CN108338751A - A kind of stair clean robot - Google Patents
A kind of stair clean robot Download PDFInfo
- Publication number
- CN108338751A CN108338751A CN201710553719.1A CN201710553719A CN108338751A CN 108338751 A CN108338751 A CN 108338751A CN 201710553719 A CN201710553719 A CN 201710553719A CN 108338751 A CN108338751 A CN 108338751A
- Authority
- CN
- China
- Prior art keywords
- advance
- sliding block
- vehicle shell
- dust
- rising
- 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.)
- Pending
Links
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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
-
- 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
- A47L11/4063—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
- A47L11/4072—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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
- Cleaning In General (AREA)
Abstract
A kind of stair clean robot, belongs to service robot field.It is by rising drive part, what forward drive part and working portion formed, rising drive part has directional wheel, globular universal wheel, rack, rise driving motor, rise shaft coupling, rise sliding block, left voussoir and rising screw structure, forward drive part has advance sliding block, forward drive motor, advance guide rail, advance shaft coupling, advance leading screw, advance baffle, ultrasonic sensor and advance slide block structure, working portion has gas outlet, vehicle shell, wheel, traveling driving motor, air inlet, cleaning brush, right voussoir, injection spray pipe, outlet pipe, dust shield cover, control panel, battery, water tank, water inlet pipe, water pump, absorb water motor, dust sucting motor, air suction fan blade and dust-collecting box structure.The device makes the device complete the action gone upstairs automatically by two groups of screw slider structures, is capable of the cleaning works of complete independently stair, can effectively save manpower.
Description
Technical field
The present invention relates to a kind of stair clean robots, specifically use screw slider structure, can be automatic complete
At the device acted upstairs, belong to service robot field.
Background technology
It is a kind of item that must be done but expend energy to sweep environment.Popular sweeping robot is only limitted on the market
It advances back and forth in the same plane, there is still a need for manpower completions for the cleaning of stair.Manpower cleans time-consuming and laborious, it is therefore desirable to which one kind is certainly
The device of dynamic cleaning stair.
Invention content
In view of the above-mentioned deficiencies, the present invention provides a kind of stair clean robots.
The present invention is achieved by the following technical solutions：A kind of stair clean robot is by rising drive part, preceding
It is formed into drive part and working portion, rising drive part has directional wheel, globular universal wheel, rack, rises driving electricity
Machine rises shaft coupling, rises sliding block, left voussoir and rises screw structure, and forward drive part has advance sliding block, forward drive
Motor, advance guide rail, advance shaft coupling, advance leading screw, advance baffle, ultrasonic sensor and advance slide block structure, work department
Divide with gas outlet, vehicle shell, wheel, traveling driving motor, air inlet, cleaning brush, right voussoir, injection spray pipe, outlet pipe, dust-break
Lid, control panel, battery, water tank, water inlet pipe, water pump, water suction motor, dust sucting motor, air suction fan blade and dust-collecting box structure, directional wheel
On rear side of the lower surface of rack, globular universal wheel is mounted on front side of the lower surface of rack, is risen driving motor and is mounted on machine
On frame, rise shaft coupling and be mounted on rising driving motor, the one end for rising leading screw is connected with shaft coupling is risen, the other end and machine
Frame is connected, and rises sliding block and is connected with leading screw is risen, and left voussoir, which is mounted on, to be risen on sliding block, and advance sliding block is connected with leading screw is risen,
And positioned at the top for rising sliding block, forward drive motor is mounted on advance sliding block, and advance guide rail one end is connected with advance sliding block,
The other end is connected with advance baffle, and advance shaft coupling is mounted on forward drive motor, advance leading screw one end and advance shaft coupling
Be connected, one end is connected with advance baffle, ultrasonic sensor be mounted on advance baffle on, advance sliding block mounted on advance guide rail with
On advance leading screw, vehicle shell is connected with advance sliding block, and vehicle shell upper surface has gas outlet, traveling driving motor to be mounted under vehicle shell
Side, wheel are connected with traveling driving motor, and the lower surface of vehicle shell has air inlet, cleaning brush to be mounted on front side of the lower surface of vehicle shell,
Dust sucting motor is mounted on by screw on vehicle shell, and air suction fan blade is connected with dust sucting motor, and dust-collecting box is mounted on vehicle shell, dust shield cover
Connecting with vehicle shell phase, and positioned at the top of dust-collecting box, right voussoir is welded on the left surface of vehicle shell, and battery is connected with vehicle shell inner surface,
Control panel is connected by solid gum with battery, and water tank is mounted on vehicle shell, and water suction motor connects with vehicle shell phase, water pump and water suction motor
It is connected, water inlet pipe one end is connected with water pump, and the other end is connected with water tank, and injection spray pipe is mounted on the lower surface of vehicle shell, outlet pipe one
End is connected with water pump, and the other end is connected with injection spray pipe.
There is sliding rail on the inside of described rack or so.
The rising driving motor is mounted on by screw in rack.
The rising driving motor and forward drive motor can realize positive and negative rotation.
There is unthreaded hole on the advance sliding block, is connected with advance guide rail by unthreaded hole.
It there are four the wheel and traveling driving motor is equal, and is controlled, and can realized just by control panel independently of each other
Reversion.
There are multiple spouts on the injection spray pipe.
There are multiple apertures on the dust shield cover.
The dust-collecting box is detachable.
The usefulness of the invention is that the device makes the device complete automatically upstairs by two groups of screw slider structures
The action of ladder；Four groups of traveling driving motors and wheel enable the device to complete advance, retrogressing, left-hand bend, right-hand bend and original place
The actions such as steering；Dismountable dust-collecting box keeps the removing of rubbish and dust more convenient：The water mist that injection spray pipe sprays can reduce the dress
Set the dust raised during the work time；The device is capable of the cleaning works of complete independently stair, can effectively save manpower.
Description of the drawings
Accompanying drawing 1 is the structural representation of the present invention,
Attached drawing 2 is the structural schematic diagram of the rising drive part and forward drive part of the present invention,
Attached drawing 3 is the structural schematic diagram of the working portion of the present invention,
Attached drawing 4 is the stereogram of the working portion of the present invention,
Attached drawing 5 is that the working portion of the present invention removes the axonometric drawing of part on vehicle shell,
Attached drawing 6 is that the working portion of the present invention removes the left view of vehicle shell left half,
Attached drawing 7 is that the working portion of the present invention removes the right view of vehicle shell right half.
In figure, 1, rise drive part, 2, forward drive part, 3, working portion, 101, directional wheel, 102, spherical universal
Wheel, 103, rack, 104, rise driving motor, 105, rise shaft coupling, 106, rise sliding block, 107, left voussoir, 108, rise
Leading screw, 201, advance sliding block, 202, forward drive motor, 203, advance guide rail, 204, advance shaft coupling, 205, advance leading screw,
206, advance baffle, 207, ultrasonic sensor, 208, advance sliding block, 301, gas outlet, 302, vehicle shell, 303, wheel, 304,
Traveling driving motor, 305, air inlet, 306, cleaning brush, 307, right voussoir, 308, injection spray pipe, 309, outlet pipe, 310, dust-break
Lid, 311, control panel, 312, battery, 313, water tank, 314, water inlet pipe, 315, water pump, 316, water suction motor, 317, dust suction electricity
Machine, 318, air suction fan blade, 319, dust-collecting box.
Specific implementation mode
A kind of stair clean robot is made of rising drive part 1, forward drive part 2 and working portion 3,
Rising drive part 1 has directional wheel 101, globular universal wheel 102, rack 103, rises driving motor 104, rises shaft coupling
105, rise sliding block 106, left voussoir 107 and rise 108 structure of leading screw, forward drive part 2 has advance sliding block 201, advances
Driving motor 202, advance guide rail 203, advance shaft coupling 204, advance leading screw 205, advance baffle 206, ultrasonic sensor 207
With 208 structure of advance sliding block, working portion 3 has gas outlet 301, vehicle shell 302, wheel 303, traveling driving motor 304, air inlet
Mouth 305, cleaning brush 306, right voussoir 307, injection spray pipe 308, outlet pipe 309, dust shield cover 310, control panel 311, battery 312, water
Case 313, water inlet pipe 314, water pump 315, water suction motor 316,319 structure of dust sucting motor 317, air suction fan blade 318 and dust-collecting box, it is fixed
It is mounted on to wheel 101 on rear side of the lower surface of rack 103, globular universal wheel 102 is mounted on front side of the lower surface of rack 103, is risen
Driving motor 104 is mounted in rack 103, is risen shaft coupling 105 and is mounted on rising driving motor 104, rises leading screw 108
One end is connected with shaft coupling 105 is risen, and the other end is connected with rack 103, rises sliding block 106 and is connected with leading screw 108 is risen, left wedge
Block 107, which is mounted on, to be risen on sliding block 106, and advance sliding block 201 is connected with leading screw 108 is risen, and positioned at the upper of rising sliding block 106
Side, forward drive motor 202 are mounted on advance sliding block 201, and 203 one end of advance guide rail is connected with advance sliding block 201, the other end
It is connected with advance baffle 206, advance shaft coupling 204 is mounted on forward drive motor 202,205 one end of advance leading screw and advance
Shaft coupling 204 is connected, and one end is connected with advance baffle 206, and ultrasonic sensor 207 is mounted on advance baffle 206, advances and slides
Block 208 is mounted on advance guide rail 203 and advance leading screw 205, and vehicle shell 302 is connected with advance sliding block 208,302 upper surface of vehicle shell
There are gas outlet 301, traveling driving motor 304 to be mounted on the lower section of vehicle shell 302, wheel 303 is connected with traveling driving motor 304,
The lower surface of vehicle shell 302 has air inlet 305, cleaning brush 306 to be mounted on front side of the lower surface of vehicle shell 302, and dust sucting motor 317 passes through
Screw is mounted on vehicle shell 302, and air suction fan blade 318 is connected with dust sucting motor 317, and dust-collecting box 319 is mounted on vehicle shell 302, gear
Dirt lid 310 is connected with vehicle shell 302, and positioned at the top of dust-collecting box 319, and right voussoir 307 is welded on the left surface of vehicle shell 302, electricity
Pond 312 is connected with 302 inner surface of vehicle shell, and control panel 311 is connected by solid gum with battery 312, and water tank 313 is mounted on vehicle shell
On 302, water suction motor 316 is connected with vehicle shell 302, and water pump 315 is connected with water suction motor 316,314 one end of water inlet pipe and water pump
315 are connected, and the other end is connected with water tank 313, and injection spray pipe 308 is mounted on the lower surface of vehicle shell 302,309 one end of outlet pipe and water
Pump 315 is connected, and the other end is connected with injection spray pipe 308.
There is sliding rail in 103 or so the inside of rack.
The rising driving motor 104 is mounted on by screw in rack 103.
The rising driving motor 104 and forward drive motor 202 can realize positive and negative rotation.
There is unthreaded hole on the advance sliding block 201, is connected with advance guide rail 203 by unthreaded hole.
It there are four the wheel 303 and traveling driving motor 304 is equal, and is controlled independently of each other by control panel 311, and energy
Enough realize positive and negative rotation.
There are multiple spouts on the injection spray pipe 308.
There are multiple apertures on the dust shield cover 310.
The dust-collecting box 319 is detachable.
At work, traveling driving motor 304 works the device, drives the device to be moved on single order stair, cleaning brush
306 rotation, by stair dust and rubbish raise, dust sucting motor 317 drive air suction fan blade 318 rotate, pass through air inlet
305 by rubbish and dust sucking vehicle shell 302, and dust shield cover 310 blocks rubbish and dust, is allowed to drop into dust-collecting box 319, air
Vehicle shell 302 is discharged by gas outlet 301, water suction motor 316 drives water pump 315 to work, and the water in water tank 313 is passed through water inlet pipe
314, water pump 315, outlet pipe 309 enter in injection spray pipe 308, and water is sprayed onto in mist in air by injection spray pipe 308, is completed
After the cleaning of single order stair, rise driving motor 104 and rotate forward, driving rises sliding block 106 and advance sliding block 201 drives work department
3 are divided to rise, when the stair plane of the lower surface and higher order that rise to working portion 3 is in same level, forward drive electricity
Machine 202 rotates forward, and driving advance sliding block 201 drives working portion 3 to advance, when the stair that working portion 3 is entirely located in higher order are flat
When on face, 304 self-locking of traveling driving motor rises driving motor 104 and inverts, and driving rising drive part 1 rises to rising and drives
The minimum point of dynamic part and the stair plane of higher order are in same level, and forward drive motor 202 inverts, and driving, which is advanced, drives
Dynamic part 2 advances to left voussoir 107 and 307 wedging of right voussoir, which starts to clean the rank stair.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
It is interior.
Claims (9)
1. a kind of stair clean robot is made of, feature rising drive part, forward drive part and working portion
It is, including：
Rise drive part have directional wheel, globular universal wheel, rack, rise driving motor, rise shaft coupling, rise sliding block,
Left voussoir and rising screw structure；
Forward drive part has advance sliding block, forward drive motor, advance guide rail, advance shaft coupling, advance leading screw, forward gear
Plate, ultrasonic sensor and advance slide block structure；
Working portion has gas outlet, vehicle shell, wheel, traveling driving motor, air inlet, cleaning brush, right voussoir, injection spray pipe, goes out
Water pipe, dust shield cover, control panel, battery, water tank, water inlet pipe, water pump, water suction motor, dust sucting motor, air suction fan blade and dust-collecting box knot
Structure；
Directional wheel is mounted on rear side of the lower surface of rack, and globular universal wheel is mounted on front side of the lower surface of rack, rises driving electricity
Machine is mounted in rack, is risen shaft coupling and is mounted on rising driving motor, and the one end for rising leading screw is connected with shaft coupling is risen,
The other end is connected with rack, and rising sliding block is connected with leading screw is risen, and left voussoir, which is mounted on, to be risen on sliding block, advance sliding block and rising
Leading screw is connected, and positioned at the top for rising sliding block, and forward drive motor is mounted on advance sliding block, advance guide rail one end and advance
Sliding block is connected, and the other end is connected with advance baffle, and advance shaft coupling is mounted on forward drive motor, and advance leading screw one end is with before
It is connected into shaft coupling, one end is connected with advance baffle, and ultrasonic sensor is mounted on advance baffle, before advance sliding block is mounted on
Into on guide rail and advance leading screw, vehicle shell is connected with advance sliding block, and vehicle shell upper surface has gas outlet, traveling driving motor to be mounted on vehicle
The lower section of shell, wheel are connected with traveling driving motor, and the lower surface of vehicle shell has air inlet, cleaning brush to be mounted on the lower surface of vehicle shell
Front side, dust sucting motor are mounted on by screw on vehicle shell, and air suction fan blade is connected with dust sucting motor, and dust-collecting box is mounted on vehicle shell,
Dust shield cover connects with vehicle shell phase, and positioned at the top of dust-collecting box, and right voussoir is welded on the left surface of vehicle shell, battery and vehicle shell inner surface
It is connected, control panel is connected by solid gum with battery, and on vehicle shell, water suction motor connects water tank with vehicle shell phase, water pump and suction
Hydroelectric machine is connected, and water inlet pipe one end is connected with water pump, and the other end is connected with water tank, and injection spray pipe is mounted on the lower surface of vehicle shell, goes out
Water pipe one end is connected with water pump, and the other end is connected with injection spray pipe.
2. a kind of stair clean robot as described in claim 1, it is characterised in that：There is cunning on the inside of described rack or so
Rail.
3. a kind of stair clean robot as described in claim 1, it is characterised in that：The rising driving motor passes through spiral shell
Nail is mounted in rack.
4. a kind of stair clean robot as described in claim 1, it is characterised in that：The rising driving motor and advance
Driving motor can realize positive and negative rotation.
5. a kind of stair clean robot as described in claim 1, it is characterised in that：There is unthreaded hole on the advance sliding block,
It is connected with advance guide rail by unthreaded hole.
6. a kind of stair clean robot as described in claim 1, it is characterised in that：The wheel and traveling driving motor
It there are four, and is controlled independently of each other by control panel, and can realize positive and negative rotation.
7. a kind of stair clean robot as described in claim 1, it is characterised in that：There are multiple sprays on the injection spray pipe
Mouthful.
8. a kind of stair clean robot as described in claim 1, it is characterised in that：Have on the dust shield cover multiple small
Hole.
9. a kind of stair clean robot as described in claim 1, it is characterised in that：The dust-collecting box is detachable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553719.1A CN108338751A (en) | 2017-07-08 | 2017-07-08 | A kind of stair clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553719.1A CN108338751A (en) | 2017-07-08 | 2017-07-08 | A kind of stair clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108338751A true CN108338751A (en) | 2018-07-31 |
Family
ID=62963022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710553719.1A Pending CN108338751A (en) | 2017-07-08 | 2017-07-08 | A kind of stair clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108338751A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452911A (en) * | 2019-01-08 | 2019-03-12 | 河南理工大学 | A kind of intelligent stair clean robot |
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN111993437A (en) * | 2020-08-22 | 2020-11-27 | 安徽哲宇信息科技有限公司 | Self-adaptive surface cleaning robot |
-
2017
- 2017-07-08 CN CN201710553719.1A patent/CN108338751A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109452911A (en) * | 2019-01-08 | 2019-03-12 | 河南理工大学 | A kind of intelligent stair clean robot |
| CN109452911B (en) * | 2019-01-08 | 2024-05-17 | 河南理工大学 | Intelligent stair cleaning robot |
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN109549570B (en) * | 2019-01-15 | 2023-11-21 | 梧州学院 | Stair cleaning machine |
| CN111993437A (en) * | 2020-08-22 | 2020-11-27 | 安徽哲宇信息科技有限公司 | Self-adaptive surface cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180731 |
|
| WD01 | Invention patent application deemed withdrawn after publication |