fixed at a left side through middle housing 1 for described 53 one end of nylon rope
The bottom of conical socket on right case 1.When needing to clean, three babinets 1, which need to form a whole, carrys out work, three babinets
The sum of 1 width is equal to the width of step surface, so as to complete the cleaning works of level-one step surface in a transverse movement；Work
Before, the dual-axle motor 51 inside middle housing 1 drives spool 52 to rotate, and the nylon rope 53 on spool 52 is wound on spool 52
On, nylon rope 53 furthers the babinet 1 on both sides to middle housing 1, due to depositing for 1 outside cone boss 11 of babinet and conical socket
So that babinet 1 smoothly completes splicing, and the energization of electromagnet 1 firmly inhales babinet 1 together, so as to which babinet 1 be combined into
One entirety.When needing to get out of a predicament or an embarrassing situation, electromagnet 1 powers off, under longitudinal traveling wheel 14 slowly pushes the babinet 1 on the left side to
One step surface, when the babinet 1 on the left side soon removes a upper step surface, dual-axle motor 51 drives spool 52 to rotate backward, nylon
Rope 53 is so that the babinet 1 on the left side slowly departs from middle housing 1, so as to smoothly drop to the babinet 1 on the left side on next step surface.
The adsorption module 6 includes sucker 61, supporting rod 62, electromagnet 2 63, spring 64 and vacuum pump 65, the sucker
61 are located at the lower section of right case 1, and 61 upper end of sucker is fixed on supporting rod 62；The supporting rod 62 is located in sliding slot, support
62 top of bar is provided with electromagnet 2 63, and the bottom of 1 sliding slot of babinet is again provided with electromagnet 2 63；The spring 64 is sleeved on branch
On strut 62, spring 64 is between sucker 61 and babinet 1；The vacuum pump 65 is fixed on the bottom of babinet 1, and vacuum pump 65 is used
It is extracted out in by the air in sucker 61.When the babinet 1 on the left side is moved to next step surface, the absorption of 1 bottom of the right babinet
Module 6 needs firmly to adsorb on ground, avoids during left side babinet 1 declines other two babinets 1 to pulling down；It is first
First electromagnet 2 63 powers off, and sucker 61 is extended downwardly under the action of spring 64 and contacted with ground, and the then work of vacuum pump 65 will
Air extraction in sucker 61, so as to firmly be adsorbed the right babinet 1 on the ground by adsorption module 6.
The longitudinal direction traveling wheel 14 is mounted on by transmission shaft on support plate 15；15 top of support plate is provided with movable plate
16, the bottom of middle housing 1 offers guide groove, and guide groove is connected with the through hole of babinet 1；The movable plate 16 is located at middle housing
In 1 guide groove, 16 upper surface of movable plate is fixed on the piston rod head of cylinder 17；It is logical that the cylinder 17 is fixed on middle housing 1
The top in hole.When horizontal 13 drive case 1 of traveling wheel, which is realized, to be cleaned, in order to avoid the production between longitudinal traveling wheel 14 and ground
Raw friction, resistance is excessive, it is necessary to which longitudinal traveling wheel 14 is made to be disengaged with ground when causing the robot to clean；Cylinder 17, which drives, lives
Movable plate 16 is moved up along the guide groove of middle housing 1, so as to which longitudinal traveling wheel 14 be driven to move upwards, smoothly realizes lengthwise rows
Walk wheel 14 and the separation on ground.
Specific workflow is as follows：
Before cleaning, robot is placed on highest step surface first, robot is moved along step surface to wall
The cleaning of each step surface is completed one by one.Firstly, it is necessary to three babinets 1 are spliced into an entirety：It is double inside middle housing 1
Spindle motor 51 drives spool 52 to rotate, and the nylon rope 53 on spool 52 is on spool 52, and nylon rope 53 is by the babinet 1 on both sides
It furthers to middle housing 1, due to the presence of 1 outside cone boss 11 of babinet and conical socket so that babinet 1 smoothly completes spelling
It connects, electromagnet energization firmly inhales babinet 1 together, so as to which babinet 1 has been combined into an entirety.Motor 1 drives shaft
One 21 rotate, and hairbrush 22 realizes movement under the drive of shaft 1, while the horizontal traveling wheel 13 of 1 bottom of babinet promotes babinet
1 moves along step surface, so as to smoothly realize the cleaning of rubbish on step surface.Rubbish gradual phase wall under the drive in hairbrush 22
Wall is assembled, and then, motor 2 33 drives shaft 2 31 to rotate, and the wiper 32 in shaft 2 31 is with the rotation of shaft 2 31
Generation screw, the rubbish that laterally cleaning module 2 is gathered to corner are shifted onto on next step surface.It is driven in horizontal traveling wheel 13
When dynamic babinet 1 realizes cleaning, in order to avoid the generation friction between longitudinal traveling wheel 14 and ground, robot is caused to be hindered when cleaning
Power is excessive, it is necessary to which longitudinal traveling wheel 14 is made to be disengaged with ground：Cylinder 17 drives guide groove of the movable plate 16 along middle housing 1
It moves up, so as to which longitudinal traveling wheel 14 be driven to move upwards, smoothly realizes longitudinal traveling wheel 14 and the separation on ground.
After the cleaning works for completing a upper step surface, robot, which needs to be moved to next step surface, continues to complete cleaning：It is first
First, the electromagnet 1 of left side babinet 1 and middle housing 1 powers off, and longitudinal traveling wheel 14 slowly pushes the babinet 1 on the left side to next
Step surface, when the babinet 1 on the left side soon removes a upper step surface, the electromagnet 2 63 of the right babinet 1 powers off, and sucker 61 is in bullet
It extends downwardly under the action of spring 64 and is contacted with ground, then vacuum pump 65, which works, extracts the air in sucker 61 out, so as to pass through
Adsorption module 6 firmly adsorbs the right babinet 1 on the ground；Then, dual-axle motor 51 drives spool 52 to rotate backward, nylon rope
53 cause the babinet 1 on the left side slowly to depart from middle housing 1, meanwhile, gear 44 rotates drive sliding seat 42 and moves right, connecting rod
43 synchronously move right under the drive of sliding seat 42, and due to the presence of torsional spring, connecting rod 43 is removed after the groove of outer barrel 41 under
It tilts, gear 44 is rotated further so that connecting rod 43 is in contact with the vertical plane of step, and then gear 44 stops operating, so on a left side
Babinet 1 is avoided during the decline of side babinet 1 to overturn, and smoothly drops to the babinet 1 on the left side on next step surface；When
When left side babinet 1 smoothly drops to next step surface, the gear 44 on left side babinet 1 is rotated further, and sliding seat 42 is in gear 44
Drive under continue to stretch out to the right, left side babinet 1 is promoted to be moved to the left to the edge of next step surface on next step surface, is
Middle housing 1 and the right babinet 1 drop to next step surface vacating space.Then, the electromagnet 2 63 of left side babinet 1 powers off,
Sucker 61 is extended downwardly under the action of spring 64 and contacted with ground, and then vacuum pump 65, which works, takes out the air in sucker 61
Go out, so as to firmly be adsorbed left side babinet 1 on next step surface by adsorption module 6；So left and right two tanks 1 just adsorb
Up and down on two step surfaces, then the dual-axle motor 51 in 1 left side of middle housing rotates forward, the twin shaft on right side causes left side case
Nylon rope 53 between body 1 and middle housing 1 is in tightening state, at the nylon rope 53 between the right babinet 1 and middle housing 1
In elongation state, so that middle housing 1 is moved to along oblique line on next step surface by right case 1 and nylon rope 53, then
The electromagnet 2 63 of 1 bottom of the right babinet is powered so that sucker 61 is disengaged with ground, so as to which the right babinet 1 is in removable
State, then the right babinet 1 is slowly pulled on next step surface by nylon rope 53.So robot just smoothly moves next
Step surface repeats the above steps and completes the cleaning works of step surface one by one.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
1. a kind of corridor is with step automatic cleaning machine people, it is characterised in that：Including babinet (1), laterally clean module (2), rubbish
Rubbish concentrating module (3), auxiliary decline module (4), box body splicing module (5) and adsorption module (6), babinet (1) quantity and are
Three, the horizontal through hole opened up with perforation front/rear end on babinet (1) is set along babinet (1) bottom surface on the front/rear end of babinet (1)
There is a rectangular recess, the right side centre position of left side babinet (1) offers conical socket, right on the left side of middle housing (1)
Position is answered to offer cone boss (11), identical cone boss (11) is symmetrically offered on the right side of middle housing (1), it is right
Correspondence position offers conical socket on the left side of side babinet (1), in the bottom of conical socket and the head of cone boss (11)
Portion is both provided with electromagnet one (12), on the bottom surface of right case (1) it is each it is vertical open up there are two sliding slot, right case (1)
Bottom is each provided with four horizontal traveling wheels (13), and there are two longitudinal traveling wheels (14) for the bottom setting of middle housing (1)；It is described
It laterally cleans module (2) to be arranged in the rectangular recess of three babinet (1) front end faces, laterally cleans module (2) and be used to implement platform
The cleaning of rubbish on rank；The rubbish concentrating module (3) is arranged in the rectangular recess of three babinet (1) rear end faces, and rubbish gathers
The rubbish that collection module (3) is used to sweep to laterally cleaning module (2) corner is cleaned to next step from a upper step；It is described auxiliary
Lifting module is helped to be arranged at babinet (1) bottom on the left side, assistance for lifting module is used to make the babinet (1) on the left side to keep horizontality
Under fall on next step surface；The box body splicing module (5) is used to that three babinets (1) to be made to form a whole；The absorption
Module (6) is arranged at the bottom of right case (1), and adsorption module (6) is used to make babinet (1) absorption on the ground without moving
It is dynamic.
2. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：It is described laterally to clean
Module (2) includes shaft one (21), hairbrush (22) and motor one (23), and the shaft one (21) is located at babinet (1) front end face
In rectangular recess, shaft one (21) is installed on babinet (1), on shaft one (21) right side on left side babinet (1) along turn
The circumferential surface of axis one (21) is evenly arranged with rectangular recess, along turning in shaft one (21) both ends of the surface on middle housing (1)
The circumferential surface of axis one (21) is correspondingly arranged on rectangular boss, along turning on shaft one (21) left side on the right babinet (1)
The circumferential surface of axis one (21) is evenly arranged with rectangular recess；The hairbrush (22) is evenly arranged in the circumference table of shaft one (21)
Face；The motor one (23) is fixed on babinet (1), and motor one (23) is connected with one end of shaft one (21).
3. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：The rubbish aggregation
Module (3) includes shaft two (31), wiper (32) and motor two (33), and the shaft two (31) is located at babinet (1) rear end
In rectangular recess on face, shaft two (31) is installed on babinet (1), on shaft two (31) right side on left side babinet (1)
Rectangular recess is evenly arranged with along the circumferential surface of shaft two (31), in shaft two (31) both ends of the surface on middle housing (1)
Rectangular boss is correspondingly arranged on along the circumferential surface of shaft two (31), on shaft two (31) left side on the right babinet (1)
Rectangular recess is evenly arranged with along the circumferential surface of shaft two (31)；The wiper (32) is arranged at shaft in the shape of a spiral
The circumferential surface of two (31)；The motor two (33) is fixed on babinet (1), motor two (33) and one end phase of shaft two (31)
Connection.
4. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：The auxiliary declines
Module (4) includes outer barrel (41), sliding seat (42), connecting rod (43), torsional spring and gear (44), and the outer barrel (41) is cuboid,
Outer barrel (41) is fixed on the lower section of left side babinet (1), and the internal level along its length of outer barrel (41) offers rectangular through-hole；It is described
Sliding seat (42) is located in the rectangular through-hole of outer barrel (41), and sliding seat (42) is cuboid, is opened up on the bottom surface of sliding seat (42)
There is one section of groove, groove is located at the right side of sliding seat (42), and groove is communicated with the right side of sliding seat (42), sliding seat (42)
Upper surface is provided with tooth-shape structure；The connecting rod (43) is located in the groove of sliding seat (42), connecting rod (43) and sliding seat (42)
It is hinged；The torsional spring is arranged at the hinge point of connecting rod (43) and sliding seat (42)；The gear (44) is installed on babinet (1)
Bottom, gear (44) is meshed with the tooth-shape structure in sliding seat (42).
5. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：The box body splicing
Module (5) includes dual-axle motor (51), spool (52) and nylon rope (53), and dual-axle motor (51) quantity is two, twin shaft electricity
Machine (51) is symmetrical set in the through hole of middle housing (1)；The spool (52) is installed on dual-axle motor (51) output shaft
Both ends；On spool (52), nylon rope (53) other end is distinguished through middle housing (1) for described nylon rope (53) one end
It is fixed on the bottom of the conical socket on right case (1).
6. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：The adsorption module
(6) sucker (61), supporting rod (62), electromagnet two (63), spring (64) and vacuum pump (65) are included, the sucker (61) is located at
The lower section of right case (1), sucker (61) upper end are fixed on supporting rod (62)；The supporting rod (62) is located in sliding slot, branch
Strut (62) top is provided with electromagnet two (63), and the bottom of babinet (1) sliding slot is again provided with electromagnet two (63)；The bullet
Spring (64) is sleeved on supporting rod (62), and spring (64) is located between sucker (61) and babinet (1)；The vacuum pump (65) is fixed on
The bottom of babinet (1), vacuum pump (65) are used to extract out the air in sucker (61).
7. a kind of corridor according to claim 1 is with step automatic cleaning machine people, it is characterised in that：The longitudinal direction walking
(14) are taken turns to be mounted on support plate (15) by transmission shaft；Movable plate (16), middle housing (1) are provided at the top of the support plate (15)
Bottom offer guide groove, guide groove is connected with the through hole of babinet (1)；The movable plate (16) is located at leading for middle housing (1)
In slot, movable plate (16) upper surface is fixed on the piston rod head of cylinder (17)；The cylinder (17) is fixed on middle housing (1)
The top of through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711307898.7A CN108042054B (en) | 2017-12-11 | 2017-12-11 | Automatic robot that cleans of step for corridor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711307898.7A CN108042054B (en) | 2017-12-11 | 2017-12-11 | Automatic robot that cleans of step for corridor |
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| CN108042054A true CN108042054A (en) | 2018-05-18 |
| CN108042054B CN108042054B (en) | 2020-06-05 |
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ID=62123474
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711307898.7A Active CN108042054B (en) | 2017-12-11 | 2017-12-11 | Automatic robot that cleans of step for corridor |
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| Country | Link |
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| CN (1) | CN108042054B (en) |
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| CN109157162A (en) * | 2018-10-30 | 2019-01-08 | 吉林大学 | It creeps the intelligent stair sweeping robot and its control method of ability with guardrail is grabbed |
| CN111265156A (en) * | 2020-04-15 | 2020-06-12 | 马俊 | Stair climbing method of floor sweeping robot |
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|---|---|
| CN108042054B (en) | 2020-06-05 |
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