CN111387882B - Floor sweeping robot with stair climbing function, connecting structure and electromagnet - Google Patents
Floor sweeping robot with stair climbing function, connecting structure and electromagnet Download PDFInfo
- Publication number
- CN111387882B CN111387882B CN202010296613.XA CN202010296613A CN111387882B CN 111387882 B CN111387882 B CN 111387882B CN 202010296613 A CN202010296613 A CN 202010296613A CN 111387882 B CN111387882 B CN 111387882B
- Authority
- CN
- China
- Prior art keywords
- main body
- shaft
- supporting
- connecting shaft
- electromagnet
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F2007/062—Details of terminals or connectors for electromagnets
Abstract
The invention belongs to the technical field of intelligent household equipment, and particularly relates to a floor sweeping robot with a floor climbing function, a connecting structure and an electromagnet.
Description
Technical Field
The invention belongs to the technical field of intelligent household equipment, and particularly relates to a floor sweeping robot with a stair climbing function, a connecting structure and an electromagnet.
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 floor sweeping robot overcomes the defects of the prior art, can be used for cleaning indoor ground, and can climb up stairs to sweep the upper layer;
a floor sweeping robot with a stair climbing function comprises a walking system, a dust collection system, a main body, supporting arms and supporting feet, wherein two sides of the front end of the main body are respectively hinged with one side face of one end of one supporting arm, and one side, far away from the main body, of the other ends of the two supporting arms is hinged with one end of one supporting foot;
the main body includes: the front end of the main body shell is a fillet, the radius of the fillet is the length from the front end of the main body shell to the axis of the connecting shaft, the main body swivel mount is fixedly arranged at the rear end of the main body shell, the middle of the connecting shaft is rotatably connected in the main body swivel mount, two ends of the connecting shaft extend out of the main body swivel mount, the front end of the connecting shaft is connected with the supporting arm, the rear end of the connecting shaft is connected with the first driving piece, and the first driving piece is fixedly arranged in the main body shell;
the support arm includes: the support arm comprises a support arm body and a front end shaft, wherein the front end side face of the support arm body is fixedly provided with the front end shaft, and the front end shaft is connected with the support feet;
the support foot includes: the supporting foot shell, the supporting foot rotating seat and the second driving piece are arranged on the supporting foot shell, the front end of the supporting foot shell is a semicircular complete round angle, the supporting foot rotating seat is arranged on one side of the front end of the supporting foot shell, and the front end shaft of the supporting arm penetrates through the supporting foot rotating seat and then is connected with the second driving piece.
Furthermore, the main body further comprises an electromagnet, the electromagnet is arranged at the end part of the connecting shaft and can be attracted with the supporting arm after the electromagnet is electrified, so that the front end of the connecting shaft is connected with the supporting arm.
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 end face of the disk face serves as a connecting face, a coaxial structure is arranged on the connecting face of the connecting shaft, and the coaxial structure comprises a conical embedding opening formed in the side face of the supporting arm and a conical boss arranged on the outer side of the disk face.
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 connecting shaft, 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 connecting shaft, 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 connecting shaft, 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.
Towards a connection structure of robot of sweeping floor with climb building function, include: the electromagnet is arranged at the end part of the connecting shaft and can be attracted with a supporting arm of the sweeping robot after being electrified, so that the front end of the connecting shaft is connected with the supporting arm;
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 outer end face of quotation is as connecting the face, be provided with coaxial structure on the connection face of connecting axle, coaxial structure inlays the mouth including the circular cone that sets up in the support arm side to and set up the circular cone boss in the quotation outside.
Towards an electro-magnet of robot of sweeping floor with climb building function, the electro-magnet include electro-magnet main part, first sliding ring, second sliding ring, first carbon brush 4, second carbon brush and insulated column, electro-magnet main part fixed connection inside the connecting axle of robot of sweeping floor, the rear end of electro-magnet main part and the one end fixed connection of insulated column, the other end of insulated column stretches out from the inside of connecting axle, first sliding ring and second sliding ring all fix the one end that the insulated column stretches out from the connecting axle is inside, and first sliding ring and second sliding ring respectively with two electrode connection of electro-magnet main part, first carbon brush and second carbon brush laminate with first sliding ring and second sliding ring respectively.
A stair climbing method of a floor sweeping robot with a stair climbing function comprises the following steps:
step a, robot combination: the robot main body moves to one side face to be opposite to one side face of the supporting foot provided with the supporting arm, one side face connecting shaft of the main body is connected with the side face of the supporting arm, and the other side face opposite to the main body is connected with the side face of the supporting arm of the other supporting foot to 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, the connecting point of the main body and the supporting arm is located behind the main body and far away from the step, and the connecting point of the supporting arm and the supporting foot is located in front of the main body and close to the step;
step c, main body preparation: the first driving piece drives the connecting shaft to rotate, the front end of the main body is turned upwards, and the supporting arms and the supporting feet on the two sides of the main body are fixed until the main body rotates to be vertical to the ground;
d, climbing the main body: the second driving pieces in the two supporting feet drive the supporting arms to rotate simultaneously, the main body is fixed relative to the supporting arms, so that the supporting arms and the main body are turned upwards simultaneously until the main body is buckled on the tread of the first step, and the two supporting feet are fixed as supports;
step e, preparing the first side: one of the two supporting feet is used as a first side, the other supporting foot is used as a second side, a second driving piece in the supporting foot on the first side drives the rear end of the supporting foot on the first side to turn upwards until the supporting foot on the first side rotates to be vertical to the ground, and the supporting foot on the second side and the main body are fixed and do not move as supports;
step f, climbing at the first side: a first driving piece in the main body connected with the supporting foot at the first side drives the supporting arm connected with the supporting foot at the first side to rotate, and meanwhile, the supporting foot at the first side is fixed and fixed relative to the supporting arm, so that the supporting foot at the first side and the supporting arm are turned upwards together until the supporting foot and the supporting arm are turned over to a first step, and the supporting foot at the second side and the main body are fixed and fixed as supports;
step g, second side preparation: a second driving piece in the supporting foot at the second side drives the rear end of the supporting foot at the second side to turn upwards until the supporting foot at the second side rotates to be vertical to the ground, and the supporting foot at the first side and the main body are fixed and do not move as a support;
step h, climbing on the second side: a second driving piece in the main body connected with the supporting foot at the second side drives the supporting arm connected with the supporting foot at the second side to rotate, and meanwhile, the supporting foot at the second side is fixed and fixed relative to the supporting arm, so that the supporting foot at the second side and the supporting arm are turned upwards together until the supporting foot and the supporting arm are turned over to a first step, and the supporting foot at the first side and the main body are fixed and fixed as supports;
step i, secondary preparation: the robot group moves forwards, and the front end of the robot group abuts against the side face of the second-stage step;
step j, climbing circulation: and (e) repeating the steps b to i until climbing to the top of the stair.
Further, in the step a and the robot combination, when one side connecting shaft of the main body is connected with the side of the supporting arm, the electromagnet in the connecting shaft is electrified to be attracted with the supporting arm, so that the connecting shaft forms a temporary shaft between the main body and the supporting arm.
Furthermore, when the electromagnet is electrified and the supporting arm is attracted, the conical boss on the outer side of the connecting shaft is inserted into the conical embedding opening on the side surface of the supporting arm.
And step e, after the preparation of the first side is finished, the main body moves left and right on the step, the main body cleans the step tread of the step, and the support feet of the first side clean the side surface of the step.
Further, when the main body moves left and right on the steps, the supporting feet on the second side clean the step surfaces of the steps at the next stage of the steps where the main body is located.
Further, the method is applied to a floor sweeping robot with a stair climbing function.
Further, the robot of sweeping floor with stair-climbing function include traveling system and dust collecting system, still include main part, support arm and support foot, the front end both sides of main part are connected with the one end side of a support arm is articulated respectively, the other end of two support arms is kept away from one side of main part all with one the one end of support foot articulated be connected.
The invention has the beneficial effects that:
1. the floor sweeping robot with the stair climbing function is different from the existing floor sweeping robot in main structure, the robot comprises a main body, a supporting arm and supporting feet, two ends of the supporting arm are respectively hinged with one end of the main body and one end of the supporting feet to form a folded chain structure, and each joint of the chain structure is provided with a separately controlled driving structure, so that the joints can move to climb stairs to the upper indoor layer for cleaning.
2. According to the floor sweeping robot with the stair climbing function, the connecting shafts are arranged on two sides of the main body, the electromagnets are arranged in the connecting shafts, the electromagnets and the supporting arms can form temporary shafts for climbing stairs by electrifying the electromagnets, and the temporary shafts can be separated from the supporting arms and the supporting feet when climbing is not needed.
3. According to the floor sweeping robot with the stair climbing function, disclosed by the invention, in the stair climbing process, the stair tread and the side surface can be cleaned by moving left and right on the stair tread.
4. The invention relates to a stair climbing method of a floor sweeping robot with a stair climbing function, which is characterized in that two sides of a floor sweeping robot main body are respectively connected with a supporting arm and supporting feet to form a robot group consisting of the robot main body and the two supporting feet.
5. According to the stair climbing method of the floor sweeping robot with the stair climbing function, due to the adoption of the scheme that the three parts of the robot group climb sequentially, the three parts can be respectively positioned on the step tread, the side surface of the step and the lower layer step tread in the climbing process, and the step tread and the side surface can be cleaned when the robot moves left and right along the step.
Drawings
Fig. 1 is a schematic view of an overall structure of a floor sweeping robot with a stair climbing function;
fig. 2 is a schematic internal structural diagram of the sweeping robot in fig. 1;
FIG. 3 is a schematic structural view of the connecting shaft of FIG. 2;
FIG. 4 is a schematic diagram of the electromagnet of FIG. 2;
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 the support arm;
fig. 8 is a climbing process diagram of the sweeping robot.
In the figure: 1 a main body; 2 supporting the arm; 3 supporting the feet; 4 driving the wheels; 5, universal wheels; 6, brushing edges; 7, rolling and brushing; 8, a dust collector; 1-1 a main body housing; 1-2 host transposition; 1-3 connecting shafts; 1-4 first driving member; 1-5 electromagnets; 2-1 supporting arm bodies; 2-2 front end shaft; 3-1 supporting the foot shell; 3-2 supporting the foot rotating seat; 3-3 a second driving member; 1-3-1 shaft body; 1-3-2 disk surfaces; 1-3-3 connecting shaft gears; 1-5-1 electromagnet main body; 1-5-2 a first slip ring; 1-5-3 second slip ring; 1-5-4 a first carbon brush; 1-5-5 second carbon brush; 1-5-6 insulating columns; 2-1-1 forearm body; 2-1-2 middle arm body; 2-1-3 rear arm body; 2-1-4 positive and negative tooth lead screws; 2-1-5 adjusting screw rod.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
example one
The embodiment is a floor sweeping robot with a stair climbing function, which can climb a stair and clean an upper layer on the basis of cleaning an indoor floor;
with reference to fig. 1, the floor sweeping robot with the stair climbing function disclosed in this embodiment includes a walking system and a dust collection system, and further includes a main body 1, support arms 2 and support feet 3, wherein two sides of the front end of the main body 1 are respectively hinged to one side of one end of one support arm 2, and one side of the other end of each support arm 2, which is far away from the main body 1, is hinged to one end of one support foot 3; through the connection of the supporting arms 2, the robot group is divided into three parts consisting of a main body 1 and two supporting feet 3, the three parts form a folded chain-shaped structure, and the climbing of stairs can be realized by driving the movable joints of the chain-shaped structure to rotate;
as shown in fig. 2, the robot set in fig. 2 is in a folded state, and the main body 1 includes: the front end of the main body shell 1-1 is a round angle, the radius of the round angle is the length from the front end of the main body shell 1-1 to the axis of the connecting shaft 1-3, the main body swivel mount 1-2 is fixedly arranged at the rear end of the main body shell 1-1, the middle of the connecting shaft 1-3 is rotatably connected in the main body swivel mount 1-2, two ends of the connecting shaft 1-3 extend out of the main body swivel mount 1-2, the front end of the connecting shaft 1-3 is connected with the supporting arm 2, the rear end of the connecting shaft 1-3 is connected with the first driving piece 1-4, and the first driving piece 1-4 is fixedly arranged in the main body shell 1-1;
the support arm 2 includes: the support arm comprises a support arm body 2-1 and a front end shaft 2-2, wherein the front end side face of the support arm body 2-1 is fixedly provided with the front end shaft 2-2, and the front end shaft 2-2 is connected with a support foot 3;
the support foot 3 comprises: the support foot comprises a support foot shell 3-1, a support foot rotating base 3-2 and a second driving piece 3-3, wherein the front end of the support foot shell 3-1 is a semicircular complete round angle, the support foot rotating base 3-2 is arranged on one side of the front end of the support foot shell 3-1, and a front end shaft 2-2 of a support arm 2 penetrates through the support foot rotating base 3-2 and then is connected with the second driving piece 3-3.
The outer side of the front end of the supporting arm 2 is hinged with the supporting foot 3 through a front end shaft 2-2, the front end shaft 2-2 is used as a movable joint between the supporting arm 2 and the supporting foot 3 and is driven through a second driving piece 3-3, the connecting shaft 1-3 is used as a movable joint between the supporting arm 2 and the main body 1 and is driven by a first driving piece 1-4, and a detachable connecting structure is adopted between the connecting shaft 1-3 and the supporting arm 1-2, so that the main body 1 can be separated from the supporting arm 2 and the supporting foot 3 when the main body 1 does not need to climb the stairs, and the main body 1 is electrified through an electromagnet 1-5 in the connecting shaft 1-3 when the stairs need to climb, so that the connecting shaft 1-3 and the supporting arm 2 are attracted to form a temporary shaft for climbing the stairs;
when climbing stairs, the robot main body 1 moves to one side surface to be opposite to the side surface of the support foot 3 provided with the support arm 2, one side surface connecting shaft 1-3 of the main body 1 is connected with the side surface of the support arm 2, and the other side surface opposite to the main body 2 is connected with the side surface of the support arm 2 of the other support foot 3 to 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 a first-stage step, the connecting point of the main body 1 and the supporting arm 2 is positioned behind the main body 1 and far away from the step, and the connecting point of the supporting arm 2 and the supporting foot 3 is positioned in front of the main body 1 and close to the step;
the first driving piece 1-4 drives the connecting shaft 1-3 to rotate, the front end of the main body 1 is turned upwards, and the supporting arms 2 and the supporting feet 3 on the two sides of the main body 1 are fixed until the main body 1 rotates to be vertical to the ground;
the second driving parts 3-3 in the two supporting feet 3 drive the supporting arm 2 to rotate at the same time, the main body 1 is fixed relative to the supporting arm 2, so that the supporting arm 2 and the main body 1 are turned upwards at the same time until the main body 1 is buckled on the tread of the first step, and the two supporting feet 3 are fixed as supports;
one of the two supporting feet 3 is used as a first side, the other supporting foot 3 is used as a second side, a second driving piece 3-3 in the supporting foot 3 at the first side drives the rear end of the supporting foot 3 at the first side to turn upwards until the supporting foot 3 at the first side rotates to be vertical to the ground, and the supporting foot 3 at the second side and the main body 1 are fixed and fixed as supports;
a first driving piece 1-4 in the main body 1 connected with the support foot 3 at the first side drives the support arm 2 connected with the support foot 3 at the first side to rotate, and meanwhile, the support foot 3 at the first side is fixed relative to the support arm 2, so that the support foot 3 at the first side and the support arm 2 are turned upwards together until the support foot 3 and the main body 1 are turned over to a first step, and the support foot 3 at the second side and the main body 1 are fixed and fixed as supports;
the second driving piece 3-3 in the supporting foot 3 at the second side drives the rear end of the supporting foot 3 at the second side to turn upwards until the supporting foot 3 at the second side rotates to be vertical to the ground, and the supporting foot 3 at the first side and the main body 1 are fixed and do not move as supports;
a second driving piece 1-4 in the main body 1 connected with the support foot 3 at the second side drives the support arm 2 connected with the support foot 3 at the second side to rotate, and meanwhile, the support foot 3 at the second side is fixed relative to the support arm 2, so that the support foot 3 at the second side and the support arm 2 are turned upwards together until the support foot 3 and the main body 1 are turned over to a first step, and the support foot 3 at the first side and the main body 1 are fixed and fixed as supports;
the robot group moves forwards, and the front end of the robot group abuts against the side face of the second-stage step;
repeating the above processes until climbing to the top of the stairs.
Example two
The embodiment provides a connecting shaft for a floor sweeping robot with a stair climbing function on the basis of the first specific embodiment, the connecting shaft is used as a movable joint between a main body 1 and a supporting arm 2, the requirement of driving rotation is met, and meanwhile the connecting shaft can be connected with the supporting arm 2 to form a temporary shaft;
as shown in fig. 3, the main body 1 further includes electromagnets 1-5, the electromagnets 1-5 are disposed at the ends of the connecting shafts 1-3, and can be attracted to the supporting arms 2 after the electromagnets 1-5 are energized, so that the front ends of the connecting shafts 1-3 are connected to the supporting arms 2, and the electromagnets 1-5 and the supporting arms 2 are energized to connect to the supporting arms 2 to meet the requirement of a temporary shaft;
specifically, as shown in fig. 3, the connecting shaft 1-3 includes: the driving device comprises a shaft body 1-3-1, a disc surface 1-3-2 and a connecting shaft gear 1-3-3, wherein the shaft body 1-3-1 is a hollow shaft, the electromagnet 1-5 is fixedly arranged inside the shaft body 1-3-1, the outer end surface of the electromagnet 1-5 is coplanar with the outer end surface of the shaft body 1-3-1, the disc surface 1-3-2 is coaxially and fixedly connected with the outer end surface of the shaft body 1-3-1 and coplanar with the outer end surface of the shaft body 1-3-1, the connecting shaft gear 1-3-3 is coaxially connected with the shaft body 1-3-1 and meshed with a first driving piece 1-4, and the first driving piece 1-4 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, the first driving screw is meshed with the connecting shaft gear 1-3-3, the first driving part 1-4 drives the connecting shaft gear 1-3 to rotate in a screw rod gear driving mode, and due to the self-locking property of the screw rod, the fixed first driving part 1-4 does not need to be electrified, so that the requirement of driving rotation is met.
EXAMPLE III
The embodiment provides an end face of the connecting shaft 1-3 on the basis of the second embodiment, the end face can enable the connecting shaft 1-3 to be automatically positioned when being connected with the supporting arm 2, certain errors are allowed to exist in the connecting shaft 1-3, and the friction force between the connecting shaft 1-3 and the supporting arm 2 is increased;
specifically, as shown in fig. 3, the outer end face of the disk face 1-3-2 serves as a connecting face, and a coaxial structure is arranged on the connecting face of the connecting shaft 1-3, and the coaxial structure includes a conical embedding opening arranged on the side face of the supporting arm 2 and a conical boss arranged on the outer side of the disk face 1-3-2; when the conical boss is inserted into the conical embedding opening, the conical surface can be automatically centered, certain errors in the coaxiality of the connecting shafts 1-3 are allowed, the friction surface is increased by the conical surface, the pressure between the two conical surfaces is increased, and the friction force is increased.
Example four
The embodiment provides an electromagnet for a floor sweeping robot with a stair climbing function on the basis of the first, second or third embodiment, wherein the electromagnet can be attracted with a supporting arm 2 to establish a temporary shaft, and meanwhile, the electromagnet is electrically connected with the supporting arm in a rotating process;
referring to fig. 4, the electromagnet 1-5 includes an electromagnet main body 1-5-1, a first slip ring 1-5-2, a second slip ring 1-5-3, a first carbon brush 1-5-4, a second carbon brush 1-5-5, and an insulating column 1-5-6, the electromagnet main body 1-5-1 is fixedly connected to the inside of the connecting shaft 1-3, the rear end of the electromagnet main body 1-5-1 is fixedly connected to one end of the insulating column 1-5-6, the other end of the insulating column 1-5-6 extends from the inside of the connecting shaft 1-3, the first slip ring 1-5-2 and the second slip ring 1-5-3 are both fixed to one end of the insulating column 1-5-6 extending from the inside of the connecting shaft 1-3, the first slip ring 1-5-2 and the second slip ring 1-5-3 are respectively connected with two electrodes of the electromagnet main body 1-5-1, and the first carbon brush 1-5-4 and the second carbon brush 1-5-5 are respectively attached to the first slip ring 1-5-2 and the second slip ring 1-5-3;
because the electromagnets 1-5 are fixed on the connecting shaft 1-3, the insulating columns 1-5-6 of the electromagnets 1-5 rotate when the connecting shaft 1-3 rotates, meanwhile, the first slip ring 1-5-2 is connected with the first carbon brush 1-5-4, and the second slip ring 1-5-3 is connected with the second carbon brush 1-5-5, so that the power supply requirement of the electromagnets 1-5 when the connecting shaft 1-3 rotates is met.
EXAMPLE five
The embodiment is directed to a connecting structure of a floor sweeping robot with a stair climbing function, the connecting structure can establish a temporary shaft between a floor sweeping robot main body 1 and a supporting arm 2, and can drive the temporary shaft to rotate;
referring to fig. 2 and 3, a connection structure for a floor sweeping robot with a stair climbing function includes: the sweeping robot comprises a connecting shaft 1-3, a first driving piece 1-4 and an electromagnet 1-5, wherein the electromagnet 1-5 is arranged at the end part of the connecting shaft 1-3, and can be attracted with a supporting arm 2 of the sweeping robot after the electromagnet 1-5 is electrified, so that the front end of the connecting shaft 1-3 is connected with the supporting arm 2;
the connecting shaft 1-3 comprises: the connecting shaft comprises a shaft body 1-3-1, a disc surface 1-3-2 and a connecting shaft gear 1-3-3, wherein the shaft body 1-3-1 is a hollow shaft, the electromagnet 1-5 is fixedly arranged inside the shaft body 1-3-1, the outer end surface of the electromagnet 1-5 is coplanar with the outer end surface of the shaft body 1-3-1, the disc surface 1-3-2 is coaxially and fixedly connected with the outer end surface of the shaft body 1-3-1 and coplanar with the outer end surface of the shaft body 1-3-1, and the connecting shaft gear 1-3-3 is coaxially connected with the shaft body 1-2-1 and meshed with a first driving piece 1-4; 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, the first driving screw rod is meshed with the connecting shaft gear 1-3-3, the first driving piece 1-4 drives the connecting shaft 1-3 to rotate in a screw rod gear driving mode, and due to the self-locking property of the screw rod, the fixed first driving piece 1-4 does not need to be electrified, so that the requirement of driving rotation is met;
the outer end face of the disc face 1-3-2 serves as a connecting face, a coaxial structure is arranged on the connecting face of the connecting shaft 1-3 and comprises a conical embedding opening formed in the side face of the supporting arm 2 and a conical boss arranged on the outer side of the disc face 1-3-2, when the conical boss is inserted into the conical embedding opening, the conical surface can be automatically centered, certain errors are allowed to exist in the coaxiality of the connecting shaft 1-3, the friction face is increased through the conical surface, the pressure between the two conical surfaces is increased, and the friction force is increased.
EXAMPLE six
The embodiment is directed to an electromagnet of a floor sweeping robot with a stair climbing function, the electromagnet can be attracted with a supporting arm 2 to establish a temporary shaft, and meanwhile, the electromagnet is electrically connected with the supporting arm in a rotating process;
referring to fig. 4, the electromagnet for the floor sweeping robot with the stair climbing function is characterized in that the electromagnet 1-5 comprises an electromagnet main body 1-5-1, a first slip ring 1-5-2, a second slip ring 1-5-3, a first carbon brush 1-5-4, a second carbon brush 1-5-5 and an insulating column 1-5-6, the electromagnet main body 1-5-1 is fixedly connected inside a connecting shaft 1-3 of the floor sweeping robot, the rear end of the electromagnet main body 1-5-1 is fixedly connected with one end of the insulating column 1-5-6, the other end of the insulating column 1-5-6 extends out of the connecting shaft 1-3, and the first slip ring 1-5-2 and the second slip ring 1-5-3 are both fixed on the insulating column 1-5-6 and extend out of the connecting shaft 1-3 3, a first slip ring 1-5-2 and a second slip ring 1-5-3 are respectively connected with two electrodes of the electromagnet main body 1-5-1, and the first carbon brush 1-5-4 and the second carbon brush 1-5-5 are respectively attached to the first slip ring 1-5-2 and the second slip ring 1-5-3;
because the electromagnets 1-5 are fixed on the connecting shaft 1-3, the insulating columns 1-5-6 of the electromagnets 1-5 rotate when the connecting shaft 1-3 rotates, meanwhile, the first slip ring 1-5-2 is connected with the first carbon brush 1-5-4, and the second slip ring 1-5-3 is connected with the second carbon brush 1-5-5, so that the power supply requirement of the electromagnets 1-5 when the connecting shaft 1-3 rotates is met.
EXAMPLE seven
The embodiment discloses a walking system for a floor sweeping robot with a stair climbing function, which can realize horizontal movement of the robot, is used for connecting a main body 1 and a supporting arm 2, and can enable the robot to move left and right on steps;
as shown in fig. 5 and 6, the walking system includes: drive wheel 4 and universal wheel 5, the rear end bottom surface both sides of main part 1 are provided with a drive wheel 4 respectively, and the front end of main part 1 is provided with a universal wheel 5, 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 a main body 1, 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 main body 1, 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 and enable the sweeping robot to move horizontally, after the robot set climbs a step, the wheel body 4-2 rotates to a direction which is deviated towards the front side of the step, when the wheel body 4-2 rotates, component forces pointing to the side surface of the step and deviated towards one side are formed, the component force pointing to the side surface of the step enables the robot to be attached to the step, and the component force deviated towards one side enables the robot to slide towards the deviated side, so that the robot moves horizontally and the surface of the step is cleaned; when the main body 1 is connected with the supporting arm 2, the front ends of the main body 1 and the supporting arm 2 are abutted against a wall surface, the wheel body 4-2 rotates to the direction of deflecting one side of the wall surface, so that component force pointing to the wall surface and deflecting one side is formed when the wheel body 4-2 rotates, the component force pointing to the wall surface enables the robot to be attached to the wall, and the component force deflecting one side enables the robot to slide towards the deflecting one side, so that the attachment of the main body 1 and the supporting arm 2 is realized.
Example eight
The embodiment discloses a dust collection system for a floor sweeping robot with a stair climbing function, which meets the requirement of cleaning a main body 1 independently and the requirement of cleaning the side surface of a step by a support foot 3;
as shown in fig. 5, the dust suction system includes: the vacuum cleaner comprises side brushes 6, rolling brushes 7 and a dust collector 8, wherein two sides of the bottom surface of the front end of the main body 1 are respectively provided with one side brush 6, two rolling brushes 7 are arranged in the middle of the bottom surface of the main body 1, the two rolling brushes 7 are arranged in a V shape, the dust collector 8 is arranged at the rear end of the bottom surface of the main body 1, and the bottom surface of each supporting foot 3 is provided with one rolling brush 7;
the side brush 6, the rolling brush 7 and the dust collector 8 which are arranged on the main body 1 form a set of dust collection system, the single dust collection requirement of the main body 1 is met, one part of the dust collection system is arranged on the supporting feet 3, and the requirement of the supporting feet 3 for cleaning the side face of the stair is met.
Example nine
The embodiment discloses a supporting arm for a floor sweeping robot with a stair climbing function, the supporting arm can adjust the length, the step height of a stair needs to be adapted through a supporting arm 2 when a robot group climbs the stair, and the supporting arm meets the adaptation of the robot group to the step height of the stair;
the support arm body 2-1 includes: a front arm body 2-1-1, a middle arm body 2-1-2, a rear arm body 2-1-3, a positive and negative tooth screw rod 2-1-4 and an adjusting screw rod 2-1-5, wherein the front arm body 2-1-1 and the rear arm body 2-1-3 are respectively inserted from two ends of the middle arm body 2-1-2, two ends of the positive and negative tooth screw rod 2-1-4 are respectively connected with the front arm body 2-1-1 and the rear arm body 2-1-3 through a slide block, the middle of the positive and negative tooth screw rod 2-1-4 is rotatably connected with the middle arm body 2-1-2, the middle of the adjusting screw rod 2-1-5 is rotatably connected with the middle arm body 2-1-2, one end of the adjusting screw rod 2-1-5 is connected with the positive and negative tooth screw rod 2-1-4 through a gear, the other end of the adjusting screw rod 2-1-5 extends out of the side wall of the middle arm body 2-1-2, and an inner hexagonal connector is arranged at one end of the adjusting screw rod 2-1-5 extending out of the side wall of the middle arm body 2-1-2;
the adjusting screw rod 2-1-5 is rotated through the hexagon socket wrench, so that the front and back screw rods 2-1-4 push the front arm body 2-1-1 and the back arm body 2-1-3 on the two sides to move relative to the middle arm body 2-1-2, the length of the supporting section 2 is changed, and the sweeping robot can adapt to the step heights of different steps.
Example ten
The embodiment discloses a stair climbing method of a floor sweeping robot with a stair climbing function, which is applied to the floor sweeping robot with the stair climbing function, so that the floor sweeping robot can climb stairs to an upper layer for cleaning in indoor buildings with steps such as a duplex building or a villa and the like, and can sweep the steps;
referring to fig. 8, a stair climbing method of a floor sweeping robot with a stair climbing function includes the following steps:
step a, robot combination: the robot main body 1 moves to one side face to be opposite to one side face of the supporting foot 3 provided with the supporting arm 2, one side face connecting shaft 1-3 of the main body 1 is connected with the side face of the supporting arm 2, and the other side face opposite to the main body 2 is connected with the side face of the supporting arm 2 of the other supporting foot 3 to 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 a first-stage step, the connecting point of the main body 1 and the supporting arm 2 is positioned behind the main body 1 and far away from the step, and the connecting point of the supporting arm 2 and the supporting foot 3 is positioned in front of the main body 1 and close to the step;
step c, main body preparation: the first driving piece 1-4 drives the connecting shaft 1-3 to rotate, the front end of the main body 1 is turned upwards, and the supporting arms 2 and the supporting feet 3 on the two sides of the main body 1 are fixed until the main body 1 rotates to be vertical to the ground;
d, climbing the main body: the second driving parts 3-3 in the two supporting feet 3 drive the supporting arm 2 to rotate at the same time, the main body 1 is fixed relative to the supporting arm 2, so that the supporting arm 2 and the main body 1 are turned upwards at the same time until the main body 1 is buckled on the tread of the first step, and the two supporting feet 3 are fixed as supports;
step e, preparing the first side: one of the two supporting feet 3 is used as a first side, the other supporting foot 3 is used as a second side, a second driving piece 3-3 in the supporting foot 3 at the first side drives the rear end of the supporting foot 3 at the first side to turn upwards until the supporting foot 3 at the first side rotates to be vertical to the ground, and the supporting foot 3 at the second side and the main body 1 are fixed and fixed as supports;
step f, climbing at the first side: a first driving piece 1-4 in the main body 1 connected with the support foot 3 at the first side drives the support arm 2 connected with the support foot 3 at the first side to rotate, and meanwhile, the support foot 3 at the first side is fixed relative to the support arm 2, so that the support foot 3 at the first side and the support arm 2 are turned upwards together until the support foot 3 and the main body 1 are turned over to a first step, and the support foot 3 at the second side and the main body 1 are fixed and fixed as supports;
step g, second side preparation: the second driving piece 3-3 in the supporting foot 3 at the second side drives the rear end of the supporting foot 3 at the second side to turn upwards until the supporting foot 3 at the second side rotates to be vertical to the ground, and the supporting foot 3 at the first side and the main body 1 are fixed and do not move as supports;
step h, climbing on the second side: a second driving piece 1-4 in the main body 1 connected with the support foot 3 at the second side drives the support arm 2 connected with the support foot 3 at the second side to rotate, and meanwhile, the support foot 3 at the second side is fixed relative to the support arm 2, so that the support foot 3 at the second side and the support arm 2 are turned upwards together until the support foot 3 and the main body 1 are turned over to a first step, and the support foot 3 at the first side and the main body 1 are fixed and fixed as supports;
step i, secondary preparation: the robot group moves forwards, and the front end of the robot group abuts against the side face of the second-stage step;
step j, climbing circulation: and (e) repeating the steps b to i until climbing to the top of the stair.
In the step a, in the robot combination, when a side connecting shaft 1-3 of the main body 1 is connected with the side of the supporting arm 2, the electromagnet 1-5 in the connecting shaft 1-3 is electrified to be attracted with the supporting arm 2, so that the connecting shaft 1-3 forms a temporary shaft between the main body 1 and the supporting arm 2.
Specifically, when the electromagnets 1-5 are electrified and are attracted to the supporting arm 2, the conical boss on the outer side of the connecting shaft 1-3 is inserted into the conical embedding opening on the side surface of the supporting arm 2.
Specifically, after the preparation of the first side is finished in the step e, the main body 1 moves left and right on the step, the main body 1 cleans the step tread of the step, and the first side supporting feet 3 clean the side faces of the step.
Specifically, when the main body 1 moves left and right on the step, the supporting feet 3 on the second side clean the step tread of the step next to the step on which the main body 1 is located.
Specifically, the method is applied to a floor sweeping robot with a stair climbing function.
Specifically, the floor sweeping robot with the stair climbing function comprises a walking system and a dust collection system, and further comprises a main body 1, supporting arms 2 and supporting feet 3, wherein the two sides of the front end of the main body 1 are respectively hinged to one end side face of one supporting arm 2, one side, far away from the main body 1, of the other end of each supporting arm 2 is hinged to one end of one supporting foot 3, the main body 1 is connected with the supporting arms 2 through connecting shafts 1-3, the connecting shafts 1-3 can be attracted to the supporting arms 2 through built-in electromagnets 1-5 to form temporary shafts, the connecting shafts 1-3 are driven through first driving pieces 1-4, and the supporting arms 2 and hinged shafts of the supporting feet 3 are driven through second driving pieces 3-3.
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 of 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 the present application, but it should be understood that each permutation and combination result is described in the present 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 (3)
1. The floor sweeping robot with the stair climbing function comprises a walking system and a dust collection system, and is characterized by further comprising a main body (1), supporting arms (2) and supporting feet (3), wherein two sides of the front end of the main body (1) are respectively hinged to one side face of one end of one supporting arm (2), and one sides, far away from the main body (1), of the other ends of the two supporting arms (2) are hinged to one end of one supporting foot (3);
the main body (1) comprises: the front end of the main body shell (1-1) is a round angle, the radius of the round angle is the length from the front end of the main body shell (1-1) to the axis of the connecting shaft (1-3), the main body swivel mount (1-2) is fixedly arranged at the rear end of the main body shell (1-1), the middle of the connecting shaft (1-3) is rotatably connected in the main body swivel mount (1-2), two ends of the connecting shaft (1-3) extend out of the main body swivel mount (1-2), the front end of the connecting shaft (1-3) is connected with the supporting arm (2), the rear end of the connecting shaft (1-3) is connected with the first driving piece (1-4), the first driving piece (1-4) is fixedly arranged in the main body shell (1-1);
the support arm (2) comprises: the support arm body (2-1) and the front end shaft (2-2), the front end side face of the support arm body (2-1) is fixedly provided with the front end shaft (2-2), and the front end shaft (2-2) is connected with the support foot (3);
the support foot (3) comprises: the support foot comprises a support foot shell (3-1), a support foot rotating base (3-2) and a second driving piece (3-3), wherein the front end of the support foot shell (3-1) is a semicircular complete round angle, the support foot rotating base (3-2) is arranged on one side of the front end of the support foot shell (3-1), and a front end shaft (2-2) of the support arm (2) penetrates through the support foot rotating base (3-2) and then is connected with the second driving piece (3-3);
the main body (1) further comprises electromagnets (1-5), the electromagnets (1-5) are arranged at the end parts of the connecting shafts (1-3), and can be attracted with the supporting arms (2) after the electromagnets (1-5) are electrified, so that the front ends of the connecting shafts (1-3) are connected with the supporting arms (2);
the connecting shaft (1-3) comprises: a shaft body (1-3-1), a disc surface (1-3-2) and a connecting shaft gear (1-3-3), wherein the shaft body (1-3-1) is a hollow shaft, the electromagnet (1-5) is fixedly arranged in the shaft body (1-3-1), the outer end face of the electromagnet (1-5) is coplanar with the outer end face of the shaft body (1-3-1), the disc face (1-3-2) is coaxially and fixedly connected with the outer end face of the shaft body (1-3-1), and the connecting shaft gear (1-3-3) is coaxially connected to the shaft body (1-3-1) and meshed with the first driving piece (1-4).
2. The floor sweeping robot with the stair climbing function according to claim 1, wherein the outer end face of the disk face (1-3-2) is used as a connecting face, a coaxial structure is arranged on the connecting face of the connecting shaft (1-3), and the coaxial structure comprises a conical embedding opening arranged on the side face of the supporting arm (2) and a conical boss arranged on the outer side of the disk face (1-3-2).
3. The floor sweeping robot with the stair climbing function according to claim 1 or 2, wherein the electromagnet (1-5) comprises an electromagnet main body (1-5-1), a first slip ring (1-5-2), a second slip ring (1-5-3), a first carbon brush (1-5-4), a second carbon brush (1-5-5) and an insulating column (1-5-6), the electromagnet main body (1-5-1) is fixedly connected inside the connecting shaft (1-3), the rear end of the electromagnet main body (1-5-1) is fixedly connected with one end of the insulating column (1-5-6), and the other end of the insulating column (1-5-6) extends out of the inside of the connecting shaft (1-3), the first slip ring (1-5-2) and the second slip ring (1-5-3) are fixed at one end, extending out of the connecting shaft (1-3), of the insulating column (1-5-6), the first slip ring (1-5-2) and the second slip ring (1-5-3) are respectively connected with two electrodes of the electromagnet main body (1-5-1), and the first carbon brush (1-5-4) and the second carbon brush (1-5-5) are respectively attached to the first slip ring (1-5-2) and the second slip ring (1-5-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010296613.XA CN111387882B (en) | 2020-04-15 | 2020-04-15 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010296613.XA CN111387882B (en) | 2020-04-15 | 2020-04-15 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111387882A CN111387882A (en) | 2020-07-10 |
| CN111387882B true CN111387882B (en) | 2021-10-29 |
Family
ID=71411441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010296613.XA Active CN111387882B (en) | 2020-04-15 | 2020-04-15 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111387882B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023178664A1 (en) * | 2022-03-25 | 2023-09-28 | 深圳市智意科技有限公司 | Locomotion mechanism and cleaning robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
| CN107600212A (en) * | 2016-09-09 | 2018-01-19 | 广东工业大学 | One kind climb device and its climb method with application |
| CN207274808U (en) * | 2017-08-24 | 2018-04-27 | 广州南洋理工职业学院 | Stair climbing robot |
| CN209932600U (en) * | 2019-02-17 | 2020-01-14 | 卢三秀 | Floor sweeping robot |
-
2020
- 2020-04-15 CN CN202010296613.XA patent/CN111387882B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN107600212A (en) * | 2016-09-09 | 2018-01-19 | 广东工业大学 | One kind climb device and its climb method with application |
| CN207328640U (en) * | 2016-09-09 | 2018-05-08 | 广东工业大学 | One kind is climbed device |
| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
| CN207274808U (en) * | 2017-08-24 | 2018-04-27 | 广州南洋理工职业学院 | Stair climbing robot |
| CN209932600U (en) * | 2019-02-17 | 2020-01-14 | 卢三秀 | Floor sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111387882A (en) | 2020-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111265155B (en) | Stair climbing method of floor sweeping robot with stair climbing function | |
| CN111265156B (en) | Stair climbing method of floor sweeping robot | |
| CN1195442C (en) | Random motion vacuum cleaner | |
| CN111387882B (en) | Floor sweeping robot with stair climbing function, connecting structure and electromagnet | |
| CN110063691B (en) | Sweeping robot capable of going upstairs and downstairs and application method thereof | |
| WO2021170979A1 (en) | Robotic device with tri-star wheels and actuated arm and method of navigating a surface with a robotic device | |
| CN106361224B (en) | A kind of sweeping robot for climbing wall operation | |
| CN108903817A (en) | Floor brush for floor sweeping robot | |
| CN111568320A (en) | Floor cleaning robot capable of climbing stairs | |
| CN108433646A (en) | A kind of anti-slip sweeping robot that can be used in clearing up stair | |
| CN111358373B (en) | Robot and connection structure sweep floor | |
| CN105772459A (en) | Central air-conditioning pipeline cleaning device | |
| CN210727669U (en) | Robot capable of cleaning inner wall surface and outer wall surface | |
| CN106001024A (en) | Washing mechanism for pipeline of air conditioner | |
| CN111616650A (en) | All-terrain sweeping robot | |
| CN109984686A (en) | Dust suction separated type sweeping robot | |
| CN110292331A (en) | A kind of watering robot | |
| CN210300858U (en) | Floor sweeping robot capable of going upstairs and downstairs | |
| CN216602702U (en) | Six-foot robot for stair cleaning | |
| CN108478111A (en) | A kind of modified sweeping robot | |
| CN112568792A (en) | Sweeping robot with route planning function and use method thereof | |
| CN215128044U (en) | Novel cleaning robot | |
| CN208355343U (en) | A kind of intelligent sweeping robot | |
| CN210597153U (en) | Electric floor sweeper | |
| CN210697513U (en) | Traveling device and cleaning robot |
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: 100000 Room 408, 4 / F, 101, building 4, yard 3, Fuxing 4th Street, Shunyi District, Beijing Applicant after: Blue Plan (Beijing) 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 |