CN109452911A - A kind of intelligent stair clean robot - Google Patents
A kind of intelligent stair clean robot Download PDFInfo
- Publication number
- CN109452911A CN109452911A CN201910014709.XA CN201910014709A CN109452911A CN 109452911 A CN109452911 A CN 109452911A CN 201910014709 A CN201910014709 A CN 201910014709A CN 109452911 A CN109452911 A CN 109452911A
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- Prior art keywords
- cleaning
- drive mechanism
- axis
- clean room
- bar
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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
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary 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
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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
- A47L11/40—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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
Landscapes
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of intelligent stair clean robots, including bolster stake, lift drive mechanism, bracket, horizontal drive mechanism, sliding block, it is vertically directed bar, horizontally-guided bar, clean body, range unit, displacement sensor, walking mechanism and control circuit, it lift drive mechanism and is vertically directed bar and is embedded in bolster stake, sliding block rear end face respectively with lift drive mechanism, bar is vertically directed to be slidably connected, front end face is connect with horizontal drive mechanism and horizontally-guided bar respectively, bracket includes protective cover plate, position matrix and locating piece, positioning matrix is slidably connected with horizontal drive mechanism and horizontally-guided bar respectively, bracket is connected with each other by locating piece and cleaning body upper surface.One aspect of the present invention can effectively meet the automatic cleaning operation of all kinds of different types of structure step structures, to effectively improve the degree of automation of stair cleaning work, on the other hand in effectively cleaning step, the wet and slippery degree of step surface is also reduced while reducing dust, avoids the occurrence of the accidents such as slip.
Description
Technical field
The present invention relates to a kind of intelligent stair clean robot, belongs to robotic technology field.
Background technique
At present in carrying out indoor and outdoor surroundings clearance activity, since stair are multi-stage stairs structure, numbers of steps is more, away from
From length, make so that stair on the one hand be caused to carry out quickly continuous cleaning using tools such as mops on level land without the image of Buddha when cleaning
Industry, needing staff, step is cleared up step by step, is on the other hand also led to staircase structure there are a large amount of turning and is not easy clear
The vertical surface of reason, to also create current either traditional cleaning tool while causing cleaning work difficulty big
Or the cleaning machine based on artificial intelligence technology cannot effectively meet the need that daily cleaning operation is carried out to staircase structure per capita
Want, so as to cause current stair cleaning work large labor intensity and working efficiency and the statuses such as of poor quality, in addition, currently into
When row stair clean, easily cause stairwell surface because ponding, moisture film etc. cause stairwell surface wet and slippery, so that pedestrian be caused to slip
Safety accident, therefore, for this status there is an urgent need to develop a kind of completely new cleaning robot device for step structure,
To meet the needs of actual use.
Summary of the invention
In order to solve the deficiency in the prior art, the present invention provides a kind of intelligent stair clean robot.
In order to realize effect above-mentioned, a kind of intelligent stair clean robot is proposed comprising the following contents:
A kind of intelligent stair clean robot, including it is bolster stake, lift drive mechanism, bracket, horizontal drive mechanism, sliding block, perpendicular
Straight guide rod, horizontally-guided bar, cleaning body, range unit, displacement sensor, walking mechanism and control circuit, wherein carrying
Column is the groove-like structure of axis and horizontal plane distribution, lift drive mechanism and is vertically directed bar and is embedded in bolster stake,
Middle lift drive mechanism is coaxially distributed with bolster stake, is vertically directed at least two, bar, is symmetrically distributed in lift drive mechanism two sides
And with lift drive mechanism parallelly distribute on, sliding block rear end face respectively with lift drive mechanism, be vertically directed bar and be slidably connected, front end
Face is connect with horizontal drive mechanism and horizontally-guided bar respectively, wherein horizontal drive mechanism axis and lift drive mechanism axis phase
Meeting is vertical and intersects, and at least two, horizontally-guided bar, is distributed in horizontal drive mechanism two sides with horizontal drive mechanism axisymmetrical
And with horizontal drive mechanism parallelly distribute on, bracket includes protective cover plate, positioning matrix and locating piece, protective cover plate and positioning matrix
Upper surface connects and is coaxially distributed, positioning matrix axis and horizontal drive mechanism vertical distribution and respectively with horizontal drive mechanism and
Horizontally-guided bar is slidably connected, locating piece at least two, is evenly arranged on positioning matrix lower end surface around positioning matrix axis, and hold in the palm
Frame by locating piece and cleaning body upper surface be connected with each other, cleaning body be coaxially distributed with bracket, and clean body axis and
Mast axis parallelly distribute on is carried, cleaning body trailing flank offsets with bolster stake front end face and is mutually slidably connected, and cleans body
Airtight cavity structure is constituted with bolster stake, displacement sensor at least two is located on the positioning matrix of sliding block and bracket, is surveyed
Away from device at least two, it is located at cleaning body front end face and cleaning body lower end surface, walking mechanism is located at bolster stake
With cleaning body lower end surface, and each walking mechanism is uniformly distributed around bolster stake and cleaning body axis respectively, and control circuit is embedded in
Cleaner body side surface, and respectively with lift drive mechanism, horizontal drive mechanism, range unit, displacement sensor, walking mechanism
Electrical connection.
Further, the cleaning body includes that junction chamber, compartment, clean room, telescopic mechanical arm, circle rotation are clear
Clean besom, injection spray pipe, the bar that mops floor, rubbish suction inlet, detachable dustbin, feeding spraying pump, water tank, air suction fan blade, cleaning brush, Tuo Bi
Brush, dust sucting motor, cleaning motor and operation motor, wherein it is rectangle that the junction chamber, compartment, clean room, which are cross section,
Cavity body structure, and junction chamber, compartment, clean room are distributed from top to bottom along cleaner body axis direction, and junction chamber, carrying
It is connected with each other between room, clean room and is coaxially distributed, wherein the protective cover plate of the junction chamber upper surface and bracket offsets, junction chamber
The locating piece of side wall inner surfaces and bracket is connected with each other, and junction chamber lower end surface and compartment upper surface are all provided with locating slot, and
Junction chamber and the locating slot of compartment collectively form the closed housing structure that cross section is rectangle, and the telescopic mechanical arm is embedded in fixed
It is coaxially distributed in the slot of position and with locating slot, and the telescopic mechanical arm axis is vertical with cleaning body axis and intersects, it is described to stretch
Contracting mechanical arm front end face is located at junction chamber, compartment outside, and passes through locating rack and cleaning brush, wall brush is dragged to be connected with each other, described
Cleaning brush drags wall brush to be connected with each other respectively with a cleaning motor, and the cleaning motor and locating rack are connected with each other, the control
For circuit processed in the compartment, the corresponding compartment side surface of the control circuit sets operation port, and control circuit respectively with stretch
Contracting mechanical arm, feeding spraying pump, dust sucting motor, cleaning motor and operation motor electrical connection, the clean room side surface sets guiding
Slot, and being mutually slidably connected with detachable dustbin by guide groove, the detachable dustbin be coaxially distributed with guide groove and with it is clear
Clean body axis is vertical and intersects, and the detachable dustbin is in clean room, and detachable dustbin front end face passes through diversion pipe
It is interconnected with air suction fan blade, the air suction fan blade is embedded in clean room lower end surface and the corresponding clean room lower end surface of air suction fan blade is set
Rubbish suction inlet, and institute's rubbish suction inlet is coaxially distributed with clean room, the circle rotation cleans besom at least three, around clear
Clean chamber axis is evenly arranged on the outside of clean room lower end surface, and the bar that mops floor mutually is interconnected by rack with clean room bottom outer surface
It connects, the rod axis that mops floor, which is parallel to the horizontal plane, to be distributed and located on rear side of circle rotation cleaning besom, and the circle rotation is clear
Clean besom and the bar that mops floor are connected with each other at least one operation motor respectively, and the injection spray pipe at least two, with clean room bottom
Portion outer surface is connected with each other, and be parallel to each other distribution on rear side of the bar that mops floor and between the bar that mops floor, and the injection spray pipe passes through shower water
Pump is interconnected with water tank, and the feeding spraying pump, water tank, dust sucting motor and operation motor are embedded in clean room.
Further, pass through at least between the locating slot and telescopic mechanical arm and between guide groove and detachable dustbin
One sliding slot is mutually slidably connected.
Further, the cleaning brush, drag wall brush to be cylindrical-shaped structure, and cleaning brush, drag what wall brush connected to determine
Position frame is " Qian " font groove-like structure, and locating rack is hinged by turntable mechanism and telescopic mechanical arm, and the turntable mechanism
It is electrically connected with control circuit.
Further, in circle rotation cleaning besom, each circle rotation cleaning besom is respectively with clean room
Axis is the center of circle, and arc length is no more than clean room perimeter 3/4 and is located on the same circular arc direction of clean room front end face side.
Further, auxiliary drive battery, and the auxiliary drive battery and control are separately set in the compartment
It is electrically connected between circuit by charge-discharge control circuit.
Further, pass through at least two directive slide tracks mutually company of sliding between the bolster stake and cleaner contact level
It connects, and the directive slide track is parallel to each other with the distribution of bolster stake axisymmetrical and with carrying mast axis.
Further, the lift drive mechanism, horizontal drive mechanism and telescopic mechanical arm be screw mechanism, it is electronic
Any one in expansion link mechanism, gear and rack teeth mechanism and linear motor mechanism.
Further, the range unit be laser ranging system, in supersonic range finder any one or two
Kind shares.
Further, the control circuit is based on the circuit system based on industrial computer, and control electricity
Wireless data communication module and at least one serial communication terminal are separately set in road.
The configuration of the present invention is simple, using flexible run high degree of automation, on the one hand can effectively meet all kinds of different structures
The automatic cleaning operation of type step structure is improving work to effectively improve the degree of automation of stair cleaning work
While efficiency and quality, labor intensity and cost are effectively reduced, on the other hand in effectively cleaning step, reduces the same of dust
When also reduce step surface wet and slippery degree, contingency is avoided the occurrence of, to greatly improve the safety of step prune job.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is schematic structural view of the invention；
Fig. 2 is bracket and horizontal drive mechanism connection relationship partial structural diagram；
Fig. 3 is cleaning body structural schematic diagram；
Fig. 4 is telescopic mechanical arm and locating slot connection relationship partial structural diagram；
Fig. 5 is that detachable dustbin and clean room connection relationship overlook partial structural diagram；
Fig. 6 is to overlook partial structural diagram after clean room removes detachable dustbin and water tank；
Fig. 7 is clean room bottom outer surface structure partial schematic diagram；
Fig. 8 is connection relationship partial structural diagram inside compartment.
Specific embodiment
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to construct, below with reference to specific
Embodiment, the present invention is further explained.
A kind of intelligent stair clean robot as described in Fig. 1-8, including bolster stake 1, lift drive mechanism 2, bracket 3,
Horizontal drive mechanism 4, sliding block 5, be vertically directed bar 6, horizontally-guided bar 7, cleaning body 8, range unit 9, displacement sensor 10,
Walking mechanism 11 and control circuit 12, wherein bolster stake 1 is the groove-like structure of axis and horizontal plane distribution, elevator drive machine
Structure 2 and bar 6 is vertically directed in the bolster stake 1, wherein lift drive mechanism 2 and the coaxial distribution of bolster stake 1, are vertically directed bar
6 at least two, be symmetrically distributed in 2 two sides of lift drive mechanism and with 2 parallelly distribute on of lift drive mechanism, 5 rear end face of sliding block point
Not with lift drive mechanism 2, be vertically directed bar 6 and be slidably connected, front end face respectively with horizontal drive mechanism 4 and horizontally-guided bar 7
Connection, wherein 4 axis of horizontal drive mechanism is met vertical and is intersected with 2 axis of lift drive mechanism, horizontally-guided bar 7 at least two
Item, with 4 axisymmetrical of horizontal drive mechanism be distributed in 4 two sides of horizontal drive mechanism and with 4 parallelly distribute on of horizontal drive mechanism.
In the present embodiment, the bracket 3 includes protective cover plate 31, positioning matrix 32 and locating piece 33, protective cover plate 31 with
Positioning 32 upper surface of matrix connects and is coaxially distributed, positioning 32 axis of matrix and 4 vertical distribution of horizontal drive mechanism and respectively with
Horizontal drive mechanism 4 and horizontally-guided bar 7 are slidably connected, locating piece 33 at least two, are evenly arranged on around positioning 32 axis of matrix
32 lower end surface of matrix is positioned, and bracket 3 is connected with each other by locating piece 33 and cleaning 8 upper surface of body.
In the present embodiment, the cleaning body 8 and the coaxial distribution of bracket 3, and clean 8 axis of body and 2 axis of bolster stake
Parallelly distribute on, cleaning 8 trailing flank of body offsets with 1 front end face of bolster stake and is mutually slidably connected, and cleans body 8 and bolster stake
1 constitutes airtight cavity structure, and displacement sensor 10 at least two is located on the positioning matrix 32 of sliding block 5 and bracket 3, surveys
Away from device 9 at least two, it is located at cleaning 8 front end face of body and cleaning 8 lower end surface of body, walking mechanism 11, which is located at, holds
Column 1 and cleaning 8 lower end surface of body are carried, and each walking mechanism 11 is uniformly distributed around bolster stake 1 and cleaning 8 axis of body respectively, control
Circuit 12 processed embedded in cleaning 8 side surface of body, and respectively with lift drive mechanism 2, horizontal drive mechanism 4, range unit 9, position
Displacement sensor 10, walking mechanism 11 are electrically connected.
It needs spy to point out, the cleaning body 8 includes junction chamber 810, compartment 811, clean room 812, stretches
Mechanical arm 813, circle rotation clean besom 814, injection spray pipe 815, the bar 816 that mops floor, rubbish suction inlet 817, detachable dustbin
818, feeding spraying pump 819, water tank 820, air suction fan blade 821, cleaning brush 822, drag wall brush 823, dust sucting motor 824, cleaning motor
825 and operation motor 826, wherein the junction chamber 810, compartment 811, clean room 812 are the cavity that cross section is rectangle
Structure, and junction chamber 810, compartment 812, clean room 813 are distributed from top to bottom along cleaning 8 axis direction of body, and junction chamber
810, it is connected with each other between compartment 811, clean room 812 and is coaxially distributed, wherein 810 upper surface of the junction chamber and bracket 3
Protective cover plate 31 offsets, and the locating piece 33 of 810 side wall inner surfaces of junction chamber and bracket 3 is connected with each other, 810 lower end of junction chamber
Face and 811 upper surface of compartment are all provided with locating slot 827, and junction chamber 810 and the locating slot of compartment 811 827 collectively form cross
Section is the closed housing structure of rectangle, the telescopic mechanical arm 813 in the locating slot 827 and with locating slot 827 is coaxial divides
Cloth, and 813 axis of the telescopic mechanical arm is vertical with cleaning 8 axis of body and intersects, the 813 front end face position of telescopic mechanical arm
In junction chamber 810,811 outside of compartment, and passes through locating rack 828 and cleaning brush 822, wall brush 823 is dragged to be connected with each other, it is described clear
Brush 822 drags wall brush 823 to be connected with each other respectively with a cleaning motor 825, the cleaning motor 825 and 828 phase of locating rack
It connects, for the control circuit 12 in compartment 811, corresponding 811 side surface of compartment of the control circuit 12 sets behaviour
Make mouth 829, and control circuit 12 respectively with telescopic mechanical arm 813, feeding spraying pump 819, dust sucting motor 824, cleaning motor 825 and
Operation motor 826 is electrically connected, and 812 side surface of clean room sets guide groove 830, and passes through guide groove 830 and detachable rubbish
Box 818 is mutually slidably connected, and the coaxial distribution of the detachable dustbin 818 and guide groove 830 is simultaneously vertical simultaneously with cleaning 8 axis of body
Intersection, the detachable dustbin 818 is in clean room 812, and 818 front end face of detachable dustbin by diversion pipe 831 and is inhaled
Fan leaf 821 is interconnected, and the air suction fan blade 821 is embedded in 812 lower end surface of clean room and the corresponding clean room of air suction fan blade 821
812 lower end surfaces set rubbish suction inlet 817, and institute's rubbish suction inlet 817 and the coaxial distribution of clean room 812, the circle rotation are clear
Clean besom 814 at least three is evenly arranged on the outside of 812 lower end surface of clean room around 812 axis of clean room, and the bar 816 that mops floor
It is connected with each other by rack 832 and 812 bottom outer surface of clean room, distribution is parallel to the horizontal plane simultaneously in 816 axis of bar that mops floor
814 rear sides are swept positioned at circle rotation cleaning, and circle rotation cleaning besom 814 and mop floor bar 816 respectively and at least
One operation motor 826 is connected with each other, and the injection spray pipe 815 at least two, is connected with each other with 812 bottom outer surface of clean room,
Be parallel to each other distribution on rear side of the bar 816 that mops floor and between the bar 816 that mops floor, and the injection spray pipe 815 passes through feeding spraying pump 819 and water
Case 820 is interconnected, and the feeding spraying pump 819, water tank 820, dust sucting motor 824 and operation motor 826 are in clean room.
Wherein, between the locating slot 827 and telescopic mechanical arm 813 and between guide groove 830 and detachable dustbin 818
It is mutually slidably connected by least one sliding slot 833.
Meanwhile the cleaning brush 822, wall brush 823 being dragged to be cylindrical-shaped structure, and cleaning brush 822, drag 823 institute of wall brush
The locating rack 828 of connection is " Qian " font groove-like structure, and locating rack 828 is mutual by turntable mechanism 834 and telescopic mechanical arm 813
Hingedly, and the turntable mechanism 834 and control circuit 12 are electrically connected.
In addition to this, in the described circle rotation cleaning besom 814, each circle rotation cleaning sweep 814 respectively with
812 axis of clean room is the center of circle, and arc length is no more than 814 perimeter 3/4 of clean room and is located at the same of 184 front end face side of clean room
On circular arc direction.
It advanced optimizes, auxiliary drive battery 835 is separately set in the compartment 811, and the auxiliary drive stores
It is electrically connected between battery 835 and control circuit 12 by charge-discharge control circuit.
It advanced optimizes, passes through at least two 13 phases of directive slide track between the bolster stake 1 and cleaning 8 contact surface of body
It is mutually slidably connected, and the directive slide track 13 is distributed with 1 axisymmetrical of bolster stake and is parallel to each other with 1 axis of bolster stake.
In the present embodiment, the lift drive mechanism 2, horizontal drive mechanism 4 and telescopic mechanical arm 813 are lead screw machine
Any one in structure, electric expansion linkage, gear and rack teeth mechanism and linear motor mechanism.
In the present embodiment, the range unit 9 be laser ranging system, in supersonic range finder any one or
Two kinds share.
In the present embodiment, the control circuit 12 is based on the circuit system based on industrial computer, and the control
Wireless data communication module and at least one serial communication terminal are separately set in circuit processed.
The present invention meets present invention flexible motion in the horizontal direction in carrying out stair scale removal process, by walking mechanism,
And the position of step, the height of step are detected by range unit, and will test result and feed back in control circuit,
It is first fulcrum by bolster stake when carrying out climbing step operation, by control circuit driving lift drive mechanism operation, realizes
Cleaning body is raised to upper level stepped locations, then drives horizontal drive mechanism operation, cleaning body is made to pass through vehicle with walking machine
Structure positions on upper level step, and is fulcrum by cleaning body after completing cleaning body and positioning on upper level step, then
Secondary driving lift drive mechanism operation, bolster stake is promoted to and is cleaned on the same step surface of body, to complete this hair
The bright purpose for realizing step climbing.
In addition, the present invention is along step when running down, to be driven in the reverse direction with climbing step driving method.
When carrying out prune job to step horizontal plane, on the one hand cleaned first by the circle rotation of cleaning body lower end surface
Besom cleans the sundries on step horizontal plane and collects in the sundries cleaned at rubbish suction inlet, and rubbish is then passed through
Sundries is delivered in detachable dustbin by the negative pressure gas flow of suction inlet and dust sucting motor stroke by rubbish suction inlet, to complete
Sundries is tentatively cleared up, and on the other hand while circle rotation cleans besom prune job, is carried out by injection spray pipe to ledge surface
Water mist sprinkling depositing dust operation clears up the dust and ponding of ledge surface by mopping floor bar again, makees to reach reduction cleaning
Industry dust pollution and unique step are slided with causing because of ponding causes the accident that slips.
When carrying out prune job to step vertical plane, individually step vertical plane can be cleared up also horizontal with step
Face carries out the synchronous progress of prune job, in cleaning, driving telescopic mechanical arm operation first, so that telescopic mechanical arm front end is clear
Wall brush face contact directly vertical with step is dragged in brush, then by cleaning motor driven cleaning brush, drag wall brush rotate, to realize
To the needs of step vertical plane prune job, and the sundries such as dust for generating of when step vertical plane is cleared up then by with step
Horizontal plane carries out prune job and is cleared up, to meet the needs that step makes an overall screening operation.
More traditional similar set of the invention has the advantage that
1, configuration aspects: the invention can complete the movement gone upstairs automatically, robot by two groups of screw slider structures
Using three-wheel body structure, rear-wheel is utilized respectively two direct current generator drivings to control direction and speed, and front-wheel is universal wheel, phase
Compared with not only three-wheel plays balanced action for general four-wheel machine, but also robot area is also reduced, can provided
The space of bigger the installation sensor and clearing apparatus that can be free to arrange.The structure is realized to machine in which can be convenient simultaneously
The control of people, maximum feature are can to realize pivot stud by the difference of two wheel steerings and revolving speed, flexibly and are imitated
Rate is high.
2, clean aspect: dismountable dust-collecting box keeps the removing of rubbish and dust more convenient, and the water mist that injection spray pipe sprays can
The dust that the device raises during the work time is reduced, the mechanical arm of second layer auto-extending can clean the vertical side of step
It with dead angle position, solves to fall the place often ignored by people, while mechanical arm can also utilize servo driving according to stair height certainly
Row adjusts the vertical height cleaned, more comprehensive clear to stair side and vertical plane by the flexible deflecting of robot itself
The cleaning ability of the robot that further enhances is swept, mechanical arm uses infrared distance sensor, and GP2Y0A21YK0F is surveyed
Away from sensor unit, by (Position-Sensitive Detector), (infrared-emitting diode) and signal processing circuit.To various stair sides
Distance detection, makes mechanical arm be not easily susceptible to the influence of environment temperature and stair height, to improve its accuracy and sweeping efficiency.
Circle rotation clearing apparatus is not only arranged at the bottom of the robot, and there are also rotary mop the thin end of the scroll, are effectively cleaning step, are reducing dust
The wet and slippery degree for also reducing step surface simultaneously, avoids the occurrence of contingency.The device is capable of the cleaning works of complete independently stair, can
Effectively save manpower and simple, safe and efficient.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. a kind of intelligent stair clean robot, it is characterised in that: the intelligent stair clean robot includes bolster stake, rises
Drop driving mechanism, horizontal drive mechanism, sliding block, is vertically directed bar, horizontally-guided bar, cleaning body, range unit, position at bracket
Displacement sensor, walking mechanism and control circuit, wherein the bolster stake is the groove-like structure of axis and horizontal plane distribution, institute
It states lift drive mechanism and is vertically directed bar and be embedded in bolster stake, wherein the lift drive mechanism coaxially divides with bolster stake
Cloth is vertically directed at least two, bar, be symmetrically distributed in lift drive mechanism two sides and with lift drive mechanism parallelly distribute on, it is described
Sliding block rear end face respectively with lift drive mechanism, be vertically directed bar and be slidably connected, front end face respectively with horizontal drive mechanism and water
Flat guide rod connection, wherein the horizontal drive mechanism axis is met vertical and is intersected with lift drive mechanism axis, the water
Flat guide rod at least two, horizontal drive mechanism two sides and and horizontal drive mechanism are distributed in horizontal drive mechanism axisymmetrical
Parallelly distribute on, the bracket include protective cover plate, positioning matrix and locating piece, and the protective cover plate and positioning matrix upper surface connect
Connect and be coaxially distributed, the positioning matrix axis and horizontal drive mechanism vertical distribution and respectively with horizontal drive mechanism and level
Guide rod is slidably connected, the locating piece at least two, is evenly arranged on positioning matrix lower end surface around positioning matrix axis, and hold in the palm
Frame is connected with each other by locating piece and cleaning body upper surface, and the cleaning body is coaxially distributed with bracket, and cleans axis
Line and carrying mast axis parallelly distribute on, the cleaning body trailing flank offset with bolster stake front end face and are mutually slidably connected, and
It cleans body and bolster stake and constitutes airtight cavity structure, institute's displacement sensors at least two are located at sliding block and bracket
It positions on matrix, the range unit at least two, is located at cleaning body front end face and cleaning body lower end surface, the row
It walks mechanism and is located at bolster stake and cleaning body lower end surface, and each walking mechanism is respectively around bolster stake and cleaning axis
Line is uniformly distributed, and the control circuit is embedded in cleaner body side surface, and respectively with lift drive mechanism, horizontal drive mechanism, ranging
Device, displacement sensor, walking mechanism electrical connection.
2. a kind of intelligent stair clean robot according to claim 1, which is characterized in that the cleaning body includes
Junction chamber, compartment, clean room, telescopic mechanical arm, circle rotation cleaning besom, injection spray pipe, the bar that mops floor, rubbish suction inlet, can
It unloads dustbin, feeding spraying pump, water tank, air suction fan blade, cleaning brush, drag wall brush, dust sucting motor, cleaning motor and operation motor,
Described in junction chamber, compartment, clean room be cavity body structure that cross section is rectangle, and junction chamber, compartment, clean room edge
Cleaner body axis direction is distributed from top to bottom, and is connected with each other between junction chamber, compartment, clean room and is coaxially distributed, wherein
The protective cover plate of the junction chamber upper surface and bracket offsets, and the locating piece of junction chamber side wall inner surfaces and bracket is connected with each other,
The junction chamber lower end surface and compartment upper surface are all provided with locating slot, and junction chamber and the locating slot of compartment collectively form it is cross-section
Face is the closed housing structure of rectangle, and the telescopic mechanical arm is coaxially distributed in the locating slot and with locating slot, and described is stretched
Contracting mechanical arm axis and cleaning body axis are vertical and intersect, and the telescopic mechanical arm front end face is located at junction chamber, outside compartment
Side, and by locating rack and cleaning brush, drag wall brush to be connected with each other, the cleaning brush, drag wall brush respectively with a cleaning motor
It is connected with each other, the cleaning motor and locating rack are connected with each other, and the control circuit is in compartment, the control circuit pair
The compartment side surface answered sets operation port, and control circuit is electric with telescopic mechanical arm, feeding spraying pump, dust sucting motor, cleaning respectively
Machine and operation motor electrical connection, the clean room side surface set guide groove, and mutually sliding by guide groove and detachable dustbin
Dynamic connection, the detachable dustbin are coaxially distributed and vertical with body axis is cleaned and intersect, the detachable rubbish with guide groove
Box is in clean room, and detachable dustbin front end face is interconnected by diversion pipe and air suction fan blade, and the air suction fan blade is embedding
In clean room lower end surface and the corresponding clean room lower end surface of air suction fan blade sets rubbish suction inlet, and institute's rubbish suction inlet and clean room
Coaxial distribution, the circle rotation clean besom at least three, are evenly arranged on the outside of clean room lower end surface around cleaning chamber axis, and
The bar that mops floor is connected with each other by rack and clean room bottom outer surface, and distribution is parallel to the horizontal plane simultaneously in the rod axis that mops floor
On rear side of circle rotation cleaning besom, and circle rotation cleaning besom and the bar that mops floor are electric at least one operation respectively
Machine is connected with each other, and the injection spray pipe at least two, is connected with each other with clean room bottom outer surface, positioned at mop floor on rear side of bar and with drag
Be parallel to each other distribution between the thin end of the scroll, and the injection spray pipe is interconnected by feeding spraying pump and water tank, the feeding spraying pump, water tank, suction
Dirt motor and operation motor are embedded in clean room.
3. a kind of intelligent stair clean robot according to claim 2, which is characterized in that the locating slot and flexible
It is mutually slidably connected by least one sliding slot between mechanical arm and between guide groove and detachable dustbin.
4. a kind of intelligent stair clean robot according to claim 2, which is characterized in that the cleaning brush, Tuo Bi
Brush is cylindrical-shaped structure, and cleaning brush, the locating rack that drags wall brush to be connected are " Qian " font groove-like structure, and locating rack is by turning
Platform mechanism is hinged with telescopic mechanical arm, and the turntable mechanism and control circuit are electrically connected.
5. a kind of intelligent stair clean robot according to claim 2, which is characterized in that the circle rotation cleaning
In besom, each circle rotation cleaning besom is respectively to clean chamber axis as the center of circle, and arc length is simultaneously no more than clean room perimeter 3/4
On the same circular arc direction of clean room front end face side.
6. a kind of intelligent stair clean robot according to claim 2, which is characterized in that separately set in the compartment
Auxiliary drive battery, and be electrically connected between the auxiliary drive battery and control circuit by charge-discharge control circuit.
7. a kind of intelligent stair clean robot according to claim 1, which is characterized in that the bolster stake and cleaning
It is mutually slidably connected between body contact surface by least two directive slide tracks, and the directive slide track is with bolster stake axisymmetrical point
Cloth is simultaneously parallel to each other with carrying mast axis.
8. a kind of intelligent stair clean robot according to claim 1 or 2, which is characterized in that the lifting driving
Mechanism, horizontal drive mechanism and telescopic mechanical arm are screw mechanism, electric expansion linkage, gear and rack teeth mechanism and straight-line electric
Any one in motivation mechanism.
9. a kind of intelligent stair clean robot according to claim 1, which is characterized in that the range unit is sharp
Any one or two kinds in optical range finding apparatus, supersonic range finder share.
10. a kind of intelligent stair clean robot according to claim 1, which is characterized in that the control circuit is
Separately set based on the circuit system based on industrial computer, and in the control circuit wireless data communication module and at least one
Serial communication terminal.
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| CN201910014709.XA CN109452911B (en) | 2019-01-08 | 2019-01-08 | Intelligent stair cleaning robot |
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| CN201910014709.XA CN109452911B (en) | 2019-01-08 | 2019-01-08 | Intelligent stair cleaning robot |
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| CN110251001A (en) * | 2019-05-29 | 2019-09-20 | 南京涵铭置智能科技有限公司 | An intelligent robot for cleaning stairs and its working method |
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