CN112956966A - Cleaning robot capable of climbing stairs - Google Patents
Cleaning robot capable of climbing stairs Download PDFInfo
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- CN112956966A CN112956966A CN202110388592.9A CN202110388592A CN112956966A CN 112956966 A CN112956966 A CN 112956966A CN 202110388592 A CN202110388592 A CN 202110388592A CN 112956966 A CN112956966 A CN 112956966A
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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
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A cleaning robot capable of climbing stairs comprises a robot main body, two lifting devices for climbing stairs, a cleaning device for cleaning and absorbing dust, whisker sensors for detecting left and right boundaries of the stairs, an ultrasonic sensor for detecting edges of the stairs and a control system, wherein the two lifting devices are respectively installed on the front side and the rear side of the robot main body and synchronously lift, the cleaning device is installed at the bottom of the robot main body, the left and right sides of the robot main body are respectively provided with the whisker sensors, the ultrasonic sensor is arranged at the bottom of the rear side surface of the robot main body, the bottom of the robot main body is also provided with four directional power wheels for the robot main body to travel on the stairs from left to right, and each directional power wheel is connected with a direct-current speed reduction motor; the invention has simple operation, convenient use, high automation degree and strong practicability, and can be used only by operating the button.
Description
Technical Field
The invention relates to the technical field, in particular to a cleaning robot capable of climbing stairs.
Background
At present, various high-rise buildings, residential areas and other buildings are more and more, so that the cleaning operation of the corridor is heavier. To get rid of the boring and tasteless cleaning work, more and more cleaning robots have come into the daily lives of people. Most floor sweeping robots in the market can only carry out plane cleaning, and only pay for machinery to throw and land when facing stairs of duplex families and high-rise buildings. In recent years, stair cleaning robots are continuously researched and developed at home and abroad, but the robots are more and more complex and expensive.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the cleaning robot capable of climbing stairs, which has the advantages of simple structure, convenience in operation, small occupied area and low cost.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a cleaning robot capable of climbing stairs comprises a robot main body, two lifting devices for climbing stairs, a cleaning device for cleaning and absorbing dust, whisker sensors for detecting left and right boundaries of the stairs, an ultrasonic sensor for detecting edges of the stairs and a control system, wherein the two lifting devices are respectively installed on the front side and the rear side of the robot main body and synchronously lift, the cleaning device is installed at the bottom of the robot main body, the left and right sides of the robot main body are respectively provided with the whisker sensors, the ultrasonic sensor is arranged at the bottom of the rear side surface of the robot main body, the bottom of the robot main body is also provided with four directional power wheels for the robot main body to travel on the stairs from left to right, and each directional power wheel is connected with a direct-current speed reduction motor;
the lifting device comprises a lifting mechanism and a front-and-back moving unit, the front-and-back moving unit is installed on the lifting mechanism, the lifting mechanism comprises a stepping motor, a screw rod, a nut, two sliding rods and two sliding blocks, the screw rod is vertically installed on the robot main body, the nut is installed on the screw rod through a nut seat and forms an up-and-down moving pair with the screw rod, the two sliding rods are respectively arranged on the left side and the right side of the screw rod and are installed on the robot main body, and the two sliding blocks are respectively installed on the screw rod and form an up-; the front-back moving unit comprises two wheels and a lifting platform, the lifting platform is an inverted T-shaped supporting rod, the two wheels are respectively arranged on the left side and the right side of a cross rod at the lower part of the inverted T-shaped supporting rod, each wheel is connected with a direct current speed reducing motor, the direct current speed reducing motor is arranged on the bottom of the inverted T-shaped supporting rod, and an upper vertical rod of the inverted T-shaped supporting rod is simultaneously connected with the nut seat and the sliding block through a connecting piece; the vertical rod of the inverted T-shaped support rod arranged on the front side of the robot main body is shorter than the vertical rod of the inverted T-shaped support rod arranged on the rear side of the robot main body;
the cleaning device comprises four cleaning mechanisms and a dust absorption mechanism, the four cleaning mechanisms are symmetrically arranged on the left side and the right side of the bottom of the robot main body in a pairwise and one group mode, and the dust absorption mechanism is arranged among the four cleaning mechanisms;
and the lifting device, the cleaning device, the whisker sensor, the ultrasonic sensor and the direct current speed reduction motor of the directional power wheel are respectively connected with a control system.
Further, the cleaning mechanism comprises a direct current speed reducing motor, a sweeper and a right-angle bracket, the direct current speed reducing motor is installed on the robot main body through the right-angle bracket, and the sweeper is installed on an output shaft of the direct current speed reducing motor;
the dust collection mechanism comprises a dust collection box, a dust collection motor and dust collection fan blades, wherein the dust collection box is installed inside the robot main body and used for storing dust, the dust collection motor is installed at a dust inlet of the dust collection box, the dust collection fan blades are installed on an output shaft of the dust collection motor, the dust collection motor is a direct current speed reduction motor, and a driving motor connected with four directional power wheels is also the direct current speed reduction motor.
Further again, control system includes Arduino singlechip, step motor driver, direct current motor driver and power, whisker sensor and ultrasonic sensor respectively with Arduino singlechip is connected, Arduino singlechip passes through the step motor driver and is connected with step motor to be connected with direct current gear motor through the direct current motor driver, singlechip, step motor driver, direct current motor driver are installed inside the main part of robot, the power includes 7.4V direct current lithium power and 11.1V direct current lithium power.
The invention has the following beneficial effects: the operation is simple, the use is convenient, and the operation can be realized only by operating the button; the front and rear synchronous lifting devices are adopted, the lifting devices are lifted by screw rods, the size is small, the noise is low, the adjusting or propelling height can be accurately controlled according to a certain program, the robot main body can be always kept in a horizontal state when climbing stairs, the gravity center is always kept in a supporting range, and the stair climbing process is more stable; the stepping motor is locked when not rotating, so that the stability and reliability of the mechanism are ensured; adopt the sensor to detect the border and the border of stair, make corresponding reaction, degree of automation is high, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of a forward and backward movement unit at the rear side of the robot main body.
Fig. 3 is a schematic structural view of the forward and backward movement unit at the front side of the robot main body.
Fig. 4 is a schematic structural view of the elevating mechanism.
Fig. 5 is a schematic structural view of the cleaning device.
Fig. 6 is a schematic diagram of a robot stair climbing process.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 6, a stair-climbing cleaning robot includes a robot main body, two lifting devices for climbing stairs, a cleaning device for cleaning and absorbing dust, whisker sensors for detecting left and right boundaries of stairs, an ultrasonic sensor for detecting edges of stairs, and a control system, wherein the two lifting devices are respectively installed on the front and rear sides of the robot main body and synchronously perform lifting work, the cleaning device is installed at the bottom of the robot main body, the left and right sides of the robot main body are respectively provided with the whisker sensors, the ultrasonic sensor is arranged at the bottom of the rear side of the robot main body, the bottom of the robot main body is further provided with four directional power wheels 2 for the robot main body to travel left and right on the stairs, and each directional power wheel is connected with a dc speed reduction motor;
the lifting device comprises a lifting mechanism 1 and a front-back moving unit 3, the front-back moving unit 3 is installed on the lifting mechanism 1, the lifting mechanism 1 comprises a stepping motor 4, a screw rod 5, a nut, two sliding rods 6 and two sliding blocks 7, the screw rod 5 is vertically installed on a robot main body, the nut is installed on the screw rod 5 through a nut seat and forms a vertical moving pair with the screw rod 5, the two sliding rods 6 are respectively arranged on the left side and the right side of the screw rod 5 and installed on the robot main body, and the two sliding blocks 7 are respectively installed on the screw rod 5 and form a vertical sliding pair with the screw rod 5; the front-back moving unit 3 comprises two wheels 3 and a lifting platform, the lifting platform is an inverted T-shaped supporting rod 8, the two wheels 3 are respectively arranged on the left side and the right side of a cross rod at the lower part of the inverted T-shaped supporting rod 8, each wheel is connected with a direct current speed reducing motor 9, the direct current speed reducing motors 9 are arranged on the bottom of the inverted T-shaped supporting rod 8, and an upper vertical rod of the inverted T-shaped supporting rod 8 is simultaneously connected with a nut seat and a sliding block 7 through a connecting piece; the vertical rod of the inverted T-shaped support rod arranged on the front side of the robot main body is shorter than the vertical rod of the inverted T-shaped support rod arranged on the rear side of the robot main body;
the cleaning device comprises four cleaning mechanisms 10 and a dust absorption mechanism 11, the four cleaning mechanisms 10 are symmetrically arranged on the left side and the right side of the bottom of the robot main body in a group by two, and the dust absorption mechanism 11 is arranged among the four cleaning mechanisms 10;
and the lifting device, the cleaning device, the whisker sensor, the ultrasonic sensor and the direct current speed reduction motor of the directional power wheel are respectively connected with a control system.
Further, the cleaning mechanism 10 comprises a direct current speed reduction motor 12, a sweeper 13 and a right-angle bracket, wherein the direct current speed reduction motor 12 is installed on the robot main body through the right-angle bracket, and the sweeper 13 is installed on an output shaft of the direct current speed reduction motor 12;
Further again, control system includes Arduino singlechip, step motor driver, direct current motor driver and power, whisker sensor and ultrasonic sensor respectively with Arduino singlechip is connected, Arduino singlechip passes through the step motor driver and is connected with step motor to be connected with direct current gear motor through the direct current motor driver, singlechip, step motor driver, direct current motor driver are installed inside the main part of robot, the power includes 7.4V direct current lithium power and 11.1V direct current lithium power. The 11.1V direct current lithium electricity power is used for the wheel of lifting device and bottom walking, and 7.4V direct current lithium electricity power is used for the power supply of other parts.
The robot body comprises a garbage can for containing garbage, wherein the garbage can be a flip cover and can automatically dump the garbage.
As shown in fig. 2 and 3, the lifting device 1 located at the front and rear sides of the main body is mounted on the robot main body in a front-and-rear manner and can slide up and down; the vertical rod of the inverted T-shaped supporting rod is combined with the lifting mechanism through the nut seat, the supporting distance of the horizontal rod can be increased, and therefore the stability of the robot in the stair climbing process is improved, and the inverted T-shaped supporting rod can move up and down along with the nut seat. The vertical bar of the inverted T-shaped support bar of the front-back moving unit installed at the front side of the robot main body is shorter.
As shown in fig. 5, the sweeper brush 13 can rotate by the dc gear motor 12 to sweep the ground. The right-angle support is used for connecting the robot main body and the direct-current speed reduction motor 12, and the dust collection fan blades rotate along with the motor to achieve a dust collection effect.
As shown in fig. 6, a is the width of the stair step, b is the height of the stair step, and the distance between the front wheel and the rear wheel of the robot lifting device is smaller than the width a of the stair step, so that the robot can walk on the stair without interfering with the stair; the movement of the front and rear support rods of the robot is synchronous, so that the robot can be ensured to be always kept horizontal and not to topple over; when the front and rear support rods are designed, the strokes of the front and rear support rods are larger than the height b of the stairs, so that the robot can climb the stairs.
The working process of the invention is as follows:
the lifting device of the robot is started, the front inverted T-shaped supporting rod and the rear inverted T-shaped supporting rod move downwards simultaneously, four wheels in total contact with an upper step and a lower step simultaneously in the front and the rear direction, the robot main body is lifted, when four directional power wheels arranged under a chassis of the robot are higher than the upper step, the front and rear moving unit 3 is started, the robot moves forwards, the projection surface of the robot main body is moved to the upper step, the projection surface is detected by an ultrasonic sensor for detecting the edge of a stair, the front and rear moving unit 3 stops working, the lifting mechanism 1 works reversely, the robot main body descends, after the bottom of the robot contacts the upper step, the lifting mechanism 1 stops working, and the first step climbing is completed. In the process, the tentacle sensor is always in a working state, and the robot is ensured to be on the steps of the stairs.
The above description is only a preferred embodiment of the present invention, and does not limit the scope of the present invention, and the structures described in the present specification and the accompanying drawings can be directly or indirectly applied to other related technical fields, and shall be included in the scope of the present invention.
Claims (3)
1. The utility model provides a can climb cleaning robot of stair which characterized in that: the robot comprises a robot main body, two lifting devices for climbing stairs, a cleaning device for cleaning and absorbing dust, whisker sensors for detecting left and right boundaries of the stairs, an ultrasonic sensor for detecting edges of the stairs and a control system, wherein the two lifting devices are respectively arranged on the front side and the rear side of the robot main body and synchronously lift, the cleaning device is arranged at the bottom of the robot main body, the whisker sensors are respectively arranged on the left and right sides of the robot main body, the ultrasonic sensor is arranged at the bottom of the rear side surface of the robot main body, four directional power wheels are further arranged at the bottom of the robot main body and used for the robot main body to travel left and right on the stairs, and each directional power wheel is connected with a direct-current speed reduction motor;
the lifting device comprises a lifting mechanism and a front-and-back moving unit, the front-and-back moving unit is installed on the lifting mechanism, the lifting mechanism comprises a stepping motor, a screw rod, a nut, two sliding rods and two sliding blocks, the screw rod is vertically installed on the robot main body, the nut is installed on the screw rod through a nut seat and forms an up-and-down moving pair with the screw rod, the two sliding rods are respectively arranged on the left side and the right side of the screw rod and are installed on the robot main body, and the two sliding blocks are respectively installed on the screw rod and form an up-; the front-back moving unit comprises two wheels and a lifting platform, the lifting platform is an inverted T-shaped supporting rod, the two wheels are respectively arranged on the left side and the right side of a cross rod at the lower part of the inverted T-shaped supporting rod, each wheel is connected with a direct current speed reducing motor, the direct current speed reducing motor is arranged on the bottom of the inverted T-shaped supporting rod, and an upper vertical rod of the inverted T-shaped supporting rod is simultaneously connected with the nut seat and the sliding block through a connecting piece; the vertical rod of the inverted T-shaped support rod arranged on the front side of the robot main body is shorter than the vertical rod of the inverted T-shaped support rod arranged on the rear side of the robot main body;
the cleaning device comprises four cleaning mechanisms and a dust absorption mechanism, the four cleaning mechanisms are symmetrically arranged on the left side and the right side of the bottom of the robot main body in a pairwise and one group mode, and the dust absorption mechanism is arranged among the four cleaning mechanisms;
and the lifting device, the cleaning device, the whisker sensor, the ultrasonic sensor and the direct current speed reduction motor of the directional power wheel are respectively connected with a control system.
2. A stair climbing cleaning robot as claimed in claim 1, wherein: the cleaning mechanism comprises a direct current speed reducing motor, a sweeper and a right-angle bracket, the direct current speed reducing motor is installed on the robot main body through the right-angle bracket, and the sweeper is installed on an output shaft of the direct current speed reducing motor;
the dust collection mechanism comprises a dust collection box, a dust collection motor and dust collection fan blades, wherein the dust collection box is installed inside the robot main body and used for storing dust, the dust collection motor is installed at a dust inlet of the dust collection box, the dust collection fan blades are installed on an output shaft of the dust collection motor, the dust collection motor is a direct current speed reduction motor, and a driving motor connected with four directional power wheels is also the direct current speed reduction motor.
3. A stair climbing cleaning robot as claimed in claim 2, wherein: control system includes Arduino singlechip, step motor driver, direct current motor driver and power, palpation sensor and ultrasonic sensor respectively with Arduino singlechip is connected, Arduino singlechip passes through step motor driver and is connected with step motor to be connected with direct current gear motor through direct current motor driver, singlechip, step motor driver, direct current motor driver are installed inside the main part of robot, the power includes 7.4V direct current lithium power and 11.1V direct current lithium power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388592.9A CN112956966A (en) | 2021-04-12 | 2021-04-12 | Cleaning robot capable of climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110388592.9A CN112956966A (en) | 2021-04-12 | 2021-04-12 | Cleaning robot capable of climbing stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112956966A true CN112956966A (en) | 2021-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110388592.9A Pending CN112956966A (en) | 2021-04-12 | 2021-04-12 | Cleaning robot capable of climbing stairs |
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| Country | Link |
|---|---|
| CN (1) | CN112956966A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114431774A (en) * | 2022-01-29 | 2022-05-06 | 上海交通大学 | Stair climbing robot based on alternate climbing type structure |
| CN114557642A (en) * | 2022-03-24 | 2022-05-31 | 黄河科技学院 | Automatic cleaning and wiping robot for stairs |
-
2021
- 2021-04-12 CN CN202110388592.9A patent/CN112956966A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114431774A (en) * | 2022-01-29 | 2022-05-06 | 上海交通大学 | Stair climbing robot based on alternate climbing type structure |
| CN114557642A (en) * | 2022-03-24 | 2022-05-31 | 黄河科技学院 | Automatic cleaning and wiping robot for stairs |
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