CN109008828A - A kind of stair cleaning machine device people mobile based on Mecanum wheel - Google Patents
A kind of stair cleaning machine device people mobile based on Mecanum wheel Download PDFInfo
- Publication number
- CN109008828A CN109008828A CN201811070084.0A CN201811070084A CN109008828A CN 109008828 A CN109008828 A CN 109008828A CN 201811070084 A CN201811070084 A CN 201811070084A CN 109008828 A CN109008828 A CN 109008828A
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- CN
- China
- Prior art keywords
- lifting
- mecanum
- stair
- mecanum wheel
- cleaning machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Abstract
The present invention provides a kind of stair cleaning machine device people mobile based on Mecanum wheel, are mainly made of driving device, lifting device, integral support, clearing apparatus, range sensor and master system；Wherein lifting device includes lifting motor, lifting motor fixed frame, shaft coupling, lead screw, lifting support frame, bearing；Driving device independently drives four Mecanum wheels by four motors；Four lifting devices are separately mounted in four lifting idler pulley gaps；Clearing apparatus is mounted on Mecanum wheeling supporting frame；Driving device, lifting device, clearing apparatus, range sensor are both connected on master system.The present invention can complete the flexible movement of any direction, including the movement such as advance, retrogressing, traversing, rotation under conditions of Mecanum wheel does not turn to；Environment is perceived by range sensor, and then adjusts adjustable height and forward travel distance, the cleaning works to a variety of different size stair can be completed；It can be used for the cleaning to common ground.
Description
Technical field
The present invention relates to sweeping robot fields, refer specifically to a kind of stair cleaning machine mobile based on Mecanum wheel
Device people.
Background technique
With the development of robot technology, robot more and more occurs in people's lives, at present in scavenging machine
What device people this respect was popularized relatively is the sweeping robot for cleaning ground.Stair clean aspect and mainly manually clean, in order to
Mitigate the workload of people and save time, physical strength, designs a independence by force and the stair cleaning machine device people of motion stabilization is
Very it is necessary to.
It is retrieved, discovery has the patent document of application number 201610737541.1, application publication number CN106175608A, institute
The mobile mechanism stated includes turning for wheel, steering engine, driving motor, steering engine fixed frame, the fixed angle bar of driving motor, and each wheel
It is driven to a steering engine is required, also needs to turn to wheels of robot by steering engine after robot completes straight trip process
It just can be carried out traversing cleaning with completion to stair, and steering engine running speed is slower, causes sweeping efficiency lower.It is every to increase by one
A steering engine will be such that structure becomes more complicated, and also can increase difficulty to control program.The patent document can be completed certain
Cleaning works, but there is the deficiencies of structure is complicated, movement is not flexible place.
Summary of the invention
To solve the above problems, a kind of the object of the present invention is to provide independences mobile based on Mecanum wheel strong, fortune
Move flexible and stable stair cleaning machine device people.
The technical solution adopted by the present invention is that:
A kind of stair cleaning machine device people mobile based on Mecanum wheel, comprising: driving device, lifting device, whole branch
Frame, clearing apparatus；
The driving device is made of driving motor, Mecanum wheel, Mecanum wheeling supporting frame；
The lifting device is by lifting motor, lifting motor fixed frame, shaft coupling, lead screw, lifting support frame, bearing group
At；
The integral support is made of lifting idler pulley, feed screw nut, supporting structure bar；
The clearing apparatus is by dust exhaust apparatus, dust exhaust apparatus supporting leg, cleaning brush, cleaning motor, cleaning motor contact
Composition.
Further, the driving device independently drives four Mecanum wheels by four driving motors, and each Mike receives
Nurse wheel is connected on lifting device by Mecanum wheeling supporting frame.
Further, the lifting device can be separately mounted to integral support by four with the lifting leg that complete independently is gone up and down
Four angles on, every lifting support frame for going up and down leg is all mounted in lifting idler pulley gap.
Further, the integral support is welded by the support construction bar of different length, and lifting idler pulley is mounted on branch
The position for needing to connect lifting device at four angles of frame, auxiliary lifting devices complete lifting action；Feed screw nut is mounted on bracket
Four angles need to connect the position of lead screw, the lifting action for completing lifting device is cooperated with lead screw.
Further, the cleaning brush of the clearing apparatus, cleaning motor, cleaning motor contact are separately mounted to driving dress
On the Mecanum wheeling supporting frame set；Dust exhaust apparatus, dust exhaust apparatus supporting leg are mounted on integral support two sides.
Further, the driving device, lifting device, clearing apparatus, range sensor are both connected to master system
On.
Further, the robot can be not only used for cleaning stair, can be used for the cleaning to common ground.
The beneficial effects of the present invention are: the present invention captures stair data using range sensor, data are passed back upper
Machine system completes relevant action by master system driving robot；The data that can be fed back to according to the stair of different height,
The adjustable height of lifting device is adjusted, to adapt to various sizes of stair.It is maintained like in each lifting leg of lifting device
The cleaning to common ground can be completed when height, achieved the effect that a variety of functions of robot.
Driving device is using a kind of all-around mobile device being composed of four Mecanum wheels.This full side
Displacement flowing mode is located in the principle of the centre wheel of wheel shaft on wheel periphery there are many one, these angled peripheries
Wheel shaft is transformed into the wheel steering force of a part above one wheel normal force.Direction and speed by respective wheel, this
The final synthesis of a little power generates a resultant force vector on the direction of any requirement, to ensure that this platform in final conjunction
It can be moved freely through on the direction of force vector, the direction without changing wheel itself.Diagonally distribute many on its wheel rim
Small roller, therefore wheel can be with horizontal sliding.The bus of small roller is very special, when wheel is around fixed wheel arbor rotation, respectively
The envelope of a small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized, movement spirit
It is living, the mobile device being composed of Mecanum wheel can be completed in the case where wheel integrally guarantees that direction is constant advance,
The movement such as retrogressing, traversing, rotation.So the present invention can make robot cleverer by the way of mobile based on Mecanum wheel
It is living easily to complete every cleaning works.
Detailed description of the invention
Present pre-ferred embodiments are given, with reference to the accompanying drawing with the embodiment that the present invention will be described in detail.
Fig. 1 is entirety perspective view
Fig. 2 is whole overlooking structure diagram
Fig. 3 is lifting leg structural schematic diagram
Fig. 4 is lifting device structure schematic diagram
Fig. 5 is integral support structural schematic diagram
Fig. 6 is Mecanum wheel scheme of installation
In figure: 1- lifting motor, 2- lifting motor fixed frame, 3- shaft coupling, 4- lead screw, 5- lifting support frame, 6- lifting
Guide wheel, 7- integral support, 8- universal wheel supporting leg, 9- range sensor, 10- universal wheel, 11- driving motor, 12- Mecanum
Wheel, 13- Mecanum wheeling supporting frame, 14- dust exhaust apparatus, 15- dust exhaust apparatus supporting leg, 16- cleaning brush, 17- clean motor,
18- clearing apparatus connector, 19- bearing, 20- feed screw nut, 21- supporting structure bar, 22- go up and down leg.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
- Fig. 5 referring to Fig.1, a kind of stair cleaning machine device people mobile based on Mecanum wheel of the invention, comprising: driving
Device, lifting device, integral support, clearing apparatus；
The driving device is made of driving motor 11, Mecanum wheel 12, Mecanum wheeling supporting frame 13；
The lifting device is by lifting motor 1, lifting motor fixed frame 2, shaft coupling 3, lead screw 4, lifting support frame 5, axis
Hold 19 compositions；
The integral support is made of lifting idler pulley 6, feed screw nut 20, supporting structure bar 21；
The clearing apparatus is by dust exhaust apparatus 14, dust exhaust apparatus supporting leg 15, cleaning brush 16, cleaning motor 17, cleaning electricity
Machine connector 18 forms.
Preferably, sweeping robot can be used mobile power source or pass through hardwired for power；In addition to standard component, respectively
Class workpiece preferentially selects aluminium alloy as raw material, and aluminium alloy has the characteristics that light weight, mechanical performance be high, easy processing, and ten
Divide and be suitable for this robot for needing flexibly to move, robot can be made to reduce energy consumption and fast move, to improve cleaning effect
Rate and raising cruising ability.
Further, referring to Fig.1, Fig. 6, the driving device is by four driving motors 11, four Mecanums of independent driving
Wheel 12, each Mecanum wheel 12 are connected on lifting device by Mecanum wheeling supporting frame 13.
Preferably due to the special tectonic of Mecanum wheel 12, four Mecanum wheels 12 are by two left-hands respectively
It is composed with the Mecanum wheel 12 of two dextrad, and during installation, the annular knurl on Mecanum wheel 12 all points to horizontal several
What center；Driving motor 11, Mecanum wheeling supporting frame 13, Mecanum wheel 12 are successively installed.
Further, referring to Fig. 5, the integral support is welded by the support construction bar 21 of different length, and lifting is led
Wheel 6 is mounted on the position for needing to connect lifting device at four angles of bracket, and auxiliary lifting devices complete lifting action；Feed screw nut
20 four angles for being mounted on bracket need to connect the position of lead screw 4, and the lifting action for completing lifting device is cooperated with lead screw 4.
Preferably, support construction bar 21 is hollow aluminum pipe, and integral support 7 is welded by the hollow aluminum pipe of different length,
Needing to install two lifting idler pulleys 6 at each level right angle for rolling connection with lifting leg 22, assistance for lifting leg 22 is completed to rise
Drop movement.Feed screw nut 20, in the geometric center of lifting idler pulley 6, is cooperated with lead screw 4 by Al pipe butt welding and completes lifting action.
Further, referring to Fig. 4, the lifting device can be installed respectively by four with the lifting leg 22 that complete independently is gone up and down
On four angles of integral support, the every lifting support frame 5 of lifting leg 22 is all mounted in 6 gap of lifting idler pulley.
Preferably, every lifting support frame 5 is all hollow aluminum pipe, and hollow aluminum pipe and the welding of lifting motor fixed frame 2 are formed
Leg 22 is gone up and down, lifting leg 22 and integral support 7, which roll, to be connected, and 22 inside of lifting leg is rolled with the lifting idler pulley 6 on integral support 7
Contact, allows entirely to go up and down leg 22 and slides up and down along integral support 7, and then allows entire elevating mechanism along whole branch
Frame 7 slides up and down.Lifting motor 1, lifting motor fixed frame 2, shaft coupling 3, lead screw 4, bearing 19 are sequentially connected.Up-down mode
Are as follows: feed screw nut 20 is fixed with respect to integral support 7, and lead screw is converted rotary motion to by the relative rotation with feed screw nut
Linear motion, and then lifting device is made to complete lifting action.
Further, referring to Fig.1, the cleaning brush 16 of the clearing apparatus, clean motor 17, clean motor contact 18 according to
Secondary connection cleans motor contact 18 and is mounted on the Mecanum wheeling supporting frame 13 of driving device；Dust exhaust apparatus 14, dust suction dress
It sets supporting leg 15 and is mounted on 7 two sides of integral support.
Preferably, motor 17 is cleaned to fix with the mode that motor contact 18 is connected by screw bolts is cleaned；Motor is cleaned to connect
Fitting 18 welds together with Mecanum wheeling supporting frame 13；Dust exhaust apparatus 14 is connected by screw bolts with dust exhaust apparatus supporting leg 15
Mode connect, dust exhaust apparatus supporting leg 15 and integral support 7 weld.Wherein 16 bottom of cleaning brush is concordant or slightly higher with ground
In ground；Dust exhaust apparatus 14 is slightly above ground.
Further, the driving device, lifting device, clearing apparatus, range sensor 9 are both connected to master system
On.
Preferably, master system selects computer or STM32 main control chip.
Further, the robot can be not only used for cleaning stair, can be used for the cleaning to common ground.
Specifically, the present invention is primarily to complete to design the cleanings of stair, wherein the work of the structure of lifting device
With being exactly for ladder, the different adjustable heights of lifting device can be climbed various sizes of stair；In lifting device
Height when be consistent, so that it may cleaning movement is completed to common ground.
Ladder process:
Two lifting legs 22 of defined herein sweeping machine head part are that front goes up and down leg, after the lifting leg 22 of tail portion two is
Portion goes up and down leg；The universal wheel 10 of sweeping machine head part is front universal wheel, and universal wheel 10 relatively rearward is rear portion universal wheel.
Step 1: advancing and stretching one's legs
Robot passes the data such as the distance of stair and height back master system by range sensor 9, by host computer
System drive robot carries out corresponding actions.Master system driving robot go to stair, and during advance according to
The data that range sensor 9 is sent back make four lifting legs 22 reach corresponding height, reach stair edge, driving during this
Four driving motors 11 and four lifting motors 1 of device are run simultaneously.
Step 2: terraced on robot head
When robot head reaches stair edge, continue forward, when the data that range sensor 9 is passed back are less than certain value
When, front universal wheel has been over stair sideline at this time.Front goes up and down leg and shrinks, and so that front universal wheel is against stair flat
On face, then proceed to shrink front lifting leg, make front lifting leg 12 bottom of Mecanum wheel it is concordant with stair plane or
Slightly above stair plane.Entire robot is driven forward by two driving motors 11 of rear portion lifting leg again, until rear portion is universal
Wheel is fallen in stair plane across stair sideline.
Step 3: robot is terraced on the whole
After second step, shrinks rear portion and go up and down leg, robot is supported by rear portion universal wheel at this time, and center of gravity should be fallen in
Before the universal wheel of rear portion, robot is avoided to turn over backward.Shrinking rear portion lifting leg makes 12 bottom of Mecanum wheel of rear portion lifting leg
Or slightly above stair plane concordant with stair plane.Entire robot is driven by two driving motors 11 of front lifting leg again
Forward, until entire robot all sets foot on stair step surface.
Above procedure is upper terraced process, and descending stair process is i.e. by above step backward and reverse execution.
Cleaning process: when the step surface of first floor ladder is entirely climbed up by robot, robot do not have to turn to, keep head to
Before, lateral displacement can be completed by Mecanum wheel 12, clean entire step surface.In addition, when front lifting leg compares rear portion
When going up and down the high step of leg, lateral displacement can also be carried out and complete to clean.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited to
Above embodiment, those skilled in the art should be recognized that also have on the premise of without prejudice to spirit of the invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (7)
1. a kind of stair cleaning machine device people mobile based on Mecanum wheel characterized by comprising driving device, lifting dress
It sets, integral support, clearing apparatus；
The driving device is made of driving motor (11), Mecanum wheel (12), Mecanum wheeling supporting frame (13)；
The lifting device is by lifting motor (1), lifting motor fixed frame (2), shaft coupling (3), lead screw (4), lifting support frame
(5), bearing (19) forms；
The integral support is made of lifting idler pulley (6), feed screw nut (20), supporting structure bar (21)；
The clearing apparatus by dust exhaust apparatus (14), dust exhaust apparatus supporting leg (15), cleaning brush (16), clean motor (17), clear
Sweep motor contact (18) composition.
2. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
Stating driving device, independently four Mecanum wheels (12) of driving, each Mecanum wheel (12) pass through by four driving motors (11)
Mecanum wheeling supporting frame (13) is connected on lifting device.
3. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
It states integral support to be welded by the support construction bar (21) of different length, lifting idler pulley (6) is mounted on the need at four angles of bracket
The position of lifting device is connected, auxiliary lifting devices complete lifting action；Feed screw nut (20) is mounted on four angles of bracket
The position for needing to connect lead screw (4) cooperates the lifting action for completing lifting device with lead screw (4).
4. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
Stating lifting device can be separately mounted on four angles of integral support by four with the lifting leg (22) that complete independently is gone up and down, and be gone up and down
The every lifting support frame (5) of leg (22) is all mounted in lifting idler pulley (6) gap.
5. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
State clearing apparatus cleaning brush (16), clean motor (17), clean motor contact (18) be sequentially connected, clean motor contact
(18) it is mounted on the Mecanum wheeling supporting frame (13) of driving device；Dust exhaust apparatus (14), dust exhaust apparatus supporting leg (15) peace
Mounted in integral support two sides.
6. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
Driving device, lifting device, clearing apparatus, range sensor (9) is stated to be both connected on master system.
7. a kind of stair cleaning machine device people mobile based on Mecanum wheel according to claim 1, which is characterized in that institute
Stating robot can be not only used for cleaning stair, can be used for the cleaning to common ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070084.0A CN109008828A (en) | 2018-09-13 | 2018-09-13 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070084.0A CN109008828A (en) | 2018-09-13 | 2018-09-13 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
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| Publication Number | Publication Date |
|---|---|
| CN109008828A true CN109008828A (en) | 2018-12-18 |
Family
ID=64622155
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811070084.0A Pending CN109008828A (en) | 2018-09-13 | 2018-09-13 | A kind of stair cleaning machine device people mobile based on Mecanum wheel |
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| CN (1) | CN109008828A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN109760763A (en) * | 2019-03-02 | 2019-05-17 | 西南石油大学 | A kind of detection repair robot |
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110614623A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Self-adaptive variable-radius pipeline detection robot |
| CN113616118A (en) * | 2021-08-16 | 2021-11-09 | 武汉理工大学 | Device for automatically cleaning stair handrail and steps |
| CN114766984A (en) * | 2022-05-26 | 2022-07-22 | 南通大学 | Stair cleaning machines people based on scalable spiral arm |
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| CN106862195A (en) * | 2017-02-21 | 2017-06-20 | 常州大学 | A kind of ventilation pipeline sweeping of varistructure |
| CN206342425U (en) * | 2016-08-26 | 2017-07-21 | 朱景元 | Intelligent stair sweeping robot |
| CN206749955U (en) * | 2017-01-18 | 2017-12-15 | 深圳市大疆创新科技有限公司 | Chassis vehicle |
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| CN206342425U (en) * | 2016-08-26 | 2017-07-21 | 朱景元 | Intelligent stair sweeping robot |
| CN106725123A (en) * | 2017-01-18 | 2017-05-31 | 太仓韬信信息科技有限公司 | A kind of Multifunctional floor-sweeping machine people |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN109760763A (en) * | 2019-03-02 | 2019-05-17 | 西南石油大学 | A kind of detection repair robot |
| CN110338709A (en) * | 2019-06-25 | 2019-10-18 | 广东博智林机器人有限公司 | The traveling method of running gear, clean robot and clean robot |
| CN110614623A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Self-adaptive variable-radius pipeline detection robot |
| CN113616118A (en) * | 2021-08-16 | 2021-11-09 | 武汉理工大学 | Device for automatically cleaning stair handrail and steps |
| CN113616118B (en) * | 2021-08-16 | 2022-10-14 | 武汉理工大学 | Device for automatically cleaning stair handrail and steps |
| CN114766984A (en) * | 2022-05-26 | 2022-07-22 | 南通大学 | Stair cleaning machines people based on scalable spiral arm |
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