CN111588312A - Dual-purpose robot for sweeping stairs and floor - Google Patents
Dual-purpose robot for sweeping stairs and floor Download PDFInfo
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- CN111588312A CN111588312A CN202010481188.1A CN202010481188A CN111588312A CN 111588312 A CN111588312 A CN 111588312A CN 202010481188 A CN202010481188 A CN 202010481188A CN 111588312 A CN111588312 A CN 111588312A
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- stairs
- module
- sweeping
- mecanum wheel
- robot
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- 238000010408 sweeping Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 239000003292 glue Substances 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims description 2
- 230000001939 inductive effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000007790 scraping Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
- B60B19/125—Roller-type wheels with helical projections on radial outer surface translating rotation of wheel into movement along the direction of the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
- B60B2200/40—Articles of daily use
- B60B2200/49—Domestic appliances, e.g. vacuum cleaners
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A dual-purpose robot for sweeping stairs and floor comprises: the robot comprises a robot main body part, a charging pile, a wall and a stair; the folding telescopic mechanism connected with the rotating support frame through the symmetrical Mecanum wheel mechanism stretches to a proper position to realize automatic stair climbing, and the cleaning mechanism automatically cleans the stairs and the second floor of the duplex apartment, thereby completely cleaning the stairs and the second floor of the duplex apartment and thoroughly lightening the labor intensity of people; meanwhile, the Mecanum wheel mechanism can move left and right, so that the transverse cleaning of the stairs is realized; when cleaning ground, mecanum wheel module is folded and is packed up, and the robot main part passes through universal electric gyro wheel and removes, accomplishes the work of sweeping the floor by the fuselage module, has reduced the wearing and tearing of mecanum wheel group, and mecanum wheel module is folded and is packed up and make the product more nimble, still has aesthetic property and practicality.
Description
Technical Field
The invention relates to the technical field of floor sweeping robots, in particular to a stair and floor sweeping dual-purpose robot.
Background
A floor sweeping robot, also called an automatic sweeper, intelligent dust collection, a robot cleaner, etc., is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence, for example, patent numbers: 2018111953911 discloses a sweeping robot, which comprises: the lower surface of the shell is concavely provided with a strip-shaped mounting cavity for mounting a floor brush of the floor sweeping robot; the scraping strip extends along the axial direction of the mounting cavity and is mounted on one side of the cavity opening of the mounting cavity; the shell is also provided with a ventilation structure, and the ventilation structure is used for enabling air in the installation cavity to flow to one side of the scraping strip, which is adjacent to the cavity opening of the installation cavity; due to the arrangement, dust, paper scraps and other sundries are prevented from being accumulated on one side of the scraping strip, which is adjacent to the cavity opening of the mounting cavity, so that the cleaning performance of the sweeping robot is improved;
however, the floor sweeping robot as described above can only sweep one floor, and for a duplex apartment with two floors, it is impossible to automatically climb stairs and sweep stairs and two floors, so it is urgently needed to invent a stair sweeping and floor sweeping robot for the duplex apartment.
Disclosure of Invention
Aiming at the problems, the invention provides a dual-purpose robot for sweeping stairs and sweeping floors, which can realize automatic stair climbing by stretching a folding telescopic mechanism connected with a symmetrical Mecanum wheel mechanism and a rotary support frame to a proper position and can automatically sweep by a sweeping mechanism, thereby realizing the comprehensive sweeping of stairs and two floors of a duplex house and thoroughly lightening the labor intensity of people; meanwhile, the Mecanum wheel mechanism can move left and right, so that the transverse cleaning of the stairs is realized; when cleaning ground, mecanum wheel module is folded and is packed up, and the robot main part passes through universal electric gyro wheel and removes, accomplishes the work of sweeping the floor by the fuselage module, has reduced the wearing and tearing of mecanum wheel group, and mecanum wheel module is folded and is packed up and make the product more nimble, still has aesthetic property and practicality.
The technical scheme adopted by the invention is as follows: a dual-purpose robot for sweeping stairs and floor comprises: the robot comprises a robot main body part, a charging pile, a wall and a stair;
the robot main body part includes: the device comprises a machine body module, a universal electric roller, a Mecanum wheel module, a display screen, a switch key and a control module; the whole shape of the machine body module consists of a front semicircle and a rear semicircle and a middle rectangle, the bottom of the machine body module is provided with a universal electric roller, the edges of the rectangles on the left side and the right side of the machine body module are symmetrically provided with a telescopic and foldable Mecanum wheel module, the front side of the top of the machine body module is provided with a display screen and a switch key, and the control module is arranged in the machine body module and is electrically connected with the display screen and the switch key;
the wall is provided with a circular arc charging pile matched with the rear semicircle of the machine body module, and the stairs are communicated with the ground of the upper layer and the lower layer;
starting the main body part of the robot through the switch key, and charging the induction wireless battery of the body module through the charging pile; when the floor is swept, the Mecanum wheel module is folded and retracted, the main body part of the robot moves through the universal electric roller, and the sweeping work is completed by the machine body module; when the stairs are cleaned, the Mecanum wheel modules are unfolded, the robot main body part moves up and down and left and right in the stairs through the Mecanum wheel modules, the stair cleaning work is completed through the machine body module, and the display screen is used for displaying the working state and the residual electric quantity of the robot main body part in real time.
Further, the body module includes: the device comprises an upper shell, a lower shell, a vision sensor, an induction wireless battery, a rotary supporting shaft and a cleaning mechanism;
the fuselage module is by last casing and lower casing cladding, vision sensor sets up the top front side at last casing, the setting of response wireless battery is inside casing down, the both sides of casing are down installed to the rotation support axle for install mecanum wheel module, clean the mechanism setting in last casing and lower casing.
Further, the sweeping mechanism includes: the device comprises a plurality of air extractors, a plurality of roller glue brushes, a storage box and a collection channel;
the air pump is arranged on the upper shell, an air inlet of the air pump is arranged above the storage box, and an air outlet of the air pump extends out of the upper shell; the storage box is fixedly installed in the lower shell, the roller rubber brush is installed at a suction inlet at the bottom of the lower shell, and the collecting channel is communicated with the roller rubber brush and the storage box.
Further, the air extractor is provided with two, the roller is glued and is brushed and is provided with two.
Further, the mecanum wheel module includes: the folding telescopic mechanism comprises a Mecanum wheel mechanism, a folding telescopic mechanism, a stepping motor and a rotary support frame;
the rotary supporting frame is rotatably installed on a rotary supporting shaft of the machine body module through a stepping motor, one end of each of the plurality of folding telescopic mechanisms is uniformly installed on the outer circumferential surface of the rotary supporting frame, and the mecanum wheel mechanism is installed at the other end of each of the folding telescopic mechanisms.
Further, the folding telescopic mechanism comprises: an electric telescopic rod and a folding motor;
electric telescopic handle one end articulates in rotatory support frame, and the other end is connected with mecanum wheel mechanism, folding motor fixed mounting is on rotatory support frame, and its motor shaft is connected with electric telescopic handle for it is rotatory to drive electric telescopic handle.
Further, the number of the folding telescopic mechanisms is 3.
Further, the mecanum wheel mechanism includes: the supporting block, the rubber wheel, the wheel hub, the connecting copper column, the screw, the driving motor and the motor bracket are arranged on the supporting block;
the electric motor comprises a motor support, a driving motor, a connecting copper column, a rubber wheel, a motor support, a driving motor, a motor shaft, a wheel hub, a rubber wheel, supporting blocks and connecting copper columns.
Furthermore, the control module is controlled by a singlechip.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) the folding telescopic mechanism connected with the rotating support frame through the symmetrical Mecanum wheel mechanisms stretches to a proper position to realize automatic stair climbing, and the cleaning mechanism automatically cleans the stairs and the second floor of the duplex apartment, thereby thoroughly cleaning the stairs and the second floor of the duplex apartment and thoroughly lightening the labor intensity of people;
(2) the Mecanum wheel mechanism can move left and right, so that the transverse cleaning of the stairs is realized;
(3) when the robot is used for cleaning the ground, the Mecanum wheel modules are folded and retracted, the main body part of the robot moves through the universal electric idler wheels, the body module finishes the floor sweeping work, the abrasion of the Mecanum wheel sets is reduced, the Mecanum wheel modules are folded and retracted, so that the product is more flexible, and the robot has attractiveness and practicability.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2-3 are schematic structural views of the main body part of the robot of the present invention.
Fig. 4-6 are schematic structural views of the fuselage module of the present invention.
Fig. 7 is a schematic structural diagram of a mecanum wheel module of the present invention.
Fig. 8 is a schematic structural view of the folding telescopic mechanism of the present invention.
Fig. 9 is a schematic diagram of the mecanum mechanism of the present invention.
Reference numerals: 1-a robot body part; 2-charging pile; 3-a wall; 4-stairs; 101-a fuselage module; 102-universal motorized roller; 103-Mecanum wheel module; 104-a display screen; 105-switch keys; 1011-an upper housing; 1012-lower shell; 1013-a vision sensor; 1014-an inductive wireless battery; 1015-rotating support shaft; 1016-air extractor; 1017-roller glue brush; 1018-storage box; 1019-a collection channel; 1031-mecanum wheel mechanism; 1032-folding telescoping mechanism; 1033-a stepper motor; 1034-rotating the support frame; 10321-an electric telescopic rod; 10322-fold motor; 10311-support block; 10312-rubber wheel; 10313-hub; 10314-connecting copper column; 10315-screw; 10316-drive motor; 10317-Motor holder.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In an embodiment, as shown in fig. 1 to 9, a dual-purpose robot for sweeping stairs and sweeping floor includes: the robot comprises a robot main body part 1, a charging pile 2, a wall 3 and a stair 4;
the robot main body part 1 includes: the device comprises a machine body module 101, a universal electric roller 102, a Mecanum wheel module 103, a display screen 104, a switch key 105 and a control module; the whole shape of the machine body module 101 consists of a front semicircle and a rear semicircle plus a middle rectangle, the bottom of the machine body module is provided with a universal electric roller 102, the rectangular edges at the left side and the right side of the machine body module are symmetrically provided with a telescopic and foldable Mecanum wheel module 103, the front side of the top of the machine body module is provided with a display screen 104 and a switch key 105, the control module is arranged in the machine body module 101 and is electrically connected with the display screen 104 and the switch key 105, the control module is controlled by a single chip microcomputer, and a corresponding execution program is set in the single;
the wall 3 is provided with a circular arc charging pile 2 matched with the rear semicircle of the machine body module 101, and the stairs 4 are communicated with the ground of the upper layer and the lower layer;
when the robot is used, the robot main body part 1 is started through the switch key 105, when the electric quantity is insufficient, the robot main body part 1 automatically moves to the charging pile 2, and the induction wireless battery 1014 of the body module 101 is charged through the charging pile 2; when the floor is cleaned, the Mecanum wheel module 103 is folded and retracted, the robot main body part 1 moves through the universal electric idler wheel 102, and the floor cleaning work is completed by the robot body module 101, so that the abrasion of the Mecanum wheel group is reduced, and the Mecanum wheel module 103 is folded and retracted to enable the product to be more flexible and have attractiveness and practicability; when the stairs are cleaned, the Mecanum wheel module 103 is unfolded, the robot main body part 1 moves up, down, left and right in the stairs 4 through the Mecanum wheel module 103, the stair cleaning work is completed through the machine body module 101, and the display screen 104 is used for displaying the working state and the residual electric quantity of the robot main body part 1 in real time; the folding telescopic mechanism 1032 connected with the symmetrical Mecanum wheel mechanism 1031 and the rotary supporting frame 1034 is stretched to a proper position to realize automatic stair climbing, and the automatic cleaning is realized through the cleaning mechanism, so that the comprehensive cleaning of the stairs and the second floor of the duplex apartment is realized, and the labor intensity of people is thoroughly reduced.
In an alternative embodiment of the invention, as shown in fig. 4-6, the fuselage module 101 comprises, apart from the same components as in the previous embodiment: an upper housing 1011, a lower housing 1012, a vision sensor 1013, an induction wireless battery 1014, a rotation support shaft 1015, and a cleaning mechanism; clean the mechanism and include: 2 air extractors 1016, 2 roller glue brushes 1017, storage box 1018 and collection channel 1019
The body module 101 is covered by an upper housing 1011 and a lower housing 1012, a vision sensor 1013 is provided on the top front side of the upper housing 1011, an induction wireless battery 1014 is provided inside the lower housing 1012, rotation support shafts 1015 are installed on both sides of the lower housing 1012 to mount the mecanum wheel module 103, and a cleaning mechanism is provided in the upper housing 1011 and the lower housing 1012; the induction wireless battery 1014 is electrically connected with all electric control elements to provide a power source for the whole robot, and the vision sensor 1013 can automatically scan the surrounding environment and feed back to the control module, so that the robot can avoid obstacles;
the air pump 1016 is arranged on the upper shell 1011, the air inlet of the air pump is arranged above the storage box 1018, and the air outlet of the air pump extends out of the upper shell 1011; the storage box 1018 is fixedly installed in the lower shell 1012, the roller glue brush 1017 is installed at the suction inlet at the bottom of the lower shell 1012, and the collecting channel 1019 is communicated with the roller glue brush 1017 and the storage box 1018; the air pump 1016 and the roller glue brush 1017 are started, dirt on the ground is swept up by the roller glue brush 1017, the dirt is sucked into the storage box 1018 through the air pump 1016, the electrostatic adsorption device is arranged in the storage box 1018, and the dirt such as hair can be adsorbed, so that the ground is cleaned.
In an alternative embodiment of an embodiment of the present invention, as shown in fig. 7-9, except for the same components as the previous embodiment, mecanum wheel module 103 includes: mecanum wheel mechanism 1031, folding telescoping mechanism 1032, stepper motor 1033, and rotary support frame 1034; the folding telescopic mechanism 1032 includes: an electric telescopic bar 10321 and a folding motor 10322;
the rotary support frame 1034 is rotatably installed on a rotary support shaft 1015 of the body module 101 through a stepping motor 1033, one end of 3 folding telescopic mechanisms 1032 is uniformly installed on the outer circumferential surface of the rotary support frame 1034, and a mecanum mechanism 1031 is installed at the other end of the folding telescopic mechanisms 1032; the rotating support frame 1034 is driven to rotate by the stepping motor 1033, so that the function of climbing stairs by the Mecanum wheel mechanism 1031 is realized;
one end of the electric telescopic rod 10321 is hinged in the rotary support frame 1034, the other end is connected with the mecanum wheel mechanism 1031, the folding motor 10322 is fixedly arranged on the rotary support frame 1034, and a motor shaft of the folding motor 10322 is connected with the electric telescopic rod 10321 and is used for driving the electric telescopic rod 10321 to rotate, so that the stretching and folding of the mecanum wheel mechanism 1031 are realized;
the motor support 10317 is fixedly arranged on the electric telescopic rod 10321, the driving motor 10316 is fixedly arranged on the motor support 10317, a motor shaft of the driving motor 10317 is connected with the wheel hub 10313, the wheel hubs 10313 on two sides are connected together through connecting copper columns 10314, the rubber wheel 10312 is arranged on the wheel hub 10313 through supporting blocks 10311 on two sides, and two ends of the connecting copper columns 10314 are fixed on the wheel hub 10313 through screws 10315; the driving motor 10316 drives the hub 10313 to rotate, so that the rotation of the rubber wheel 10312 is realized, the whole robot main body part 1 is moved left and right, and the transverse cleaning of the stairs is realized.
Claims (9)
1. The utility model provides a sweep dual-purpose robot of stair sweeping floor which characterized in that includes: the robot comprises a robot main body part (1), a charging pile (2), a wall (3) and a stair (4);
the robot main body part (1) includes: the device comprises a machine body module (101), a universal electric roller (102), a Mecanum wheel module (103), a display screen (104), a switch key (105) and a control module; the whole shape of the machine body module (101) consists of a front semicircle, a rear semicircle and a middle rectangle, the bottom of the machine body module is provided with a universal electric roller (102), the edges of the rectangles on the left side and the right side of the machine body module are symmetrically provided with telescopic and foldable Mecanum wheel modules (103), the front side of the top of the machine body module is provided with a display screen (104) and a switch key (105), and the control module is arranged in the machine body module (101) and is electrically connected with the display screen (104) and the switch key (105);
the wall (3) is provided with a circular arc charging pile (2) matched with a semicircle at the rear side of the machine body module (101), and the stairs (4) are communicated with the ground of the upper layer and the lower layer;
starting the robot main body part (1) through the switch key (105), and charging an induction wireless battery (1014) of the body module (101) through the charging pile (2); when the floor is swept, the Mecanum wheel module (103) is folded and retracted, the robot main body part (1) moves through the universal electric roller (102), and the sweeping work is completed by the machine body module (101); when stairs are cleaned, the Mecanum wheel module (103) is unfolded, the robot main body part (1) moves up, down, left and right in the stairs (4) through the Mecanum wheel module (103), stair cleaning work is completed through the machine body module (101), and the display screen (104) is used for displaying the working state and the residual electric quantity of the robot main body part (1) in real time.
2. A dual-purpose robot for sweeping stairs and floor according to claim 1, wherein the machine body module (101) comprises: an upper housing (1011), a lower housing (1012), a vision sensor (1013), an inductive wireless battery (1014), a rotation support shaft (1015) and a cleaning mechanism;
the fuselage module (101) is by last casing (1011) and lower casing (1012) cladding, vision sensor (1013) sets up the top front side at last casing (1011), response wireless battery (1014) set up inside lower casing (1012), rotatory support shaft (1015) are installed in the both sides of casing (1012) down for installation mecanum wheel module (103), clean the mechanism and set up in last casing (1011) and lower casing (1012).
3. The dual-purpose robot for sweeping stairs and floor of claim 2, wherein the sweeping mechanism comprises: a plurality of air extractors (1016), a plurality of roller glue brushes (1017), a storage box (1018) and a collection channel (1019);
the air pump (1016) is arranged on the upper shell (1011), the air inlet of the air pump is arranged above the storage box (1018), and the air outlet of the air pump extends out of the upper shell (1011); the storage box (1018) is fixedly installed in the lower shell (1012), the roller rubber brush (1017) is installed at the suction port at the bottom of the lower shell (1012), and the collecting channel (1019) is communicated with the roller rubber brush (1017) and the storage box (1018).
4. A dual-purpose robot for sweeping stairs and floor according to claim 3, wherein two air extractors (1016) are provided, and two roller glue brushes (1017) are provided.
5. A dual-purpose robot for sweeping stairs and floor according to claim 1, wherein the mecanum wheel module (103) comprises: a Mecanum wheel mechanism (1031), a folding telescopic mechanism (1032), a stepping motor (1033) and a rotary support frame (1034);
the rotating support frame (1034) is rotatably installed on a rotating support shaft (1015) of the machine body module (101) through a stepping motor (1033), one ends of the folding telescopic mechanisms (1032) are uniformly installed on the outer circumferential surface of the rotating support frame (1034), and the mecanum wheel mechanism (1031) is installed at the other end of the folding telescopic mechanism (1032).
6. The dual-purpose robot for sweeping stairs and floor as claimed in claim 5, wherein the folding and telescoping mechanism (1032) comprises: an electric telescopic rod (10321) and a folding motor (10322);
one end of the electric telescopic rod (10321) is hinged in the rotary supporting frame (1034), the other end of the electric telescopic rod is connected with the Mecanum wheel mechanism (1031), the folding motor (10322) is fixedly installed on the rotary supporting frame (1034), and a motor shaft of the folding motor is connected with the electric telescopic rod (10321) and used for driving the electric telescopic rod (10321) to rotate.
7. The dual-purpose robot for sweeping stairs and floor according to claim 5, wherein the number of the folding and telescoping mechanisms (1032) is 3.
8. The dual-purpose robot for sweeping stairs and floor according to claim 6, wherein the mecanum wheel mechanism (1031) comprises: the device comprises a supporting block (10311), a rubber wheel (10312), a wheel hub (10313), a connecting copper column (10314), a screw (10315), a driving motor (10316) and a motor bracket (10317);
the motor support (10317) is fixedly mounted on the electric telescopic rod (10321), the driving motor (10316) is fixedly mounted on the motor support (10317), a motor shaft of the driving motor is connected with the wheel hub (10313), the wheel hubs (10313) on two sides are connected together through connecting copper columns (10314), the rubber wheel (10312) is mounted on the wheel hub (10313) through supporting blocks (10311) on two sides, and two ends of the connecting copper columns (10314) are fixed on the wheel hub (10313) through screws (10315).
9. A robot for sweeping stairs and sweeping floors according to any one of claims 1 to 8, wherein the control module is controlled by a single chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481188.1A CN111588312B (en) | 2020-05-31 | 2020-05-31 | Dual-purpose robot for sweeping stairs and floor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481188.1A CN111588312B (en) | 2020-05-31 | 2020-05-31 | Dual-purpose robot for sweeping stairs and floor |
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| CN111588312A true CN111588312A (en) | 2020-08-28 |
| CN111588312B CN111588312B (en) | 2021-11-12 |
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| CN202010481188.1A Expired - Fee Related CN111588312B (en) | 2020-05-31 | 2020-05-31 | Dual-purpose robot for sweeping stairs and floor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146601A (en) * | 2021-03-05 | 2021-07-23 | 南京信息工程大学 | Modular robot capable of climbing pole |
| CN114904025A (en) * | 2022-04-24 | 2022-08-16 | 华北水利水电大学 | Corridor disinfection vehicle |
| CN116649839A (en) * | 2023-07-28 | 2023-08-29 | 深圳聚腾智能机器人有限公司 | Robot chassis structure and robot of sweeping floor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3411599A (en) * | 1966-12-16 | 1968-11-19 | Eder Baile Corp | Stair climber for cleaning machine |
| GB1296495A (en) * | 1970-03-18 | 1972-11-15 | ||
| CN105662282A (en) * | 2016-01-15 | 2016-06-15 | 浙江机电职业技术学院 | Dual-purpose cleaning robot for flat ground and corridors |
| CN208958006U (en) * | 2018-06-05 | 2019-06-11 | 兰州工业学院 | One kind dragging stair device |
| CN209581020U (en) * | 2019-03-08 | 2019-11-05 | 哈工大机器人（合肥）国际创新研究院 | A kind of damping building climbing wheel |
| CN210300854U (en) * | 2018-12-31 | 2020-04-14 | 龙祖祥 | Liftable corridor and flat ground cleaning robot |
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| US3411599A (en) * | 1966-12-16 | 1968-11-19 | Eder Baile Corp | Stair climber for cleaning machine |
| GB1296495A (en) * | 1970-03-18 | 1972-11-15 | ||
| CN105662282A (en) * | 2016-01-15 | 2016-06-15 | 浙江机电职业技术学院 | Dual-purpose cleaning robot for flat ground and corridors |
| CN208958006U (en) * | 2018-06-05 | 2019-06-11 | 兰州工业学院 | One kind dragging stair device |
| CN210300854U (en) * | 2018-12-31 | 2020-04-14 | 龙祖祥 | Liftable corridor and flat ground cleaning robot |
| CN209581020U (en) * | 2019-03-08 | 2019-11-05 | 哈工大机器人（合肥）国际创新研究院 | A kind of damping building climbing wheel |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146601A (en) * | 2021-03-05 | 2021-07-23 | 南京信息工程大学 | Modular robot capable of climbing pole |
| CN113146601B (en) * | 2021-03-05 | 2023-05-12 | 南京信息工程大学 | Modularized robot capable of climbing pole |
| CN114904025A (en) * | 2022-04-24 | 2022-08-16 | 华北水利水电大学 | Corridor disinfection vehicle |
| CN114904025B (en) * | 2022-04-24 | 2023-08-11 | 华北水利水电大学 | Corridor disinfection vehicle |
| CN116649839A (en) * | 2023-07-28 | 2023-08-29 | 深圳聚腾智能机器人有限公司 | Robot chassis structure and robot of sweeping floor |
| CN116649839B (en) * | 2023-07-28 | 2023-09-29 | 深圳聚腾智能机器人有限公司 | Robot chassis structure and robot of sweeping floor |
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|---|---|
| CN111588312B (en) | 2021-11-12 |
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