CN109452911B - Intelligent stair cleaning robot - Google Patents
Intelligent stair cleaning robot Download PDFInfo
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- CN109452911B CN109452911B CN201910014709.XA CN201910014709A CN109452911B CN 109452911 B CN109452911 B CN 109452911B CN 201910014709 A CN201910014709 A CN 201910014709A CN 109452911 B CN109452911 B CN 109452911B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 214
- 230000007246 mechanism Effects 0.000 claims abstract description 105
- 239000000428 dust Substances 0.000 claims abstract description 17
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 239000010813 municipal solid waste Substances 0.000 claims description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 15
- 239000007921 spray Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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
- A47L11/28—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
-
- 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
- Cleaning In General (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to an intelligent stair cleaning robot which comprises a bearing column, a lifting driving mechanism, a bracket, a horizontal driving mechanism, a sliding block, a vertical guide rod, a horizontal guide rod, a cleaning machine body, a distance measuring device, a displacement sensor, a traveling mechanism and a control circuit, wherein the lifting driving mechanism and the vertical guide rod are embedded in the bearing column, the rear end face of the sliding block is respectively connected with the lifting driving mechanism and the vertical guide rod in a sliding manner, the front end face of the sliding block is respectively connected with the horizontal driving mechanism and the horizontal guide rod, the bracket comprises a protective cover plate, a positioning base body and a positioning block, the positioning base body is respectively connected with the horizontal driving mechanism and the horizontal guide rod in a sliding manner, and the bracket is mutually connected with the upper end face of the cleaning machine body through the positioning block. The invention can effectively meet the automatic cleaning operation of various step structures with different structural types, thereby effectively improving the automation degree of the stair cleaning operation, and on the other hand, effectively cleaning steps, reducing dust, reducing the wet slip of the step surface and avoiding accidents such as slipping.
Description
Technical Field
The invention relates to an intelligent stair cleaning robot, and belongs to the technical field of robots.
Background
At present, in carrying out indoor and outdoor environment clearance activity, because the stair is multistage step structure, step quantity is many, the distance is long, thereby on the one hand, can't use instrument such as mop to carry out quick continuous clearance operation like on flat ground when causing the stair to clean, need the staff step by step to clear up, on the other hand also lead to the stair structure to have a large amount of corners and the vertical surface of difficult clearance, thereby when leading to the clearance work degree of difficulty big, still caused at present not only traditional clearance instrument or the clearance robot based on artificial intelligence technique can not effectively satisfy the needs of carrying out daily clearance operation to the stair structure, thereby lead to current stair clearance work intensity of labour to be big and work efficiency and quality subalternation current situation, in addition, at present when cleaning the stair, very easily cause the stair surface to lead to the stair surface to wet slide because of ponding, water film etc. thereby cause pedestrian to slide down, therefore, need develop a brand-new clearance robot equipment to the stair structure to satisfy the needs of in fact in order to satisfy the in fact.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent stair cleaning robot.
In order to achieve the above-mentioned effects, an intelligent stair cleaning robot is proposed, which includes the following:
An intelligent stair cleaning robot comprises a bearing column, a lifting driving mechanism, a bracket, a horizontal driving mechanism, a sliding block, vertical guide rods, horizontal guide rods, a cleaning machine body, a distance measuring device, a displacement sensor, a travelling mechanism and a control circuit, wherein the bearing column is of a groove-shaped structure with axes distributed vertically to the horizontal plane, the lifting driving mechanism and the vertical guide rods are embedded in the bearing column, the lifting driving mechanism and the bearing column are coaxially distributed, at least two vertical guide rods are symmetrically distributed on two sides of the lifting driving mechanism and are distributed in parallel with the lifting driving mechanism, the rear end surfaces of the sliding block are respectively connected with the lifting driving mechanism and the vertical guide rods in a sliding manner, the front end surfaces are respectively connected with the horizontal driving mechanism and the horizontal guide rods, the axes of the horizontal driving mechanism are perpendicular to and intersected with the axes of the lifting driving mechanism, at least two horizontal guide rods are symmetrically distributed on two sides of the horizontal driving mechanism by the axes of the horizontal driving mechanism and are parallel with the horizontal driving mechanism, the bracket comprises a protective cover plate, a positioning base and a positioning block, the protective cover is connected with the upper end surfaces of the positioning base and is coaxially distributed, the positioning base is vertically distributed with the horizontal driving mechanism and is respectively connected with the horizontal driving mechanism in a sliding manner with the horizontal guide rods, at least two positioning blocks, the positioning base is arranged around the upper end surfaces of the positioning base and is in a coaxial manner, the positioning base is in parallel with the positioning base body, the two side surfaces are coaxially distributed with the positioning base body is in the positioning body, and the cleaning body is in a sliding manner, the cleaning body is in parallel with the side of the carrier, and the cleaning machine body is arranged on the side, and the side is in a position, and a cleaning body is in a position, and a cleaning device is in a position, and a cleaning device is in a cleaning device, and a cleaning device. The cleaning machine body comprises a cleaning machine body, a supporting column, a cleaning machine body, a traveling mechanism, a control circuit, a lifting driving mechanism, a horizontal driving mechanism, a distance measuring device, a displacement sensor and a traveling mechanism, wherein the traveling mechanism is respectively positioned on the front end face of the cleaning machine body and the lower end face of the cleaning machine body, the traveling mechanism is respectively positioned on the supporting column and the lower end face of the cleaning machine body, and is respectively and uniformly distributed around the axes of the supporting column and the cleaning machine body.
Further, the cleaning machine body comprises a connecting chamber, a bearing chamber, a cleaning chamber, a telescopic mechanical arm, a circumferential rotary cleaning broom, a spray pipe, a mopping rod, a garbage suction inlet, a detachable garbage box, a spray water pump, a water tank, air suction blades, a cleaning brush, a wall-dragging brush, a dust collection motor, a cleaning motor and an operation motor, wherein the connecting chamber, the bearing chamber and the cleaning chamber are all of rectangular cavity structures in cross section, the connecting chamber, the bearing chamber and the cleaning chamber are distributed from top to bottom along the axis direction of the cleaning machine body, the connecting chamber, the bearing chamber and the cleaning chamber are mutually connected and coaxially distributed, the upper end surface of the connecting chamber is propped against a protective cover plate of a bracket, the inner surface of a side wall of the connecting chamber is mutually connected with a positioning block of the bracket, the lower end surface of the connecting chamber and the upper end surface of the bearing chamber are respectively provided with positioning grooves, the positioning grooves of the connecting chamber and the bearing chamber jointly form a rectangular closed cavity structure, the telescopic mechanical arm is embedded in the positioning grooves and coaxially distributed with the positioning grooves, the axis of the telescopic mechanical arm is perpendicular to and intersects with the cleaning axis, the front end surface of the telescopic mechanical arm, the front end surface of the connecting chamber, the bearing chamber is located on the outer side of the cleaning chamber, the cleaning chamber is distributed from top to bottom along the axis direction of the cleaning machine body, the control circuit is mutually perpendicular to the corresponding to the cleaning brush through the control side of the control circuit, the cleaning brush, the inner surface of the cleaning brush is mutually connected with the control side of the cleaning brush through the control side of the control circuit, and the cleaning brush, and the control circuit is mutually connected with the cleaning brush through the corresponding to the side surface, and the cleaning brush, the detachable garbage box is embedded in the cleaning chamber, the front end surface of the detachable garbage box is communicated with the air suction fan blades through the flow guide pipe, the air suction fan blades are embedded on the lower end surface of the cleaning chamber, the lower end surface of the cleaning chamber corresponding to the air suction fan blades is provided with a garbage suction inlet, the garbage suction inlet and the cleaning chamber are coaxially distributed, at least three circumferentially rotating cleaning besom are uniformly distributed on the outer side of the lower end surface of the cleaning chamber around the axis of the cleaning chamber, the mopping rod is connected with the outer surface of the bottom of the cleaning chamber through a frame, the axis of the mopping rod is parallel to the horizontal plane and is positioned at the rear side of the circumferential rotary cleaning broom, the circumferential rotary cleaning broom and the mopping rod are respectively connected with at least one operation motor, at least two spraying pipes are connected with the outer surface of the bottom of the cleaning chamber, are positioned at the rear side of the mopping rod and are parallel to the mopping rod, the spraying pipes are mutually communicated with the water tank through the spraying water pump, and the spraying water pump, the water tank, the dust collection motor and the operation motor are all embedded in the cleaning chamber.
Furthermore, the positioning groove is connected with the telescopic mechanical arm and the guide groove is connected with the detachable garbage box in a sliding manner through at least one sliding groove.
Further, the cleaning brush and the wall-dragging brush are of cylindrical structures, the locating frame connected with the cleaning brush and the wall-dragging brush is of a U-shaped groove-shaped structure, the locating frame is hinged with the telescopic mechanical arm through the turntable mechanism, and the turntable mechanism is electrically connected with the control circuit.
Furthermore, in the circumferential rotary cleaning broom, each circumferential rotary cleaning broom is respectively positioned on the same circular arc direction which takes the axis of the cleaning chamber as the center of a circle, has the arc length not more than 3/4 of the circumference of the cleaning chamber and is positioned on one side of the front end face of the cleaning chamber.
Furthermore, an auxiliary driving storage battery is additionally arranged in the bearing chamber, and the auxiliary driving storage battery is electrically connected with the control circuit through a charge-discharge control circuit.
Furthermore, the bearing columns are connected with the contact surface of the cleaning machine body in a sliding manner through at least two guide sliding rails, and the guide sliding rails are symmetrically distributed along the bearing column axis and are parallel to the bearing column axis.
Further, the lifting driving mechanism, the horizontal driving mechanism and the telescopic mechanical arm are any one of a screw rod mechanism, an electric telescopic rod mechanism, a gear rack mechanism and a linear motor mechanism.
Further, the distance measuring device is one or two of a laser distance measuring device and an ultrasonic distance measuring device.
Furthermore, the control circuit is a circuit system based on an industrial computer, and a wireless data communication module and at least one serial port communication terminal are additionally arranged in the control circuit.
The automatic cleaning device has the advantages of simple structure, flexible use and high operation automation degree, and can effectively meet the automatic cleaning operation of step structures of various different structural types, so that the automation degree of the stair cleaning operation is effectively improved, the working efficiency and the quality are improved, the labor intensity and the cost are effectively reduced, the steps are effectively cleaned, the dust is reduced, the wet sliding degree of the step surface is reduced, accidents are avoided, and the safety of the step cleaning operation is greatly improved.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description;
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a partial structure of the connection relationship between the bracket and the horizontal driving mechanism;
FIG. 3 is a schematic view of a cleaning machine body;
FIG. 4 is a schematic view of a partial structure of the connection relationship between the telescopic mechanical arm and the positioning slot;
FIG. 5 is a schematic top view of a partial structure of the connection of the removable trash box and the clean room;
FIG. 6 is a schematic top view of a part of the structure of the cleanroom after the removable trash can and the water tank are removed;
FIG. 7 is a schematic view of a portion of the exterior surface structure of the bottom of the clean room;
FIG. 8 is a schematic view of a partial structure of the connection relationship between the interior of the loadlock chamber.
Detailed Description
In order to facilitate the construction of the technical means, the creation characteristics, the achievement of the purposes and the effects of the invention, the invention is further described below with reference to the specific embodiments.
The intelligent stair cleaning robot as described in fig. 1-8, comprises a carrying column 1, a lifting driving mechanism 2, a bracket 3, a horizontal driving mechanism 4, a sliding block 5, a vertical guide rod 6, a horizontal guide rod 7, a cleaning machine body 8, a distance measuring device 9, a displacement sensor 10, a travelling mechanism 11 and a control circuit 12, wherein the carrying column 1 is of a groove-shaped structure with an axis vertically distributed with a horizontal plane, the lifting driving mechanism 2 and the vertical guide rod 6 are embedded in the carrying column 1, the lifting driving mechanism 2 and the carrying column 1 are coaxially distributed, at least two vertical guide rods 6 are symmetrically distributed on two sides of the lifting driving mechanism 2 and are parallel to the lifting driving mechanism 2, the rear end face of the sliding block 5 is respectively connected with the lifting driving mechanism 2 and the vertical guide rod 6 in a sliding manner, the front end face is respectively connected with the horizontal driving mechanism 4 and the horizontal guide rod 7, the axis of the horizontal driving mechanism 4 is perpendicular to and intersects with the axis of the lifting driving mechanism 2, and at least two horizontal guide rods 7 are symmetrically distributed on two sides of the horizontal driving mechanism 4 and are parallel to the horizontal driving mechanism 4.
In this embodiment, the bracket 3 includes a protective cover plate 31, a positioning base 32 and a positioning block 33, the protective cover plate 31 is connected with the upper end surface of the positioning base 32 and is coaxially distributed, the axis of the positioning base 32 is vertically distributed with the horizontal driving mechanism 4 and is respectively slidably connected with the horizontal driving mechanism 4 and the horizontal guide rod 7, at least two positioning blocks 33 are uniformly distributed on the lower end surface of the positioning base 32 around the axis of the positioning base 32, and the bracket 3 is mutually connected with the upper end surface of the cleaning machine body 8 through the positioning block 33.
In this embodiment, the cleaning machine body 8 and the bracket 3 are coaxially distributed, the axis of the cleaning machine body 8 and the axis of the carrying column 2 are parallel, the rear side of the cleaning machine body 8 abuts against the front end face of the carrying column 1 and are connected with each other in a sliding manner, the cleaning machine body 8 and the carrying column 1 form a closed cavity structure, at least two displacement sensors 10 are respectively located on the sliding block 5 and the positioning substrate 32 of the bracket 3, at least two distance measuring devices 9 are respectively located on the front end face of the cleaning machine body 8 and the lower end face of the cleaning machine body 8, the travelling mechanisms 11 are respectively located on the lower end faces of the carrying column 1 and the cleaning machine body 8, the travelling mechanisms 11 are uniformly distributed around the axes of the carrying column 1 and the cleaning machine body 8, and a control circuit 12 is embedded on the side surface of the cleaning machine body 8 and is respectively electrically connected with the lifting driving mechanism 2, the horizontal driving mechanism 4, the distance measuring devices 9, the displacement sensors 10 and the travelling mechanisms 11.
It should be noted that the cleaning machine body 8 includes a connection chamber 810, a carrying chamber 811, a cleaning chamber 812, a telescopic mechanical arm 813, a circumferential rotation cleaning broom 814, a spray pipe 815, a floor rod 816, a garbage suction inlet 817, a detachable garbage box 818, a spray pump 819, a water tank 820, a suction fan blade 821, a cleaning brush 822, a wall-cleaning brush 823, a dust suction motor 824, a cleaning motor 825 and a working motor 826, wherein the connection chamber 810, the carrying chamber 811 and the cleaning chamber 812 are all of a cavity structure with rectangular cross sections, the connection chamber 810, the carrying chamber 812 and the cleaning chamber 813 are distributed from top to bottom along the axial direction of the cleaning machine body 8, the connection chamber 810, the carrying chamber 811 and the cleaning chamber 812 are connected with each other and are coaxially distributed, wherein the upper end surface of the connection chamber 810 is propped against the protective cover plate 31 of the bracket 3, the inner surface of the side wall of the connection chamber 810 is connected with the positioning block 33 of the bracket 3, the lower end face of the connecting chamber 810 and the upper end face of the bearing chamber 811 are respectively provided with a positioning groove 827, the positioning grooves 827 of the connecting chamber 810 and the bearing chamber 811 jointly form a closed cavity structure with a rectangular cross section, the telescopic mechanical arm 813 is embedded in the positioning groove 827 and is coaxially distributed with the positioning groove 827, the axis of the telescopic mechanical arm 813 is perpendicular to and intersects with the axis of the cleaning machine body 8, the front end face of the telescopic mechanical arm 813 is positioned outside the connecting chamber 810 and the bearing chamber 811 and is mutually connected with the cleaning brush 822 and the wall-dragging brush 823 through the positioning frame 828, the cleaning brush 822 and the wall-dragging brush 823 are respectively mutually connected with one cleaning motor 825, the cleaning motor 825 is mutually connected with the positioning frame 828, the control circuit 12 is embedded in the bearing chamber 811, an operation port 829 is formed in the side surface of the bearing chamber 811 corresponding to the control circuit 12, and the control circuit 12 is respectively connected with the telescopic mechanical arm 813, the water pump 819, the dust collection motor 824, the cleaning motor 825 and the operation motor 826 are electrically connected, the side surface of the cleaning chamber 812 is provided with a guide groove 830 and is in sliding connection with the detachable garbage box 818 through the guide groove 830, the detachable garbage box 818 is coaxially distributed with the guide groove 830 and is perpendicular to and intersected with the axis of the cleaning machine body 8, the detachable garbage box 818 is embedded in the cleaning chamber 812, the front end surface of the detachable garbage box 818 is mutually communicated with the air suction fan blade 821 through a guide pipe 831, the air suction fan blade 821 is embedded in the lower end surface of the cleaning chamber 812 and is correspondingly provided with a garbage suction inlet 817 on the lower end surface of the cleaning chamber 812, the garbage suction inlet 817 is coaxially distributed with the cleaning chamber 812, at least three circumferential rotary cleaning broom 814 are uniformly distributed outside the lower end surface of the cleaning chamber 812 around the axis of the cleaning chamber 812, the mopping rod 816 is arranged on the rear side of the cleaning chamber 812 through a frame 832, the mopping rod 816 is parallel to the horizontal plane and is respectively connected with at least one operation motor 821, the cleaning broom 814 and the mopping rod 816 are mutually connected with the at least one operation motor spray pipe, the two cleaning rods are mutually parallel to the water pump 819 and the bottom of the cleaning chamber are mutually connected with the cleaning pump 819 through the water pump 815 and the water pump 819.
Wherein, the positioning slot 827 and the telescopic mechanical arm 813 and the guiding slot 830 and the detachable garbage box 818 are slidably connected with each other through at least one sliding slot 833.
Meanwhile, the cleaning brush 822 and the wall-dragging brush 823 are of cylindrical structures, the positioning frame 828 connected with the cleaning brush 822 and the wall-dragging brush 823 is of a U-shaped groove-shaped structure, the positioning frame 828 is hinged with the telescopic mechanical arm 813 through the turntable mechanism 834, and the turntable mechanism 834 is electrically connected with the control circuit 12.
In addition, in the circumferential rotary cleaning broom 814, each circumferential rotary cleaning broom 814 is respectively located in the same circular arc direction with the axis of the cleaning chamber 812 as the center, and the arc length is not greater than 3/4 of the circumference of the cleaning chamber 814 and is located at one side of the front end face of the cleaning chamber 184.
Further preferably, an auxiliary driving battery 835 is additionally disposed in the compartment 811, and the auxiliary driving battery 835 is electrically connected to the control circuit 12 through a charge/discharge control circuit.
Further preferably, the contact surfaces of the bearing column 1 and the cleaning machine body 8 are connected with each other in a sliding manner through at least two guide sliding rails 13, and the guide sliding rails 13 are symmetrically distributed along the axis of the bearing column 1 and are parallel to the axis of the bearing column 1.
In this embodiment, the lifting driving mechanism 2, the horizontal driving mechanism 4 and the telescopic mechanical arm 813 are any one of a screw mechanism, an electric telescopic rod mechanism, a rack and pinion mechanism and a linear motor mechanism.
In this embodiment, the distance measuring device 9 is one or both of a laser distance measuring device and an ultrasonic distance measuring device.
In this embodiment, the control circuit 12 is a circuit system based on an industrial computer, and a wireless data communication module and at least one serial communication terminal are additionally arranged in the control circuit.
In the process of cleaning stairs, the invention is flexibly moved in the horizontal direction by the travelling mechanism, the position of the stairs and the height of the stairs are detected by the distance measuring device, the detection result is fed back to the control circuit, when the stairs need to be climbed, the lifting driving mechanism is driven by the control circuit to operate by taking the bearing column as a fulcrum, the cleaning machine body is lifted to the upper stage of the stairs, then the horizontal driving mechanism is driven to operate, the cleaning machine body is positioned on the upper stage of the stairs by the travelling mechanism, after the cleaning machine body is positioned on the upper stage of the stairs, the lifting driving mechanism is driven to operate again by taking the cleaning machine body as a fulcrum, and the bearing column is lifted to the same stage surface as the cleaning machine body, thereby completing the purpose of climbing the stairs.
In addition, the invention can be driven in a reverse direction with the climbing step driving mode when running downwards along the step.
When the cleaning operation is carried out on the level surface of the step, firstly, the circumferential rotary cleaning broom on the lower end surface of the cleaning machine body cleans sundries on the level surface of the step and gathers the cleaned sundries at the garbage suction inlet, then the sundries are conveyed into the detachable garbage box through the garbage suction inlet by negative pressure air flow of the garbage suction inlet and the dust suction motor stroke, so that the sundries are primarily cleaned, and on the other hand, the spraying pipe sprays water mist to the surface of the step to reduce dust while the cleaning operation is carried out on the circumferential rotary cleaning broom, and the mop cleans dust and accumulated water on the surface of the step again, so that dust pollution in the cleaning operation and occurrence of slipping accidents caused by the accumulated water of the independent step are reduced.
When the cleaning operation is carried out on the vertical surface of the step, the cleaning operation can be independently carried out on the vertical surface of the step and the cleaning operation can also be synchronously carried out with the horizontal surface of the step, and during the cleaning operation, the telescopic mechanical arm is driven to operate at first, so that the cleaning brush and the wall-dragging brush at the front end of the telescopic mechanical arm directly contact the vertical surface of the step, and then the cleaning brush and the wall-dragging brush are driven to rotate by the cleaning motor, so that the requirement on the cleaning operation on the vertical surface of the step is realized, and sundries such as dust generated during the cleaning of the vertical surface of the step are cleaned through the cleaning operation with the horizontal surface of the step, so that the requirement on the comprehensive cleaning operation of the step is met.
Compared with the traditional similar equipment, the invention has the following advantages:
1. The structural aspect is as follows: according to the invention, through the two groups of screw rod sliding block structures, the robot can finish the action of automatically ascending stairs, the three-wheeled vehicle body structure is adopted by the robot, the rear wheels are respectively driven by the two direct current motors to control the direction and the speed, and the front wheels are universal wheels, so that compared with a common four-wheeled machine, the three-wheeled vehicle has the balance effect, the area of the robot is reduced, and a larger space capable of freely arranging the sensor and the cleaning device can be provided. Meanwhile, the structure can conveniently control the robot, and has the biggest characteristics of being capable of realizing in-situ steering through the difference of steering and rotating speeds of two wheels, flexible and high in efficiency.
2. Cleaning: the detachable dust box enables the cleaning of rubbish and dust to be more convenient, the spraying pipe spun water smoke can reduce the dust that the device was raised in the course of the work, the mechanical arm that the second floor stretches out automatically can clean the vertical side and the dead angle position of step, solve the place that falls frequently to be ignored by the people, the mechanical arm can also utilize steering wheel drive to adjust the vertical height who cleans by oneself according to the stair height simultaneously, through the nimble diversion of robot itself, the cleaning ability of this robot has further been strengthened to stair side and vertical face more comprehensive cleaning, the mechanical arm uses infrared ranging sensor, GP2Y0A21YK0F ranging sensor unit, by the position sensitive detector), (infrared emission diode) and signal processing circuit. The detection of the side distances of various stairs makes the mechanical arm not easy to be influenced by the ambient temperature and the height of the stairs, thereby improving the accuracy and the cleaning efficiency. The bottom of the robot is provided with the circumferential rotary cleaning device and the rotary floor-mopping rod, so that steps are effectively cleaned, dust is reduced, meanwhile, the wet slip degree of the step surface is reduced, and accidents are avoided. The device can independently accomplish the cleaning work of stair, can effectively use manpower sparingly and simple, safe, high-efficient.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An intelligent stair cleaning robot which is characterized in that: the intelligent stair cleaning robot comprises a bearing column, a lifting driving mechanism, a bracket, a horizontal driving mechanism, a sliding block, a vertical guide rod, a horizontal guide rod, a cleaning machine body, a distance measuring device, a displacement sensor, a travelling mechanism and a control circuit, wherein the bearing column is of a groove-shaped structure with an axis distributed vertically to the horizontal plane, the lifting driving mechanism and the vertical guide rod are embedded in the bearing column, the lifting driving mechanism and the bearing column are coaxially distributed, the vertical guide rod is symmetrically distributed on two sides of the lifting driving mechanism and is parallel to the lifting driving mechanism, the rear end face of the sliding block is respectively connected with the lifting driving mechanism and the vertical guide rod in a sliding manner, the front end face of the sliding block is respectively connected with the horizontal driving mechanism and the horizontal guide rod, the axis of the horizontal driving mechanism is perpendicular to the axis of the lifting driving mechanism and intersects with the axis of the horizontal driving mechanism, the horizontal guide rod is at least two, the axis of the horizontal driving mechanism is symmetrically distributed on two sides of the horizontal driving mechanism and is parallel to the horizontal driving mechanism, the bracket comprises a protective cover plate, a positioning substrate and a positioning block, the protective cover plate is connected with the upper end face of the positioning substrate and is coaxially distributed, the positioning substrate is perpendicular to the horizontal driving mechanism and is respectively distributed on the horizontal driving mechanism and the upper end face of the horizontal driving mechanism and the horizontal driving mechanism, the positioning substrate is parallel to the horizontal driving mechanism, the positioning body and the positioning body is parallel to the horizontal driving mechanism and the positioning body, the cleaning body and the cleaning body is parallel to the side of the cleaning machine body, and the cleaning body is connected with the side and the side of the cleaning machine body through the at least two side and the side of the side is parallel to the side of the sliding body, the distance measuring devices are respectively arranged on the positioning matrixes of the sliding block and the bracket, at least two distance measuring devices are respectively arranged on the front end surface of the cleaning machine body and the lower end surface of the cleaning machine body, the travelling mechanisms are respectively arranged on the bearing column and the lower end surface of the cleaning machine body, the travelling mechanisms are respectively uniformly distributed around the axes of the bearing column and the cleaning machine body, and the control circuit is embedded on the side surface of the cleaning machine body and is respectively electrically connected with the lifting driving mechanism, the horizontal driving mechanism, the distance measuring devices, the displacement sensor and the travelling mechanisms;
The cleaning machine body comprises a connecting chamber, a bearing chamber, a cleaning chamber, a telescopic mechanical arm, a circumferential rotary cleaning broom, a spray pipe, a mopping rod, a garbage suction inlet, a detachable garbage box, a spray water pump, a water tank, air suction blades, a cleaning brush, a wall cleaning brush, a dust collection motor, a cleaning motor and an operation motor, wherein the connecting chamber, the bearing chamber and the cleaning chamber are all of rectangular cavity structures, the connecting chamber, the bearing chamber and the cleaning chamber are distributed from top to bottom along the axis direction of the cleaning machine body, the connecting chamber, the bearing chamber and the cleaning chamber are mutually connected and coaxially distributed, the upper end surface of the connecting chamber is propped against a protective cover plate of a bracket, the inner surface of the side wall of the connecting chamber is mutually connected with a positioning block of the bracket, the lower end surface of the connecting chamber and the upper end surface of the bearing chamber are respectively provided with positioning grooves, the connecting chamber and the positioning grooves jointly form a rectangular closed cavity structure, the telescopic mechanical arm is embedded in the positioning grooves and coaxially distributed with the positioning grooves, the axis of the telescopic mechanical arm is vertical to and intersected with the cleaning machine body, the front end surface of the telescopic mechanical arm is positioned at the outer side of the connecting chamber, the bearing chamber, the cleaning chamber is mutually matched with the cleaning brush through the positioning brush, the control circuit, the cleaning brush is mutually connected with the control circuit, the cleaning box is mutually corresponding to the cleaning brush, and the cleaning box is mutually connected with the cleaning brush through the control box, and the cleaning machine body through the control box, the detachable garbage box is embedded in the cleaning chamber, the front end face of the detachable garbage box is communicated with the air suction fan blades through a flow guide pipe, the air suction fan blades are embedded in the lower end face of the cleaning chamber, the lower end face of the cleaning chamber corresponding to the air suction fan blades is provided with a garbage suction inlet, the garbage suction inlet and the cleaning chamber are coaxially distributed, at least three circumferential rotary cleaning besom are uniformly distributed on the outer side of the lower end face of the cleaning chamber around the axis of the cleaning chamber, the mopping rods are connected with the outer surface of the bottom of the cleaning chamber through a frame, the axis of each mopping rod is parallel to the horizontal plane and is positioned at the rear side of the circumferential rotary cleaning besom, the circumferential rotary cleaning besom and the mopping rods are respectively connected with at least one operation motor, at least two spray pipes are connected with the outer surface of the bottom of the cleaning chamber and are mutually parallel to each other between the mopping rods, the spray pipes are mutually communicated with the water tank through a spray water pump, and the water tank, the dust suction motor and the operation motor are embedded in the cleaning chamber;
the distance measuring device is one or two of a laser distance measuring device and an ultrasonic distance measuring device.
2. The intelligent stair cleaning robot according to claim 1, wherein the positioning groove and the telescopic mechanical arm and the guiding groove and the detachable garbage box are connected in a sliding manner through at least one sliding groove.
3. The intelligent stair cleaning robot according to claim 1, wherein the cleaning brush and the wall-dragging brush are of cylindrical structures, the locating frame connected with the cleaning brush and the wall-dragging brush is of a U-shaped groove-shaped structure, the locating frame is hinged with the telescopic mechanical arm through the turntable mechanism, and the turntable mechanism is electrically connected with the control circuit.
4. The intelligent stair cleaning robot according to claim 1, wherein in the circumferential rotary cleaning broom, each circumferential rotary cleaning broom is located in the same circular arc direction with the axis of the cleaning chamber as the center, the arc length is not more than 3/4 of the circumference of the cleaning chamber and located on one side of the front end face of the cleaning chamber.
5. The intelligent stair cleaning robot according to claim 1, wherein an auxiliary driving storage battery is additionally arranged in the bearing chamber, and the auxiliary driving storage battery is electrically connected with the control circuit through a charge-discharge control circuit.
6. The intelligent stair cleaning robot according to claim 1, wherein the bearing posts are slidably connected with the contact surface of the cleaning machine body through at least two guiding sliding rails, and the guiding sliding rails are symmetrically distributed along the bearing post axis and are parallel to the bearing post axis.
7. The intelligent stair cleaning robot according to claim 1, wherein the lifting driving mechanism, the horizontal driving mechanism and the telescopic mechanical arm are any one of a screw mechanism, an electric telescopic rod mechanism, a gear rack mechanism and a linear motor mechanism.
8. The intelligent stair cleaning robot according to claim 1, wherein the control circuit is a circuit system based on an industrial computer, and a wireless data communication module and at least one serial communication terminal are additionally arranged in the control circuit.
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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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110251001B (en) * | 2019-05-29 | 2021-03-19 | 南京涵铭置智能科技有限公司 | Intelligent stair cleaning robot and working method thereof |
| CN110293562B (en) * | 2019-06-28 | 2021-11-02 | 河南大学 | Intelligent road traffic robot |
| CN110863461A (en) * | 2019-11-22 | 2020-03-06 | 张思祺 | Intelligent cleaning robot |
| CN113768429B (en) * | 2021-09-15 | 2022-08-26 | 莱芜职业技术学院 | Quick cleaning device of job site |
| CN113951765B (en) * | 2021-10-19 | 2023-02-03 | 重庆邮电大学 | Intelligent cleaning robot for building stairs |
| CN115974584B (en) * | 2022-12-16 | 2024-01-30 | 中国建筑一局(集团)有限公司 | Concrete maintenance device and maintenance method |
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