CN111358373B - Robot and connection structure sweep floor - Google Patents
Robot and connection structure sweep floor Download PDFInfo
- Publication number
- CN111358373B CN111358373B CN202010296399.8A CN202010296399A CN111358373B CN 111358373 B CN111358373 B CN 111358373B CN 202010296399 A CN202010296399 A CN 202010296399A CN 111358373 B CN111358373 B CN 111358373B
- Authority
- CN
- China
- Prior art keywords
- shaft
- joint
- robot
- electromagnet
- slip ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention belongs to the technical field of intelligent household equipment, and particularly relates to a sweeping robot which comprises a robot main body, wherein a walking system and a dust collection system are arranged on the robot main body, the robot main body is of a chain structure formed by hinging and connecting a front joint, a connecting joint and a rear joint, and each joint of the chain structure is provided with a separately controlled driving structure so that the joints can move.
Description
Technical Field
The invention belongs to the technical field of intelligent household equipment, and particularly relates to a sweeping robot.
Background
Along with the improvement of living standard, smart home receives more and more attention from people, and in the process of liberating both hands and realizing housework automation, the floor sweeping robot is one of the products with the highest popular acceptance at present. The sweeping robot is provided with a walking system and a dust collection system generally, and benefits from the technical progress, the sweeping robot can realize route planning and automatically avoid obstacles through a navigation positioning algorithm, and the main development direction of the current sweeping robot is in the optimization algorithm, so that the robot can go deep into the corners of a house to clean and recognize obstacles, but the structure of the robot is not greatly changed, and the robot can be used on the flat ground, but can not climb stairs to the upper layer to clean the houses with stairs in the rooms of a duplex structure, a villa and the like.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides the floor sweeping robot, the main structure of the floor sweeping robot is different from that of the existing floor sweeping robot, and the floor sweeping robot can climb stairs through the structure.
The technical scheme of the invention is as follows:
the utility model provides a robot of sweeping floor, includes the robot main part, is provided with traveling system and dust pelletizing system in the robot main part, the robot main part include: the front joint and the rear joint are respectively hinged and connected to two ends of the connecting joint to form a chain-shaped structure;
the anterior joint comprises: the front joint comprises a front joint body, connecting shafts, electromagnets, a first driving piece and a second driving piece, wherein the front end of the front joint body is a semicircular complete round angle, two connecting shafts are coaxially arranged on the axis of the complete round angle and respectively exposed from two sides of the front joint body, each connecting shaft is provided with an electromagnet and is connected with the first driving piece, the first driving piece is used for driving the connecting shafts to rotate, the outer end face of each connecting shaft is a connecting face, the connecting faces are attracted with the connecting faces corresponding to another sweeping robot after being electrified through the electromagnets, the connecting shafts of the two sweeping robots are coaxial and form a temporary shaft after being attracted, the second driving piece is fixed in the front joint body, the driving end of the second driving piece is connected with the connecting joint, and the second driving piece is used for driving the front joint to rotate by taking the hinge shafts of the front joint and the connecting joint as shafts, the rear end of the front joint body is provided with two connecting plates in parallel, and the middle of the two connecting plates is clamped at the front end of the connecting joint;
the structure of the rear joint is the same as that of the front joint, and two connecting plates of the rear joint are clamped at the rear end of the connecting joint.
Further, the connecting shaft includes: the electromagnetic clutch comprises a shaft body, a disc surface and a connecting shaft gear, wherein the shaft body is a hollow shaft, the electromagnet is fixedly arranged inside the shaft body, the outer end surface of the electromagnet is coplanar with the outer end surface of the shaft body, the disc surface is coaxially and fixedly connected to the outer end surface of the shaft body and coplanar with the outer end surface of the shaft body, and the connecting shaft gear is coaxially connected to the shaft body and meshed with a first driving piece.
Further, the outer terminal surface of quotation is as connecting the face, be provided with coaxial structure on the connection face of connecting axle, coaxial structure is including setting up the circular cone that connects the face outside of the robot connecting axle of sweeping the floor at one and setting up the circular cone boss that connects the face outside of the relative connecting axle of another robot of sweeping the floor.
Furthermore, the end part of the connecting joint is provided with a rack which is arranged along a complete round angle at the end part of the connecting joint and is meshed with the second driving part.
Furthermore, the length of the rack is not less than the length of a section arc of a complete round angle at the end part of the connecting joint, so that the front joint and the rear joint can rotate towards both sides to be perpendicular to the connecting joint.
Further, the electromagnet comprises an electromagnet main body, a first sliding ring, a second sliding ring, a first carbon brush, a second carbon brush and an insulating column, the electromagnet main body is fixedly connected inside the shaft body, the rear end of the electromagnet main body is fixedly connected with one end of the insulating column, the other end of the insulating column extends out of the inside of the shaft body, the first sliding ring and the second sliding ring are fixed at one end of the insulating column extending out of the inside of the shaft body, the first sliding ring and the second sliding ring are respectively connected with two electrodes of the electromagnet main body, and the first carbon brush and the second carbon brush are respectively attached to the first sliding ring and the second sliding ring.
A connection structure for a sweeping robot, comprising: the robot comprises a connecting shaft, an electromagnet and a first driving piece, wherein the connecting shaft is rotatably connected to the side face of the robot, the electromagnet is fixedly connected inside the connecting shaft, and the first driving piece is fixedly connected inside the robot and drives the connecting shaft to rotate;
the connecting shaft includes: the electromagnetic clutch comprises a shaft body, a disc surface and a connecting shaft gear, wherein the shaft body is a hollow shaft, the electromagnet is fixedly arranged inside the shaft body, the outer end surface of the electromagnet is coplanar with the outer end surface of the shaft body, the disc surface is coaxially and fixedly connected to the outer end surface of the shaft body and coplanar with the outer end surface of the shaft body, and the connecting shaft gear is coaxially connected to the shaft body and meshed with a first driving piece;
the electromagnet comprises an electromagnet main body, a first sliding ring, a second sliding ring, a first carbon brush, a second carbon brush and an insulating column, wherein the electromagnet main body is fixedly connected in the shaft body, the rear end of the electromagnet main body is fixedly connected with one end of the insulating column, the other end of the insulating column extends out of the shaft body, the first sliding ring and the second sliding ring are fixedly arranged at one end of the insulating column extending out of the shaft body, the first sliding ring and the second sliding ring are respectively connected with two electrodes of the electromagnet main body, and the first carbon brush and the second carbon brush are respectively attached to the first sliding ring and the second sliding ring.
Further, the first driving member comprises: the first driving motor is fixed inside the robot, a rotating shaft of the first driving motor is fixedly connected with the first driving screw rod, and the first driving screw rod is in gear engagement with the connecting shaft.
Further, the outer terminal surface of quotation is as connecting the face, be provided with coaxial structure on the connection face of connecting axle, coaxial structure is including setting up the circular cone that connects the face outside of the robot connecting axle of sweeping the floor at one and setting up the circular cone boss that connects the face outside of the relative connecting axle of another robot of sweeping the floor.
Further, the walking system includes: drive wheel and universal wheel, all be provided with drive wheel and universal wheel on the upper and lower two surfaces of front joint and back joint, and set up at least one drive wheel and two at least universal wheels on every surface of front joint and back joint, the drive wheel includes: carousel, wheel body, drive wheel motor and carousel motor, the carousel rotate to be connected the anterior joint and back joint inside, the wheel body rotate to be connected on the carousel, the pivot of drive wheel motor with the wheel body is connected, the carousel motor fixed set up anterior joint and back joint inside, and carousel motor's pivot pass through the gear with the gear engagement on carousel surface.
Further, the dust suction system includes: the dust collector comprises side brushes, a rolling brush and a dust collector, wherein the side brushes and the rolling brush are arranged on the upper surface and the lower surface of a front joint and a rear joint, at least one rolling brush and at least two side brushes are arranged on each surface of the front joint and the rear joint, the dust collector is fixedly arranged inside a connecting joint, the dust collector is provided with two dust suction ports, and the two dust suction ports are respectively arranged on the upper surface and the lower surface of the connecting joint.
Further, the connection joint includes: the front section body, the middle section body, the back section body, positive and negative tooth lead screw and accommodate the lead screw, the front section body and the back section body insert from the both ends of the middle section body respectively, the both ends of positive and negative tooth lead screw respectively through a slider with the front section body and back section body coupling, the centre of positive and negative tooth lead screw is rotated and is connected on the middle section body, accommodate the lead screw the centre rotate connect in the middle section body, accommodate the lead screw one end pass through the gear with positive and negative tooth screw rod coupling, accommodate the lead screw's the other end is followed the lateral wall of the middle section body stretches out, and accommodate the lead screw follows the one end that the lateral wall of the middle section body stretches out is provided with interior hexagonal interface.
A stair climbing method of a floor sweeping robot comprises the following steps:
step a, robot combination: the two sweeping robots are opposite in side surface and aligned front and back, electromagnets in connecting shafts on opposite sides of the two sweeping robots are electrified, the connecting shafts on opposite sides of the two sweeping robots are attracted to form a temporary shaft, and meanwhile, the two sweeping robots form a robot group;
step b, climbing a building: the robot group moves to the lower end of the stair, the front end of the robot group abuts against the side face of the first-stage step, a temporary shaft at one end, close to the step, of the robot group serves as a first temporary shaft and keeps connection, a temporary shaft at one end, far away from the step, of the robot group serves as a second temporary shaft, and the second temporary shaft is disconnected;
step c, preparing the first side: one of the two sweeping robots is used as a first side, the other one is used as a second side, a second driving piece of the first side sweeping robot drives the connecting joint and the rear joint to upwards overturn to be vertical to the front joint, and meanwhile, the sweeping robot on the second side is fixed;
d, climbing at the first side: the second side sweeping robot is fixed, and meanwhile, a first driving piece of the second side sweeping robot drives a first temporary shaft to enable the first side sweeping robot to turn upwards until a connecting joint and a rear joint of the first side sweeping robot are buckled on the stepping surface of the first step;
step e, second side preparation: a second driving piece of the second side sweeping robot drives the connecting joint and the rear joint to be turned upwards to be perpendicular to the front joint, and meanwhile, the sweeping robot on the first side is fixed;
step f, climbing on the second side: the first side sweeping robot is fixed, and meanwhile, a first driving piece of the first side sweeping robot drives a first temporary shaft to enable the second side sweeping robot to turn upwards until a connecting joint and a rear joint of the second side sweeping robot are buckled on the stepping surface of the first step;
step g, resetting the robot group: the electromagnets in the connecting shafts on the opposite sides of the parts of the two sweeping robots on the surface of the first-stage step are electrified, the second temporary shaft is attracted, the first temporary shaft is disconnected after the second temporary shaft is attracted, and the first side sweeping robot and the second side sweeping robot respectively enable the front joint to be upwards overturned to be parallel to the stepping surface of the first-stage step through respective second driving pieces;
step h, definition reset: the robot group moves to the rear end to abut against the side face of the second-stage step, the rear end of the robot group serves as the front end, the first temporary shaft serves as a second temporary shaft, and the second temporary shaft serves as a first temporary shaft;
step i, climbing circulation: and (e) repeating the steps b to h until climbing to the top of the stairs.
Further, in the step a and the robot combination, the first temporal axis and the second temporal axis of the robot group are kept in a suction state.
Further, in the step a and the robot combination, after the connecting shafts on the opposite sides of the two sweeping robots are sucked, the two connecting shafts are coaxial.
Further, in the step d and the first side climbing, after the connecting joint and the rear joint of the first side sweeping robot are buckled on the stepping surface of the first step, the robot group moves left and right in a reciprocating mode to clean the step.
Further, the method is applied to a sweeping robot.
Further, the robot of sweeping floor include the robot main part, be provided with traveling system and dust collecting system in the robot main part, the robot main part include: the front joint and the rear joint are respectively hinged and connected to two ends of the connecting joint to form a chain-shaped structure.
The invention has the beneficial effects that:
1. the main body structure of the floor sweeping robot is different from the existing floor sweeping robot, the main body of the floor sweeping robot comprises a chain structure formed by hinging and connecting a front joint, a connecting joint and a rear joint, each joint of the chain structure is provided with a separately controlled driving structure, so that the joints can move, meanwhile, a connecting shaft is arranged on the side surface of the floor sweeping robot, an electromagnet is arranged in the connecting shaft, the floor sweeping robot can be connected with another floor sweeping robot to form a temporary shaft, and a robot group formed by the two floor sweeping robots can climb stairs by driving the temporary shaft and rotationally matching with the joints of the main body.
2. The connecting structure is arranged on the sweeping robots, the two sweeping robots can be in butt joint, the temporary shaft capable of driving the two sweeping robots to rotate is formed after the two sweeping robots are in butt joint, the temporary shaft can drive the sweeping robots on one side to turn upwards for climbing stairs, and meanwhile, the temporary shaft can be disconnected, so that the robots are separated from each other, and the ground is swept.
3. According to the stair climbing method of the sweeping robot, the two sweeping robots are combined, when one robot overturns upwards for climbing, the other sweeping robot is fixed as a support, after the climbing robot is stable, the fixed robot is driven to overturn upwards, and meanwhile, the climbing robot is fixed as a support, and the steps are repeated, so that stair climbing of the sweeping robot is realized.
Drawings
Fig. 1 is a schematic view of the overall structure of a sweeping robot;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a schematic structural view of a connecting shaft;
FIG. 4 is a schematic diagram of the electromagnet;
FIG. 5 is a schematic structural view of a walking system and a dust collection system;
FIG. 6 is a schematic view of the driving wheel;
FIG. 7 is a schematic structural view of a coupling joint;
FIG. 8 is a climbing process diagram of the sweeping robot group;
in the figure: 1, anterior joint; 2, connecting joints; 3 posterior joint; 4 driving the wheels; 5, universal wheels; 6, brushing edges; 7, rolling and brushing; 8, a dust collector; 1-1 an anterior joint body; 1-2 connecting shafts; 1-3 electromagnets; 1-4 first driving member; 1-5 second driving member; 2-1 anterior segment body; 2-2 middle segment; 2-3 posterior segment body; 2-4 positive and negative tooth lead screws; 2-5 adjusting screw rods; 4-1 rotating disc; 4-2 wheel body; 4-3 driving a wheel motor; 4-4 turntable motor; 1-2-1 shaft body; 1-2-2 disk surfaces; 1-2-3 is connected with a shaft gear; 1-3-1 electromagnet main body; 1-3-2 a first slip ring; 1-3-3 second slip ring; 1-3-4 a first carbon brush; 1-3-5 second carbon brush; 1-3-6 insulating columns.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
example one
The embodiment is an embodiment of a floor sweeping robot, and provides a main structure of the floor sweeping robot, the main structure can realize that two floor sweeping robots form a robot group, and the robot group can climb stairs;
with reference to fig. 1, the robot for sweeping floor disclosed in this embodiment includes a robot main body, a walking system and a dust collecting system are disposed on the robot main body, and the robot main body includes: the joint comprises a front joint 1, a connecting joint 2 and a rear joint 3, wherein the front joint 1 and the rear joint 3 are respectively hinged and connected to two ends of the connecting joint 2 to form a chain-shaped structure, and a hinge shaft of the chain-shaped structure is parallel to the ground;
as shown in fig. 2, the anterior joint 1 includes: the front joint comprises a front joint main body 1-1, a connecting shaft 1-2, an electromagnet 1-3, a first driving piece 1-4 and a second driving piece 1-5;
the front end of the front joint main body 1-1 is a semicircular complete fillet, the semicircular complete fillet is used for abutting against the side surface of a step, and meanwhile, the front joint main body 1-1 can rotate at an included angle between the side surface of the step and the ground;
the axial line of the complete fillet is coaxially provided with two connecting shafts 1-2, the two connecting shafts 1-2 are respectively exposed from two sides of the front joint main body 1-1, each connecting shaft 1-2 is provided with an electromagnet 1-3, and when the side surfaces of two sweeping robots approach, the electromagnets 1-3 are electrified to attract the connecting shafts 1-2 of the two sweeping robots to form a temporary shaft;
each connecting shaft 1-2 is connected with one first driving piece 1-4, the first driving pieces 1-4 are used for driving the connecting shafts 1-2 to rotate, and after the two connecting shafts 1-2 form a temporary shaft, when the first driving pieces 1-4 drive one connecting shaft 1-2 to rotate, the other sweeping robot can be enabled to turn upwards for climbing stairs;
the outer end face of the connecting shaft 1-2 is a connecting face, the connecting face is electrified through the electromagnet 1-3 and then is attracted with the corresponding connecting face of the other sweeping robot, and the connecting shafts 1-2 of the two sweeping robots are coaxial and form a temporary shaft after attraction;
the second driving piece 1-5 is fixed in the front joint main body 1-1, the driving end of the second driving piece 1-5 is connected with the connecting joint 2, the second driving piece 1-5 is used for driving the front joint 1 to rotate by taking a hinge shaft of the front joint 1 and a hinge shaft of the connecting joint 2 as a shaft, two connecting plates are arranged at the rear end of the front joint main body 1-1 in parallel, the middle of the two connecting plates is clamped at the front end of the connecting joint 2, and the second driving piece 1-5 enables the joint of the chain-shaped structure to rotate for climbing;
the structure of the rear joint 3 is the same as that of the front joint 1, and two connecting plates of the rear joint 3 are clamped at the rear end of the connecting joint 2;
when the flat ground cleaning task is executed, the front joint 1, the connecting joint 2 and the rear joint 3 which form a chain-shaped structure keep a parallel state, and carry out plane movement through a walking system, and simultaneously clean the ground through a dust collection system;
when the stairs need to be climbed, the two sweeping robots are opposite in side surface and aligned front and back, electromagnets 1-3 in the connecting shafts 1-2 on the opposite sides of the two sweeping robots are electrified, the connecting shafts 1-2 on the opposite sides of the two sweeping robots are attracted to form a temporary shaft, and meanwhile, the two sweeping robots form a robot group;
the robot group moves to the lower end of the stair, the front end of the robot group abuts against the side face of the first-stage step, a temporary shaft at one end, close to the step, of the robot group serves as a first temporary shaft and keeps connection, a temporary shaft at one end, far away from the step, of the robot group serves as a second temporary shaft, and the second temporary shaft is disconnected;
one of the two sweeping robots is used as a first side, the other one is used as a second side, a second driving piece 1-5 of the first side sweeping robot drives the connecting joint 2 and the rear joint 3 to upwards overturn to be vertical to the front joint 1, and meanwhile, the sweeping robot on the second side is fixed;
the second side sweeping robot is fixed, and meanwhile, a first driving piece 1-4 of the second side sweeping robot drives a first temporary shaft to enable the first side sweeping robot to turn upwards until a connecting joint 2 and a rear joint 3 of the first side sweeping robot are buckled on a stepping surface of a first-stage step;
a second driving piece 1-5 of the second side sweeping robot drives the connecting joint 2 and the rear joint 3 to be turned upwards to be vertical to the front joint 1, and meanwhile, the sweeping robot on the first side is fixed;
the first side sweeping robot is fixed, and meanwhile, a first driving piece 1-4 of the first side sweeping robot drives a first temporary shaft to enable the second side sweeping robot to turn upwards until a connecting joint 2 and a rear joint 3 of the second side sweeping robot are buckled on a stepping surface of a first-stage step;
the electromagnets 1-3 in the connecting shafts 1-2 at the opposite sides of the parts of the two sweeping robots on the surface of the first-stage step are electrified, the second temporary shaft is attracted, the first temporary shaft is disconnected after the second temporary shaft is attracted, and the first-side sweeping robot and the second-side sweeping robot respectively enable the front joint 1 to be turned upwards to be parallel to the stepping surface of the first-stage step through respective second driving pieces 1-4;
the robot group moves to the rear end to abut against the side face of the second-stage step, the rear end of the robot group serves as the front end, the first temporary shaft serves as a second temporary shaft, and the second temporary shaft serves as a first temporary shaft;
and repeating the circulation until climbing to the top end of the stairs, so that the climbing of the floor sweeping robot to the stairs is realized.
Example two
The embodiment provides a structure of a connecting shaft 1-2 on the basis of the first embodiment;
as shown in fig. 3, the connecting shaft 1-2 includes: the electric motor comprises a shaft body 1-2-1, a disc surface 1-2-2 and a connecting shaft gear 1-2-3, wherein the shaft body 1-2-1 is a hollow shaft, the electromagnet 1-3 is fixedly arranged inside the shaft body 1-2-1, the outer end surface of the electromagnet 1-3 is coplanar with the outer end surface of the shaft body 1-2-1, the disc surface 1-2-2 is coaxially and fixedly connected to the outer end surface of the shaft body 1-2-1 and coplanar with the outer end surface of the shaft body 1-2-1, and the connecting shaft gear 1-2-3 is coaxially connected to the shaft body 1-2-1 and meshed with a first driving piece 1-4.
Specifically, the outer end face of the disc face 1-2-2 serves as a connecting face, a coaxial structure is arranged on the connecting face of the connecting shaft 1-2, and the coaxial structure comprises a conical embedding opening arranged on the outer side of the connecting face of the connecting shaft 1-2 of one sweeping robot and a conical boss arranged on the outer side of the connecting face of the connecting shaft 1-2 opposite to the other sweeping robot;
when the two connecting shafts 1-2 are butted, the conical embedding opening and the conical boss can be automatically centered when the two connecting shafts are butted, errors exist in the axes of the two connecting shafts 1-2, and meanwhile the two connecting shafts 1-2 can be kept coaxial after being connected.
EXAMPLE III
The present embodiment provides a structure of the second driving member on the basis of the first or second embodiment;
as shown in fig. 2, the end of the connecting joint 2 is provided with a rack, the rack is arranged along a complete round angle of the end of the connecting joint 2, and the rack is meshed with the second driving member 1-5.
Specifically, the length of the rack is not less than the length of a circular arc of the section of a complete fillet at the end part of the connecting joint 2, so that the front joint 1 and the rear joint 3 can rotate towards both sides to be perpendicular to the connecting joint 2, and the right-angle climbing requirement of the stair is met.
Example four
The embodiment provides a structure of an electromagnet on the basis of the first, second or third embodiment;
referring to fig. 4, the electromagnet 1-3 includes an electromagnet main body 1-3-1, a first slip ring 1-3-2, a second slip ring 1-3-3, a first carbon brush 1-3-4, a second carbon brush 1-3-5, and an insulating column 1-3-6, the electromagnet main body 1-3-1 is fixedly connected to the inside of the shaft body 1-2-1, the rear end of the electromagnet main body 1-3-1 is fixedly connected to one end of the insulating column 1-3-6, the other end of the insulating column 1-3-6 extends from the inside of the shaft body 1-2-1, the first slip ring 1-3-2 and the second slip ring 1-3-3 are both fixed to one end of the insulating column 1-3-6 extending from the inside of the shaft body 1-2-1, the first slip ring 1-3-2 and the second slip ring 1-3-3 are respectively connected with two electrodes of the electromagnet main body 1-3-1, and the first carbon brush 1-3-4 and the second carbon brush 1-3-5 are respectively attached to the first slip ring 1-3-2 and the second slip ring 1-3-3;
because the electromagnet 1-3 is fixed on the connecting shaft 1-2, when the connecting shaft 1-2 rotates, the insulating column 1-3-6 of the electromagnet 1-3 rotates, meanwhile, the first slip ring 1-3-2 is connected with the first carbon brush 1-3-4, and the second slip ring 1-3-3 is connected with the second carbon brush 1-3-5, so that the power supply requirement of the electromagnet 1-3 when the connecting shaft 1-2 rotates is met.
EXAMPLE five
The embodiment discloses a connecting structure of a sweeping robot, which is used for the sweeping robot disclosed in the first, second, third or fourth embodiment, and is used for enabling two sweeping robots to establish a temporary axis to form a robot group;
referring to fig. 2 to 4, a connecting structure for a sweeping robot includes: the robot comprises a connecting shaft 1-2, electromagnets 1-3 and first driving parts 1-4, wherein the connecting shaft 1-2 is rotatably connected to the side face of the robot, the electromagnets 1-3 are fixedly connected inside the connecting shaft 1-2, and the first driving parts 1-4 are fixedly connected inside the robot and drive the connecting shaft 1-2 to rotate;
the connecting shaft 1-2 comprises: the electric motor comprises a shaft body 1-2-1, a disc surface 1-2-2 and a connecting shaft gear 1-2-3, wherein the shaft body 1-2-1 is a hollow shaft, the electromagnet 1-3 is fixedly arranged inside the shaft body 1-2-1, the outer end surface of the electromagnet 1-3 is coplanar with the outer end surface of the shaft body 1-2-1, the disc surface 1-2-2 is coaxially and fixedly connected with the outer end surface of the shaft body 1-2-1 and coplanar with the outer end surface of the shaft body 1-2-1, and the connecting shaft gear 1-2-3 is coaxially connected with the shaft body 1-2-1 and meshed with a first driving piece 1-4;
the electromagnet 1-3 comprises an electromagnet main body 1-3-1, a first slip ring 1-3-2, a second slip ring 1-3-3, a first carbon brush 1-3-4, a second carbon brush 1-3-5 and an insulating column 1-3-6, wherein the electromagnet main body 1-3-1 is fixedly connected inside the shaft body 1-2-1, the rear end of the electromagnet main body 1-3-1 is fixedly connected with one end of the insulating column 1-3-6, the other end of the insulating column 1-3-6 extends out of the shaft body 1-2-1, the first slip ring 1-3-2 and the second slip ring 1-3-3 are both fixed at one end of the insulating column 1-3-6 extending out of the shaft body 1-2-1, the first slip ring 1-3-2 and the second slip ring 1-3-3 are respectively connected with two electrodes of the electromagnet main body 1-3-1, and the first carbon brush 1-3-4 and the second carbon brush 1-3-5 are respectively attached to the first slip ring 1-3-2 and the second slip ring 1-3-3;
the connecting structure is arranged on the side face of the robot, when the side faces of the two sweeping robots are opposite, the electromagnets 1-3 are electrified, the connecting shafts 1-2 of the two sweeping robots are attracted, the two connecting shafts 1-2 are ensured to synchronously rotate through the friction force of the contact surfaces of the two connecting shafts 1-2, and the two connecting shafts 1-2 are temporarily connected into a temporary shaft, so that the requirement of the robot on the temporary shaft is met;
the first driving piece 1-4 of one connecting structure drives the temporary shaft to rotate, and the driving piece 1-4 of the other connecting structure is fixed, so that the sweeping robot on one side can be overturned, and the climbing requirement of the robot group is met.
Specifically, the first driver 1-4 includes: the first driving motor is fixed in the robot, a rotating shaft of the first driving motor is fixedly connected with the first driving screw rod, the first driving screw rod is meshed with the connecting shaft gear 1-2-3, the first driving piece 1-4 drives the connecting shaft 1-2 to rotate in a screw rod gear driving mode, and the first driving piece 1-4 which is fixed does not need to be electrified due to the self-locking property of the screw rod;
specifically, the outer end face of the disc face 1-2-2 serves as a connecting face, a coaxial structure is arranged on the connecting face of the connecting shaft 1-2 and comprises a conical embedding opening arranged on the outer side of the connecting face of the connecting shaft 1-2 of one sweeping robot and a conical boss arranged on the outer side of the connecting face of the connecting shaft 1-2 opposite to the other sweeping robot, when the two connecting shafts 1-2 are in butt joint, the conical embedding opening and the conical boss can be automatically centered when in butt joint, errors exist in the axes of the two connecting shafts 1-2, and meanwhile the two connecting shafts 1-2 can be kept coaxial after being connected, so that the requirement for the coaxiality of temporary shafts is met.
EXAMPLE six
The embodiment provides a walking system, which is used for the sweeping robot disclosed in the first, second, third or fourth embodiment;
as shown in fig. 5 and 6, the walking system includes: drive wheel 4 and universal wheel 5, all be provided with drive wheel 4 and universal wheel 5 on the upper and lower two surfaces of front joint 1 and back joint 3, and set up at least one drive wheel 4 and two at least universal wheels 5 on every surface of front joint 1 and back joint 3, drive wheel 4 includes: the rotary table comprises a rotary table 4-1, a wheel body 4-2, a driving wheel motor 4-3 and a rotary table motor 4-4, wherein the rotary table 4-1 is rotatably connected inside the front joint 1 and the rear joint 3, the wheel body 4-2 is rotatably connected on the rotary table 4-1, a rotating shaft of the driving wheel motor 4-3 is connected with the wheel body 4-2, the rotary table motor 4-4 is fixedly arranged inside the front joint 1 and the rear joint 3, and the rotating shaft of the rotary table motor 4-4 is meshed with a gear on the surface of the rotary table 4-1 through a gear.
The driving wheel motor 4-3 is used for driving the wheel body 4-2 to rotate so as to enable the sweeping robot to move, the turntable motor 4-4 is used for driving the turntable 4-1 to rotate so as to change the direction of the wheel body 4-2, the sweeping robot can horizontally move, and after the robot set climbs a step, the robot can horizontally move to clean the surface of the step.
EXAMPLE seven
The embodiment provides a dust collection system, which is used for the sweeping robot disclosed in the first, second, third or fourth embodiment;
as shown in fig. 5, the dust suction system includes: the side brush 6, round brush 7 and dust catcher 8, preceding joint 1 and back joint 3 all are provided with side brush 6 and round brush 7 on two upper and lower surfaces, and every of preceding joint 1 and back joint 3 sets up at least one round brush 7 and two at least side brushes 6 on the surface, dust catcher 8 fixed set up inside link 2, dust catcher 8 has two dust absorption mouths, two dust absorption mouths set up respectively on two upper and lower surfaces of link 2.
Example eight
The embodiment provides a connecting joint, which is used for a sweeping robot disclosed in the first, second, third or fourth embodiment;
as shown in fig. 7, the connecting joint 2 includes: the front joint body 2-1, the middle joint body 2-2, the rear joint body 2-3, the positive and negative tooth lead screws 2-4 and the adjusting lead screws 2-5 are respectively inserted from two ends of the middle joint body 2-2, two ends of the positive and negative tooth lead screws 2-4 are respectively connected with the front joint body 2-1 and the rear joint body 2-3 through a slide block, the middle of the positive and negative tooth lead screws 2-4 is rotatably connected with the middle joint body 2-2, the middle of the adjusting lead screws 2-5 is rotatably connected with the middle joint body 2-2, one end of the adjusting lead screws 2-5 is connected with the positive and negative tooth lead screws 2-4 through a gear, the other end of the adjusting lead screws 2-5 extends out of the side wall of the middle joint body 2-2, and one end of the adjusting lead screws 2-5 extending out of the side wall of the middle joint body 2-2 is provided with an inner hexagonal interface;
the adjusting screw rod 2-5 is rotated through the hexagon socket wrench, so that the front and back screw rods 2-4 push the front segment body 2-1 and the back segment body 2-3 on the two sides to move relative to the middle segment body 2-2, the length of the connecting segment 2 is changed, and the sweeping robot can adapt to step sizes in different proportions.
Example nine
The embodiment provides a stair climbing method of a floor sweeping robot, which is used for the floor sweeping robot disclosed in the first, second, third or fourth embodiment;
referring to fig. 8, a stair climbing method of a floor sweeping robot includes the following steps:
step a, robot combination: the two sweeping robots are opposite in side surface and aligned front and back, electromagnets 1-3 in connecting shafts 1-2 on opposite sides of the two sweeping robots are electrified, the connecting shafts 1-2 on opposite sides of the two sweeping robots are attracted to form a temporary shaft, and meanwhile, the two sweeping robots form a robot group;
step b, climbing a building: the robot group moves to the lower end of the stair, the front end of the robot group abuts against the side face of the first-stage step, a temporary shaft at one end, close to the step, of the robot group serves as a first temporary shaft and keeps connection, a temporary shaft at one end, far away from the step, of the robot group serves as a second temporary shaft, and the second temporary shaft is disconnected;
step c, preparing the first side: one of the two sweeping robots is used as a first side, the other one is used as a second side, a second driving piece 1-5 of the first side sweeping robot drives the connecting joint 2 and the rear joint 3 to upwards overturn to be vertical to the front joint 1, and meanwhile, the sweeping robot on the second side is fixed;
d, climbing at the first side: the second side sweeping robot is fixed, and meanwhile, a first driving piece 1-4 of the second side sweeping robot drives a first temporary shaft to enable the first side sweeping robot to turn upwards until a connecting joint 2 and a rear joint 3 of the first side sweeping robot are buckled on a stepping surface of a first-stage step;
step e, second side preparation: a second driving piece 1-5 of the second side sweeping robot drives the connecting joint 2 and the rear joint 3 to be turned upwards to be vertical to the front joint 1, and meanwhile, the sweeping robot on the first side is fixed;
step f, climbing on the second side: the first side sweeping robot is fixed, and meanwhile, a first driving piece 1-4 of the first side sweeping robot drives a first temporary shaft to enable the second side sweeping robot to turn upwards until a connecting joint 2 and a rear joint 3 of the second side sweeping robot are buckled on a stepping surface of a first-stage step;
step g, resetting the robot group: the electromagnets 1-3 in the connecting shafts 1-2 at the opposite sides of the parts of the two sweeping robots on the surface of the first-stage step are electrified, the second temporary shaft is attracted, the first temporary shaft is disconnected after the second temporary shaft is attracted, and the first side sweeping robot and the second side sweeping robot respectively enable the front joint 1 to be turned upwards to be parallel to the stepping surface of the first-stage step through respective first driving pieces 1-5;
step h, definition reset: the robot group moves to the rear end to abut against the side face of the second-stage step, the rear end of the robot group serves as the front end, the first temporary shaft serves as a second temporary shaft, and the second temporary shaft serves as a first temporary shaft;
step i, climbing circulation: and (e) repeating the steps b to h until climbing to the top of the stairs.
Specifically, in the step a and the robot combination, the first temporal axis and the second temporal axis of the robot group are kept in a suction state.
In the step a and the robot combination, after the connecting shafts 1-2 at the opposite sides of the two sweeping robots are sucked, the two connecting shafts 1-2 are coaxial.
In the step d and the first-side climbing, after the connecting joint 2 and the rear joint 3 of the first-side sweeping robot are buckled on the stepping surface of the first-stage step, the robot group moves left and right in a reciprocating mode to clean the step.
In particular, the method is applied to a sweeping robot.
Specifically, the robot of sweeping floor include the robot main part, be provided with traveling system and dust collecting system in the robot main part, the robot main part include: the joint comprises a front joint 1, a connecting joint 2 and a rear joint 3, wherein the front joint 1 and the rear joint 3 are respectively hinged and connected to two ends of the connecting joint 2 to form a chain-shaped structure, and joints of the chain-shaped structure are driven to rotate by second driving pieces 1-5; the side surface of the front joint 1 is provided with a connecting shaft 1-2, an electromagnet 1-3 is arranged in the connecting shaft 1-2, and the connecting shaft 1-2 is driven to rotate by a first driving piece 1-4.
In the above embodiments, as long as the technical solution is not contradictory, permutation and combination can be performed, and since a person skilled in the art can exhaust the results after all permutation and combination according to the mathematical knowledge of permutation and combination learned in high school, the results will not be repeatedly described in this application, but it should be understood that each permutation and combination result is described in this application;
the above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (9)
1. The utility model provides a robot of sweeping floor, includes the robot main part, is provided with traveling system and dust pelletizing system in the robot main part, its characterized in that, the robot main part include: the joint comprises a front joint (1), a connecting joint (2) and a rear joint (3), wherein the front joint (1) and the rear joint (3) are respectively hinged and connected to two ends of the connecting joint (2) to form a chain-shaped structure;
the anterior joint (1) comprises: the front joint comprises a front joint main body (1-1), connecting shafts (1-2), electromagnets (1-3), first driving pieces (1-4) and second driving pieces (1-5), wherein the front end of the front joint main body (1-1) is a semicircular complete round angle, two connecting shafts (1-2) are coaxially arranged on the axis of the complete round angle, the two connecting shafts (1-2) are respectively exposed out of two sides of the front joint main body (1-1), each connecting shaft (1-2) is provided with one electromagnet (1-3), each connecting shaft (1-2) is connected with one first driving piece (1-4), the first driving pieces (1-4) are used for driving the connecting shafts (1-2) to rotate, the outer end faces of the connecting shafts (1-2) are connecting faces, the connecting surface is electrified through an electromagnet (1-3) and then is attracted with the connecting surface corresponding to the other sweeping robot, the connecting shafts (1-2) of the two sweeping robots after attraction are coaxial and form a temporary shaft, the second driving piece (1-5) is fixed in the front joint main body (1-1), the driving end of the second driving piece (1-5) is connected with the connecting joint (2), the second driving piece (1-5) is used for driving the front joint (1) to rotate by taking the hinge shaft of the front joint (1) and the hinge shaft of the connecting joint (2) as a shaft, the rear end of the front joint main body (1-1) is provided with two connecting plates in parallel, and the middle of the two connecting plates is clamped at the front end of the connecting joint (2);
the structure of the rear joint (3) is the same as that of the front joint (1), and two connecting plates of the rear joint (3) are clamped at the rear end of the connecting joint (2).
2. A sweeping robot according to claim 1, characterized in that the connecting shaft (1-2) comprises: the device comprises a shaft body (1-2-1), a disc surface (1-2-2) and a connecting shaft gear (1-2-3), wherein the shaft body (1-2-1) is a hollow shaft, the electromagnet (1-3) is fixedly arranged in the shaft body (1-2-1), the outer end face of the electromagnet (1-3) is coplanar with the outer end face of the shaft body (1-2-1), the disc face (1-2-2) is coaxially and fixedly connected with the outer end face of the shaft body (1-2-1), and the connecting shaft gear (1-2-3) is coaxially connected to the shaft body (1-2-1) and meshed with the first driving piece (1-4).
3. The sweeping robot according to claim 2, wherein the outer end face of the disc surface (1-2-2) is used as a connecting surface, and a coaxial structure is arranged on the connecting surface of the connecting shaft (1-2), and comprises a conical embedding opening arranged outside the connecting surface of the connecting shaft (1-2) of one sweeping robot and a conical boss arranged outside the connecting surface of the connecting shaft (1-2) opposite to the other sweeping robot.
4. A sweeping robot according to claim 1, 2 or 3, characterized in that the end of the link (2) is provided with a toothed rack, which is arranged along a complete radius of the end of the link (2) and which is engaged with the second driving member (1-5).
5. The sweeping robot according to claim 4, characterized in that the length of the rack is not less than the length of the circular arc of the section of the complete round corner at the end of the connecting joint (2), so that the front joint (1) and the rear joint (3) can rotate to be perpendicular to the connecting joint (2) towards both sides.
6. The sweeping robot according to claim 1, 2, 3 or 5, wherein the electromagnet (1-3) comprises an electromagnet main body (1-3-1), a first slip ring (1-3-2), a second slip ring (1-3-3), a first carbon brush (1-3-4), a second carbon brush (1-3-5) and an insulating column (1-3-6), the electromagnet main body (1-3-1) is fixedly connected inside the shaft body (1-2-1), the rear end of the electromagnet main body (1-3-1) is fixedly connected with one end of the insulating column (1-3-6), and the other end of the insulating column (1-3-6) extends out of the inside of the shaft body (1-2-1), the first slip ring (1-3-2) and the second slip ring (1-3-3) are fixed at one end, extending out of the shaft body (1-2-1), of the insulating column (1-3-6), the first slip ring (1-3-2) and the second slip ring (1-3-3) are respectively connected with two electrodes of the electromagnet main body (1-3-1), and the first carbon brush (1-3-4) and the second carbon brush (1-3-5) are respectively attached to the first slip ring (1-3-2) and the second slip ring (1-3-3).
7. A connection structure for sweeping robot, its characterized in that includes: the robot comprises a connecting shaft (1-2), electromagnets (1-3) and a first driving piece (1-4), wherein the connecting shaft (1-2) is rotatably connected to the side face of the robot, the electromagnets (1-3) are fixedly connected inside the connecting shaft (1-2), and the first driving piece (1-4) is fixedly connected inside the robot and drives the connecting shaft (1-2) to rotate;
the connecting shaft (1-2) comprises: the device comprises a shaft body (1-2-1), a disc surface (1-2-2) and a connecting shaft gear (1-2-3), wherein the shaft body (1-2-1) is a hollow shaft, the electromagnet (1-3) is fixedly arranged in the shaft body (1-2-1), the outer end face of the electromagnet (1-3) is coplanar with the outer end face of the shaft body (1-2-1), the disc face (1-2-2) is coaxially and fixedly connected with the outer end face of the shaft body (1-2-1), the connecting shaft gear (1-2-3) is coaxially connected to the shaft body (1-2-1) and meshed with a first driving piece (1-4);
the electromagnet (1-3) comprises an electromagnet main body (1-3-1), a first slip ring (1-3-2), a second slip ring (1-3-3), a first carbon brush (1-3-4), a second carbon brush (1-3-5) and an insulating column (1-3-6), wherein the electromagnet main body (1-3-1) is fixedly connected inside the shaft body (1-2-1), the rear end of the electromagnet main body (1-3-1) is fixedly connected with one end of the insulating column (1-3-6), the other end of the insulating column (1-3-6) extends out of the shaft body (1-2-1), and the first slip ring (1-3-2) and the second slip ring (1-3-3) are both fixed on the insulating column (1-3-6) and extend out of the shaft body (1-3-6) 2-1), and a first slip ring (1-3-2) and a second slip ring (1-3-3) are respectively connected with two electrodes of the electromagnet main body (1-3-1), and the first carbon brush (1-3-4) and the second carbon brush (1-3-5) are respectively attached with the first slip ring (1-3-2) and the second slip ring (1-3-3).
8. A connection arrangement for a sweeping robot according to claim 7, wherein the first driving member (1-4) comprises: the first driving motor is fixed in the robot, a rotating shaft of the first driving motor is fixedly connected with the first driving screw rod, and the first driving screw rod is meshed with the connecting shaft gear (1-2-3).
9. The connecting structure for the sweeping robot according to claim 7 or 8, wherein the outer end face of the disc surface (1-2-2) is used as a connecting surface, a coaxial structure is arranged on the connecting surface of the connecting shaft (1-2), and the coaxial structure comprises a conical embedding opening arranged outside the connecting surface of the connecting shaft (1-2) of one sweeping robot and a conical boss arranged outside the connecting surface of the connecting shaft (1-2) opposite to the other sweeping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010296399.8A CN111358373B (en) | 2020-04-15 | 2020-04-15 | Robot and connection structure sweep floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010296399.8A CN111358373B (en) | 2020-04-15 | 2020-04-15 | Robot and connection structure sweep floor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111358373A CN111358373A (en) | 2020-07-03 |
| CN111358373B true CN111358373B (en) | 2021-11-12 |
Family
ID=71199325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010296399.8A Active CN111358373B (en) | 2020-04-15 | 2020-04-15 | Robot and connection structure sweep floor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111358373B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766975B (en) * | 2022-04-13 | 2023-06-02 | 江苏商贸职业学院 | Floor sweeping robot special for cleaning stairs |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3411599A (en) * | 1966-12-16 | 1968-11-19 | Eder Baile Corp | Stair climber for cleaning machine |
| US7926598B2 (en) * | 2008-12-09 | 2011-04-19 | Irobot Corporation | Mobile robotic vehicle |
| CN102009676B (en) * | 2010-11-24 | 2012-05-30 | 河南省电力公司洛阳供电公司 | Full-automatic stair climbing operation vehicle for electric screen cabinet |
| IL230750B (en) * | 2014-01-30 | 2018-02-28 | Wolf Yosi | Ground robot drive system |
| DE102014011235A1 (en) * | 2014-08-05 | 2016-02-25 | Gerald Amler | Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices |
| CN105769055B (en) * | 2016-03-28 | 2018-06-05 | 山东国兴智能科技有限公司 | Self-adjustable multifunctional stairway clears up robot |
| CN207328640U (en) * | 2016-09-09 | 2018-05-08 | 广东工业大学 | One kind is climbed device |
| CN206366987U (en) * | 2016-12-18 | 2017-08-01 | 遂宁市长丰机械科技有限公司 | The special Stair climbing device of sweeping robot |
| CN108860363A (en) * | 2017-05-10 | 2018-11-23 | 孟志 | It is wheeled to climb building barrier-exceeding vehicle |
| CN108407906A (en) * | 2018-03-14 | 2018-08-17 | 辽宁工程技术大学 | Variable mass counterweight automatic transporting machine people is used in a kind of detection of elevator |
| CN108968814A (en) * | 2018-06-28 | 2018-12-11 | 廖志敏 | Floor climbing device of floor sweeping robot |
| CN109620066A (en) * | 2019-02-17 | 2019-04-16 | 卢三秀 | A kind of sweeping robot |
-
2020
- 2020-04-15 CN CN202010296399.8A patent/CN111358373B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111358373A (en) | 2020-07-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111265156B (en) | Stair climbing method of floor sweeping robot | |
| CN111265155B (en) | Stair climbing method of floor sweeping robot with stair climbing function | |
| CN111358373B (en) | Robot and connection structure sweep floor | |
| CN102961080A (en) | Multifunctional glass cleaning robot and control method | |
| CN208198622U (en) | A kind of climbing stairs sweeping robot | |
| CN108720732B (en) | Sweeping robot capable of cleaning dead corners and large objects | |
| CN111387882B (en) | Floor sweeping robot with stair climbing function, connecting structure and electromagnet | |
| CN201482766U (en) | Central air-conditioning air duct dust cleaning robot | |
| CN105772459A (en) | Central air-conditioning pipeline cleaning device | |
| CN105818154B (en) | A kind of guardrail handrail automatic cleaning robot | |
| CN106984609A (en) | A kind of city fume pipeline endless track type cleaning robot | |
| CN210727669U (en) | Robot capable of cleaning inner wall surface and outer wall surface | |
| CN110806752A (en) | Platform for assisting small household appliances in intelligent movement | |
| CN109303526A (en) | A kind of household hygiene machine people | |
| CN112568792A (en) | Sweeping robot with route planning function and use method thereof | |
| CN216602702U (en) | Six-foot robot for stair cleaning | |
| CN215128044U (en) | Novel cleaning robot | |
| CN213488618U (en) | Artificial intelligence robot of sweeping floor with automatic upset | |
| CN210746469U (en) | Pavement washing robot trolley | |
| CN208355343U (en) | A kind of intelligent sweeping robot | |
| Patel et al. | Development of Arduino Programme Code for Autonomous Smart Vacuum Robot | |
| CN215618101U (en) | Pet robot for removing fecal organopathy | |
| CN216724428U (en) | Robot of sweeping floor based on artificial intelligence | |
| CN220735294U (en) | Armrest cleaning device | |
| CN204863728U (en) | Can climb cascaded wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211011 Address after: 322000 No. 22, Wuhua Road, Heyetang, Futian street, Yiwu City, Jinhua City, Zhejiang Province (self declaration) Applicant after: Zhejiang tanxiangjia Intelligent Technology Co.,Ltd. Address before: Office of e1018 College of measurement and control technology and communication engineering, west new main building of Harbin University of technology, No.52 Xuefu Road, Nangang District, Harbin, Heilongjiang Province Applicant before: Ma Jun |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |