CN111297267A

CN111297267A - Cleaning device for automatically cleaning stairs and ground

Info

Publication number: CN111297267A
Application number: CN202010157148.1A
Authority: CN
Inventors: 袁健; 卢文超; 邓效东
Original assignee: Yancheng Institute of Technology
Current assignee: Yancheng Institute of Technology
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-06-19
Anticipated expiration: 2040-03-09
Also published as: CN111297267B

Abstract

The invention discloses a cleaning device for automatically cleaning stairs and the ground, which comprises a crawler belt, a driving motor, a Mecanum wheel set, a sweeping and sucking working machine, a mopping and washing working machine, an air dryer, a machine body frame and a lifting device, wherein the crawler belt is arranged on the machine body frame; the crawler belt provides upward stair climbing motion through the driving motor, and the Mecanum wheel group enables the working machine to move left and right on the steps to work or move in any direction on the ground; the sweeping and sucking working machine can sweep dust and sundries and suck the dust and the sundries into the dust collector, the mopping and washing working machine is in contact friction with the ground through wet cloth, and the air dryer is used for drying the wet ground; the lifting device is fixed with the sweeping and sucking working machine and the mopping and washing working machine, and provides the action of upwards lifting the working machine when climbing stairs. The invention can realize the sweeping work on occasions such as flat ground, stairs and the like, and realize the sweeping and mopping integrated function; the number of layers to be cleaned is input on the control panel, and the machine can automatically complete cleaning work, so that the labor intensity of workers is reduced; meanwhile, the device has the characteristics of high efficiency, simple structure, comprehensive functions and the like.

Description

Cleaning device for automatically cleaning stairs and ground

Technical Field

The invention relates to the technical field of automatic cleaning equipment, in particular to a cleaning device for automatically cleaning stairs and the ground.

Background

The cleaning work of the stairs is very complicated in large or small public places through investigation. Particularly, frequent cleaning is needed for places with large passenger flow. At present, cleaning equipment such as a sweeper and an electric dust collector is available in the market, the automatic cleaning is basically carried out on a plane, and no machine designed for stair cleaning is available. Research on the aspect has not been related to at home and abroad for a while by searching for data of the internet and libraries. The cleaning of stair is a work that wastes time and energy, and the manual work is cleaned inefficiently, needs the cleaner to repeat work every day, consumes a large amount of manpowers and time.

In recent years, the technology in the aspect of cleaning machines is mature, from dust collection to mopping, the labor force is reduced to a great extent, and both hands are liberated, so that the multifunctional electric sweeper is an essential cleaning helper for human beings. But only relative to the flat ground, the stair cleaning machine has great limitation on the application of the stair on the slope, and the difficulty of the stair cleaning design is that the machine climbs upwards, moves left and right, cleans dead corners, and adjusts the plane of the working machine and the stair on the slope. The present invention has no structure design related to the aspect, so that the research of a special machine is necessary to solve the problem.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an intelligent cleaning device with simple structure and high efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a cleaning device of self-cleaning stair and ground which characterized in that: comprises a moving device, a lifting device, a suction and sweeping working machine and a mopping and washing working machine;

the moving device comprises a frame, a pair of front shafts are mounted at the front end of the frame, a rear shaft is mounted at the rear end of the frame, a longitudinal support is mounted on the front shafts, crawler gears are arranged at two ends of the front shafts and two ends of the rear shafts, a crawler gear is also arranged at the upper end of the longitudinal support, a flat crawler is arranged between the crawler gear at one end of the rear shaft and the crawler gear at one end of the front shaft at the same side, a swing arm type crawler is arranged between the crawler gear at the other end of the front shaft and the crawler gear at the upper end of the longitudinal support, and a first motor for driving the rear shafts to rotate is; an air drying mechanism is arranged at the tail of the rack;

the lifting device comprises a pair of oblique forward supports arranged at the front end of the rack and a pair of oblique backward supports arranged at the rear end of the rack, two sliders are respectively arranged on the two oblique forward supports and the two oblique backward supports, a connecting rod is respectively arranged between the sliders on the two oblique forward supports and between the sliders on the two oblique backward supports, a pair of balance rods is arranged between the two connecting rods, a scissor fork type telescopic frame is respectively arranged between each balance rod and the rack, the upper end and the lower end of each telescopic frame can slide in a limiting manner on the balance rods and the rack, and an electric telescopic rod for driving the telescopic frames to extend and retract is further arranged on the rack; a support rod is arranged at the lower part of the connecting rod on the inclined rear support, and a Mecanum wheel and a second motor for driving the Mecanum wheel to rotate forwards and backwards are arranged at the lower part of the support rod; lithium batteries are arranged between the two oblique front brackets and the two oblique rear brackets;

the suction and sweeping working machine comprises a dust suction device and a suction and sweeping mechanism, the dust suction device is positioned at the rear end of the rack, the two sides of the rack are respectively provided with the suction and sweeping mechanism, and a hose is arranged between the suction and sweeping mechanism and the dust suction device; the suction and sweeping mechanism comprises a dust collection port, a telescopic pipeline is arranged between the dust collection port and the hose, supports are arranged on two sides of the dust collection port, dust brushes and universal wheels are mounted on the supports, the dust brushes are rotary brushes facing the dust collection port, and a torsion spring leveling device is arranged between each support and the cantilever frame;

the mopping and washing machine comprises a mopping and washing mechanism and a motor leveling mechanism, the mopping and washing mechanism comprises a shell, one end part and the bottom part of the shell are provided with openings, a plurality of rolling shafts are distributed at the upper part and the lower part in the shell, a mop strip is wound on the mopping and washing mechanism, part of the mop strip is arranged outside the opening at the end part and outside the bottom part of the shell, an automatic tensioning device and a third motor for driving the rolling shafts to rotate are further arranged in the shell, the mop strip is in a tensioning state, a water tank and a supporting and washing rod for pressing the mop strip into the water tank for cleaning are arranged in the middle position in the shell, and a filtering device for filtering sewage is arranged in; the upper part of the motor leveling mechanism is provided with a suspension rigidly connected with the inclined rear bracket, and the lower part of the motor leveling mechanism is connected with the center of the machine shell.

As a further preferable scheme, the rear shaft is provided with a coupling and a belt wheel, and a belt is arranged between the belt wheel and the output end of the first motor.

As a further preferable scheme, a damping spring is arranged between the flat ground crawler and the frame.

As a further preferable scheme, a housing is mounted outside the two oblique front brackets and the two oblique rear brackets, and a control panel is arranged on the housing.

As a further preferable scheme, the torsion spring leveling device comprises a lower seat connected with the bracket and an upper seat connected with the cantilever frame, the lower seat and the upper seat are hinged with each other, and a torsion spring is arranged at the hinged position; and a dust brush adjusting device of the dust brush is arranged on the bracket of the suction and sweeping mechanism.

As a further preferable scheme, the side part of the machine shell is provided with a working machine cover and a box opening button for controlling the opening and the closing of the working machine cover.

The invention has the beneficial effects that:

(1) and (4) multi-functionalization. This product not only can clean stair, also can be for leveling ground and rinse, can realize the work of cleaning of occasions such as level land and stair, can realize sweeping the function of dragging the integration.

(2) Automation and intellectualization. At present, no machine for cleaning stairs is available in the market, the cleaning of the stairs is a time-consuming and labor-consuming work, the manual cleaning efficiency is low, a cleaner needs to repeatedly work every day, and a large amount of manpower and time are consumed. At present, the machine can automatically complete the work only by inputting the number of layers to be cleaned on the panel.

(3) The labor intensity is reduced. For complex stairs, the operation can be finished in a remote control or hand-push mode, the operation is convenient, and the manual workload is reduced to the maximum extent.

(4) Simple structure and comprehensive functions. The working part adopts a bilateral symmetry structure, the front and the rear stages work in a staggered mode, the front stage working machine is responsible for sweeping dust and absorbing dust, the rear stage working machine is responsible for cleaning the ground, the front stage working machine cleans firstly, the rear stage is synchronous, and finally the ground is dried by the air dryer. The adjusting device of the working machine can adapt to the width and the height of most stairs, and the cleaning area of the stairs is increased to a certain extent.

(5) And (4) modular design. Each part can all be dismouting alone, convenient the change, and the maintenance cost is low.

Drawings

FIG. 1 is a general schematic of the present invention;

FIG. 2 is an internal schematic view of the present invention;

FIG. 3 is a schematic view of the present invention in a climbing state;

FIG. 4 is a schematic view of the present invention in a working state of cleaning stairs;

FIG. 5 is a schematic view of the invention in a ground cleaning operation;

FIG. 6 is a schematic view of the lift of the present invention;

FIG. 7 is a schematic view of a mobile device according to the present invention;

FIG. 8 is a schematic view showing the overall appearance of the suction cleaning machine of the present invention;

FIG. 9 is a schematic view of a working portion of the suction sweeper of the present invention;

FIG. 10 is a schematic view of the overall appearance of the mopping machine according to the present invention;

FIG. 11 is a front internal schematic view of the mopping mechanism of the present invention;

FIG. 12 is a schematic view of the inside of the machine side of the mopping mechanism of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The invention provides a device integrating stair and ground cleaning, which can be suitable for stairs with different heights and widths, can realize automatic cleaning and can also be remotely operated by remote control. The method mainly comprises the following steps: the device comprises a moving device, an execution working device, a machine body frame, a lifting device, a balance adjusting device, a sensor detection system, a wireless remote control device and the like.

The invention structurally comprises a crawler device, a mopping mechanism 8, a suction and sweeping working machine, an air drying mechanism 14, a lifting device, a control panel 28, a sensing detection system and the like.

The crawler device comprises a swing arm type crawler 27, a flat ground crawler 1, a first motor 11, a rack 19, a belt wheel 12 and a coupling 13, wherein the swing arm type crawler 27 and the flat ground crawler 1 are fixedly connected at a certain inclination angle, the flat ground crawler 1 is fixed on the rack 19, the first motor 11 is arranged at the tail part of the rack 19, and power is transmitted to the crawler through the belt wheel 12 so as to drive the motors to move forwards;

the flat ground crawler 1 moves by being driven by the first motor 11 to realize flat-bottom movement, and the inclined swing arm type crawler 27 realizes stair climbing. These complex motions, such as turning left or right, pivot, or moving in a given direction, require individual control of the steering of each mecanum wheel 15 to achieve the desired displacement motion. Depending on the direction and speed of the respective wheels, the resulting combination of these forces produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves. 4 groups of novel wheel combinations are controlled by the single chip microcomputer, so that the function of all-directional movement can be realized more flexibly and conveniently.

The executing device comprises a sucking and sweeping working machine, a mopping and washing working machine and an air drying mechanism 14, and can be divided into three modules of sweeping, mopping and air drying in sequence on the working structure. The suction and sweeping working machine cleans in front, the mopping and washing working machine mops and washes the cleaned steps, and finally the mopped and washed steps are dried by the air drying mechanism 14.

The suction and sweeping working machine comprises a cantilever frame 6, a torsional spring leveling device 5, a dust collection port 3, a universal wheel 33, a hose 4, a dust collection device 10, a dust brush 2 and a dust brush adjusting device 34, wherein the dust collection device 10 is connected with the cantilever frame 6 through the torsional spring leveling device 5, and when the telescopic frame 17 descends, the telescopic frame is pressed down through the self weight of the machine, so that the working machine is better attached to the ground. The dust collection port 3 is arranged in the middle and is connected with a dust collection device 10 behind the machine frame through a hose 4, the dust collection device 10 is arranged in a dust collection cavity and can be replaced, the dust brushes 2 are positioned at two sides of the dust collection port 3, the two dust brushes 2 are respectively provided with a small motor, the dust brush adjusting device 34 is arranged on the suction and sweeping machine frame, and the stair width in a certain range is adapted by adjusting the angles of the dust brushes;

the torsion spring leveling device 5 comprises a lower seat of a connecting support and an upper seat of a connecting cantilever frame 6, the lower seat and the upper seat are hinged with each other, a torsion spring is arranged at the hinged position of the lower seat and the upper seat, and when the lower seat is in contact with a working surface, the lower seat is pressed downwards through the self gravity of a machine, so that the lower seat can be better attached to the working surface.

The mopping and washing machine comprises a machine shell, a motor leveling device 7, a mop strip 9, a rolling shaft 40, a third motor 24, a water tank 21, an automatic tensioning device 23, a filtering device 22, a supporting and washing rod 37 and a cloth strip adjusting device 30, wherein the whole mopping and washing machine levels the machine through the motor leveling device 7 and always keeps parallel to a working plane, a plurality of rolling shafts 40 are arranged in the machine shell, the mop strip 9 is wound on the rolling shafts 40, the automatic tensioning device 23 is arranged at the rear part of the mopping and washing machine and is fixed through one end and the other end, the two ends are connected through springs, the mop strip 9 is wound on the rolling shafts 40 and applies certain tension to the mop strip 9, the third motor 24 is arranged below the automatic tensioning device 23 and is connected with the rolling shafts 40 through a belt wheel, the water tank 21 is arranged at the middle part of the mopping and the filtering device 22 is arranged at the front end of the mopping and washing machine to simply filter dirty water, the supporting and washing rod 37 is arranged at the upper part of the water tank, and the supporting and washing rod 37 is inclined and pressed downwards to enable the mop strips 9 to extend into the water tank, so that the mop strips 9 are cleaned. Uncap the mechanism and include sector gear 38, uncap spring 39, it presses the button 31 to uncap the box, pinion and worm and worm wheel, uncap spring 39 and cover and sector gear 38 are connected, sector gear 38 and pinion engagement, the worm wheel is fixed with propping washing pole 37, press when the button, uncap spring 39 flicks cover 32 of working, open along with cover 32 of working, sector gear 38 and gear engagement transmission, pass to the worm and worm wheel, can lift the vaulting pole, so that take the water tank out, cover behind cover 32 of working, can impress washing pole 37 into the water tank, realize the washing of cloth, mop adjusting device 30 is located the preceding terminal surface and the lower terminal surface in back of casing, adapt to the stair of different height and width through adjusting mop 9 length.

Specifically, the motor leveling mechanism 7 comprises an upper suspension frame rigidly connected with a rear bracket in a slanting direction, a bracket is arranged between the upper suspension frame and the mopping mechanism 8, an arc-shaped rack is arranged on the bracket, a motor is fixed at the lower part of the upper suspension frame, the gear end of the motor is meshed with the rack, the motor rotates to drive the upper suspension frame and the mopping mechanism 8 to move relatively, namely, the balance state of the water tank is monitored in real time through a level sensor on the water tank, once the water tank inclines, the motor of the motor leveling device 7 immediately rotates, and the water tank is enabled to be parallel to a work surface all the time.

The opening edge position of the shell of the mopping and washing mechanism 8 is provided with a cloth strip adjusting device 30, the cloth strip adjusting device 30 is a lifting self-locking rod arranged on two sides of the opening edge of the shell, two ends of a rolling shaft 40 positioned outside the end part of the shell are fixed on the cloth strip adjusting device 30, the device is similar to an art designer knife push-in and push-out type structure, the length of a cloth strip is adjusted by pressing the position of a reed on the device, and meanwhile, an automatic tensioning device inside the device can provide certain tensioning force to adapt to stairs with different heights or widths.

The air drying mechanism 14 consists of a fan and an air guide opening, is arranged below the dust collection device, sucks air through one end of the fan, blows out the air through the air guide opening, and dries the wet ground.

Elevating gear includes the expansion bracket 17 of X shape, electric telescopic handle 35, balancing pole 18, and electric telescopic handle 35 one end links to each other with expansion bracket 17, and the other end links to each other with frame 19, and balancing pole 18 links to each other with expansion bracket 17, through reciprocating of electric telescopic handle 35, drives the expansion bracket motion, and balancing pole 18 removes along the organism frame guide slot, realizes that each slider on two slant fore-stock and two slant after-poppet reciprocates, makes the work machine lift up from top to bottom and put down.

The Mecanum wheel set device comprises a second motor 16, Mecanum wheels 15 and a support rod, wherein the second motor 16 is fixed with the support rod, the second motor 16 is connected with the

Mecanum wheels

15, 4 groups of wheels are arranged totally, the front wheel and the rear wheel are respectively arranged, the machine can move in any direction, and the support rod is fixedly connected with an expansion bracket 17 and ascends and descends together with the expansion bracket 17.

The sensor detection system and the wireless remote control device convert and amplify the detected signals through various detection sensors, convert A/D signals and transmit the signals to a display instrument or a control system. Determining whether the working machine is accurately positioned in the middle of the stair step or not through the extreme position identification sensor; whether an obstacle or a wall is touched is judged by the ultrasonic ranging sensor. The bottom of the working machine is provided with a pressure sensor to ensure that the working state is properly close to the ground, thereby achieving better cleaning effect

As shown in figures 2 and 3, when cleaning stairs, the number of floors is preset on the control panel 28, or the operation is carried out by a remote control lever, at the moment, the swing arm type crawler 27 climbs upwards to reach the first step, the working machine is put down by the telescopic frame 17, the motor leveling device 7 is automatically leveled to keep parallel with the working surface, the dust suction device 10 is firstly contacted with the ground, the working machine is continuously descended, the torsion spring leveling device 5 is leveled to the ground by the self gravity of the machine, the suction and sweeping mechanism 36 is kept at a better distance from the plane by the universal wheel 33, at the moment, the Mecanum wheel set is contacted with the plane of the stairs, the dust suction device 10 starts to operate, the dust brush 2 rotates inwards to draw dust into the dust suction port 3, the Mecanum wheel 15 moves transversely to transversely sweep the whole working machine, when an ultrasonic ranging sensor at the edge of the working machine senses an obstacle, the working machine can be automatically, meanwhile, the mopping mechanism 8 transfers the dirty mop strips 9 into the water tank 21 for cleaning, the swing arm type crawler 27 moves upwards to reach the next step, the working machine and the Mecanum wheel 15 are put down simultaneously, and then the S-shaped walking path is realized. When working to the last step, the damping spring 26 damps the vibrations to the machine when in contact with the flat surface. The whole mode of cleaning adopts work of staggering from top to bottom, and the machine of sweeping is inhaled at first cleans at last level step, and the working face that has cleaned is washd to the machine of washing of mopping, and air-dries 14 and weathers abluent moist ground, and simultaneous working improves work efficiency.

The bracket of the suction and sweeping mechanism 36 is provided with a dust brush adjusting device 34 for controlling the dust brush 2, the dust brush adjusting device 34 is a bolt, the bolt penetrates through the bracket and presses the connecting arm to adjust the opening angle between the two dust brushes fixed on the bracket to meet the requirements of stairs with different widths.

As shown in fig. 4, when the plane is cleaned, the telescopic frame 17 is lowered, the ground leveling crawler 1 is supported, the mecanum wheel 15 and the working machine are grounded, the torsion spring leveling device 5 and the motor leveling device 7 are in a state of being parallel to the ground, and the working machine is driven to move by the mecanum wheel movement 15 to perform the cleaning work.

The embodiments in the above embodiments can be further replaced, and the embodiments are only used for describing the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various changes and modifications made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention belong to the protection scope of the present invention.

Claims

1. The utility model provides a cleaning device of self-cleaning stair and ground which characterized in that: comprises a moving device, a lifting device, a suction and sweeping working machine and a mopping and washing working machine;

the moving device comprises a rack (19), a pair of front shafts are mounted at the front end of the rack (19), a rear shaft is mounted at the rear end of the rack, a longitudinal support is mounted on the front shaft, crawler gears are arranged at the two ends of the front shaft and the rear shaft, a crawler gear is also arranged at the upper end of the longitudinal support, a flat crawler (1) is arranged between the crawler gear at one end of the rear shaft and the crawler gear at one end of the front shaft at the same side, a swing arm type crawler (27) is arranged between the crawler gear at the other end of the front shaft and the crawler gear at the upper end of the longitudinal support, and a first motor (11) for driving the rear shaft to rotate is; the tail part of the rack (19) is provided with an air drying mechanism (14);

the lifting device comprises a pair of oblique forward supports arranged at the front end of a rack (19) and a pair of oblique rear supports arranged at the rear end of the rack, two sliders are respectively arranged on the two oblique forward supports and the two oblique rear supports, a connecting rod is respectively arranged between the sliders on the two oblique forward supports and between the sliders on the two oblique rear supports, a pair of balance rods (18) is arranged between the two connecting rods, a scissor-fork type telescopic frame (17) is respectively arranged between each balance rod (18) and the rack (19), the upper end and the lower end of the telescopic frame (17) can slide in an upper limit position between each balance rod (18) and the rack (19), and an electric telescopic rod (35) used for driving the telescopic frame (17) to extend and contract is further arranged on the rack (19); a support rod (41) is arranged at the lower part of the connecting rod on the inclined rear support, and a Mecanum wheel (15) and a second motor (16) for driving the Mecanum wheel (15) to rotate forwards and backwards are arranged at the lower part of the support rod (41); lithium batteries (20) are arranged between the two oblique front brackets and the two oblique rear brackets;

the suction and sweeping working machine comprises a dust suction device (10) and a suction and sweeping mechanism (36), wherein the dust suction device (10) is positioned at the rear end of the rack (19), the two sides of the rack (19) are respectively provided with the suction and sweeping mechanism (36), and a hose (4) is arranged between the suction and sweeping mechanism (36) and the dust suction device (10); the suction and sweeping mechanism (36) comprises a dust suction port (3), a telescopic pipeline is arranged between the dust suction port (3) and the hose (4), supports are arranged on two sides of the dust suction port (3), a dust brush (2) and universal wheels (33) are mounted on the supports, the dust brush (2) is a rotary brush facing the dust suction port (3), and a torsion spring leveling device (5) is arranged between the supports and the cantilever frame (6);

the mopping and washing machine comprises a mopping and washing mechanism (8) and a motor leveling mechanism (7), the mopping and washing mechanism (8) comprises a shell, one end part and the bottom part of the shell are provided with openings, a plurality of rolling shafts (40) are distributed at the upper part and the lower part in the shell, a mopping cloth strip (9) is wound on the mopping and washing mechanism (8), part of the mopping cloth strip (9) is arranged outside the opening at the end part and outside the bottom part of the shell, an automatic tensioning device (23) and a third motor (24) for driving the rolling shafts (40) to rotate are also arranged in the shell, the mopping cloth strip (9) is in a tensioning state, a water tank (21) and a supporting and washing rod (37) for pressing the mopping cloth strip (9) into the water tank (21) for cleaning are arranged at the middle position in the shell, and a filtering device; the upper part of the motor leveling mechanism (7) is provided with a suspension rigidly connected with an oblique rear bracket, and the lower part of the motor leveling mechanism is connected with the center of the machine shell.

2. The cleaning device for automatically cleaning stairs and floor as claimed in claim 1, wherein: the rear shaft is provided with a coupling (13) and a belt wheel (12), and a belt is arranged between the belt wheel (12) and the output end of the first motor (11).

3. The cleaning device for automatically cleaning stairs and floor as claimed in claim 1, wherein: a damping spring (26) is arranged between the flat ground crawler belt (1) and the rack (19), the upper end of the damping spring (26) is fixed on the rack (19), and the lower end of the damping spring is in sliding contact with the flat ground crawler belt (1).

4. The cleaning device for automatically cleaning stairs and floor as claimed in claim 1, wherein: and a housing (29) is arranged outside the two oblique front supports and the two oblique rear supports, and a control panel (28) is arranged on the housing (29).

5. The cleaning device for automatically cleaning stairs and floor as claimed in claim 1, wherein: the torsion spring leveling device (5) comprises a lower seat connected with the bracket and an upper seat connected with the cantilever frame (6), the lower seat and the upper seat are hinged with each other, and a torsion spring is arranged at the hinged position; and a dust brush adjusting device (34) for controlling the dust brush (2) is arranged on the bracket of the suction and sweeping mechanism (36).

6. The cleaning device for automatically cleaning stairs and floor as claimed in claim 1, wherein: the side part of the machine shell is provided with a working machine cover (32) and a box opening button (31) for controlling the opening and closing of the working machine cover (32).