CN115813263A - Automatic cleaning robot for high-rise residential step ladder - Google Patents
Automatic cleaning robot for high-rise residential step ladder Download PDFInfo
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- CN115813263A CN115813263A CN202211450931.2A CN202211450931A CN115813263A CN 115813263 A CN115813263 A CN 115813263A CN 202211450931 A CN202211450931 A CN 202211450931A CN 115813263 A CN115813263 A CN 115813263A
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- rotating shaft
- guide block
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- robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000000428 dust Substances 0.000 claims description 8
- 230000009194 climbing Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 8
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses an automatic cleaning robot for a high-rise residential step ladder, which comprises a machine body, wherein a concave cavity is formed in the lower end of the machine body, a motor is arranged in the concave cavity, the output end of the motor is connected with a first rotating shaft, and the end part of the first rotating shaft is connected with a universal wheel; a first guide groove is further formed in the concave cavity, a first guide block is arranged in the first guide groove in a sliding mode, a guide hole is formed in the machine body, and a second guide block is arranged in the guide hole in a sliding mode; a second rotating shaft is arranged on the first guide block, the second rotating shaft penetrates through the second guide block in a sleeved mode, the other end of the second rotating shaft is connected with a triangular wheel, a driving gear is further mounted on the first rotating shaft, a first driven gear is connected to the second rotating shaft, and the driving gear is meshed with the first driven gear; the first guide block and the second guide block are connected with a lifting mechanism. According to the stair climbing robot, climbing of the robot on stairs is achieved through the air cylinder and the lifting mechanism, so that the stability in the stair climbing process is improved, and the flexibility of the robot in working is better.
Description
Technical Field
The invention belongs to the technical field of cleaning robots, and particularly relates to an automatic cleaning robot for a high-rise residential stairway.
Background
At present, most cleaning robots do not have a ladder climbing function, so that the cleaning robots can only clean the flat ground environment, the cleaning robots can only directly carry the cleaning robots by people when cleaning the high-rise residential buildings, the existing cleaning robots cannot clean the stairs with complex shapes and structures, especially, the cleaning robots are difficult to carry out stable motion, effective targeted cleaning cannot be carried out, time and labor are wasted, and the robots cannot automatically clean all around.
In the prior art, an omnidirectional stair cleaning robot is proposed by the publication No. CN216823246U, and the following technical features are disclosed: the omnidirectional stair cleaning robot comprises a cross-shaped sliding plate, wherein 4 holes are formed in two sides of a central axis of the rear end of the sliding plate and used for mounting a stepping motor support, connecting blocks are mounted at the left end and the right end of the sliding plate, optical axis bases are mounted on two sides of the central axis of the rear end of the sliding plate, and a lead screw fixing seat is mounted on the central axis of the front end of the sliding plate; the stepping motor is installed on the left side of the stepping motor support, a screw rod coupler is installed at the output shaft end of the stepping motor, and a screw rod is installed at the right end of the screw rod coupler. Although the technical characteristics solve the problem of climbing the ladder by the robot, the method for climbing the ladder by the robot is that the whole robot is jacked to the same height of the ladder by the jacking device, so that the gravity center of the whole robot is high, the robot is very easy to fall down in the ladder climbing process, the stability of the robot in the ladder climbing process is difficult to guarantee, the climbing is realized by the jacking mechanism after the ladder is climbed every time, the jacking mechanism needs to be withdrawn in the cleaning process, the operation of the whole process is complex, and the working efficiency is low due to time waste; and a plurality of cylinders and transmission all set up in the top of robot for the center of robot increases, and the stability of cat ladder further weakens, and the flexibility when cleaning reduces.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an automatic cleaning robot for a high-rise residential stairway, which has good stability and low cost.
The technical scheme is as follows: the invention relates to an automatic cleaning robot for a high-rise residential step, which comprises a machine body, wherein a concave cavity is formed in the lower end of the machine body, a motor is arranged in the concave cavity, the output end of the motor is connected with a first rotating shaft, and the end part of the first rotating shaft is connected with a universal wheel; a first guide groove is further formed in the concave cavity, a first guide block is arranged in the first guide groove in a sliding mode, a guide hole is formed in the machine body, and a second guide block is arranged in the guide hole in a sliding mode; a second rotating shaft is arranged on the first guide block, the second rotating shaft penetrates through the second guide block in a sleeved mode, the other end of the second rotating shaft is connected with a triangular wheel, a driving gear is further mounted on the first rotating shaft, a first driven gear is connected to the second rotating shaft, and the driving gear is meshed with the first driven gear; the first guide block and the second guide block are connected with a lifting mechanism.
Wherein, first guide way and guiding hole all vertically set up and at same level.
And a containing cavity is arranged between the containing box and the concave cavity and is respectively communicated with the first guide groove and the guide hole.
The lifting mechanism comprises a transmission assembly and a driving assembly, the transmission assembly is symmetrically arranged in the containing cavity, and the driving assembly is arranged in the containing cavity and connected with the transmission assembly.
The transmission assembly comprises a rotating wheel arranged in the containing cavity, a second guide groove is formed in the inner wall of the containing cavity, a third guide block is connected in the second guide groove in a sliding mode, a third rotating shaft is rotatably installed on the third guide block, a second driven gear is fixedly sleeved on the third rotating shaft, the lower end of the containing cavity is integrally connected with a driving rack meshed and connected with the second driven gear, a pull rope is arranged on the rotating wheel, one end of the pull rope is connected with the second driven gear, the other end of the pull rope is connected with the first guide block or the second guide block after bypassing the rotating wheel, a third guide groove is formed in the top wall of the containing cavity, a fourth guide block is sleeved in the third guide groove in a sliding mode, a first traction rod is connected between the fourth guide block and the second driven gear, and two end portions of the first traction rod are hinged to the fourth guide block and the second driven gear respectively; the first traction rod is hinged with a second traction rod.
The driving assembly comprises a cylinder, the cylinder is longitudinally arranged in the containing cavity, and the movable end of the cylinder is hinged with the second traction rod; the second traction rod is driven by the stretching of the cylinder to push the first traction rod to drive the second driven gear to move transversely on the driving rack.
The triangular wheels are at least provided with groups which are symmetrically arranged on two sides of the machine body.
Wherein, the universal wheel is provided with the group at least, and the symmetry sets up in the both sides of organism.
Has the advantages that: compared with the prior art, the invention has the advantages that: according to the invention, the first driven gear can be meshed with the driving gear through the air cylinder and the lifting mechanism, the first rotating shaft can drive the second rotating shaft to rotate when rotating, and the triangular wheel can be driven to rotate, so that the robot can climb on stairs; in the whole ladder climbing process, the gravity center of the robot keeps a lower level relative to the plane, so that the stability in the ladder climbing process is greatly improved.
Drawings
FIG. 1 is a side, semi-sectional view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of the construction of a steering wheel and a pilot hole according to the present invention;
FIG. 4 is a partial view of the invention at A;
fig. 5 is a schematic view of a connection structure of the second driven gear and the third rotating shaft according to the present invention.
Detailed Description
As shown in fig. 1-5, the automatic cleaning robot for the high-rise residential stairway comprises a machine body 1, wherein an accommodating box 2 and a dust collection piece 3 which can be opened and closed are arranged at the upper end inside the machine body 1, and an opening of the accommodating box 2 is connected with the dust collection piece 3; to how to realize that the machine body 1 controls the dust suction part 3 to suck the garbage into the containing box, which belongs to the prior art, reference can be made to the utility model patent with the patent number of CN216823246U, which discloses specific working steps related to control and dust suction.
Four concave cavities 4 have been seted up to organism 1 lower extreme symmetry, fixed mounting has motor 5 in the organism 1, motor 5' S model is MR-J2S-700B, it installs first pivot 6 to rotate on the 4 inner walls of concave cavity, first pivot 6 is connected with the transmission of motor 5 output, the other end of first pivot 6 is connected with universal wheel 14, universal wheel 14 has 10 symmetries at least to set up in the both sides of organism 1 in this embodiment, for the stability of guaranteeing that the robot moves on the plane, all first pivot 6 all are in same water flat line. In order to realize the switching between a cleaning mode and a ladder climbing mode, a first guide groove 7 is longitudinally formed in the inner wall of a concave cavity 4, a first guide block 8 is connected in the first guide groove 7 in a sliding mode, the first guide block 8 can only longitudinally move in the first guide groove, a guide hole 9 is longitudinally formed in a machine body 1, the position of the guide hole 9 corresponds to the position of the corresponding first guide groove 7, a second guide block 10 is sleeved in the guide hole 9 in a sliding mode, the second guide block 10 can only longitudinally move in the guide hole, and the first guide block 8 and the second guide block 10 have the same stroke in the longitudinal direction; a second rotating shaft 11 extending out of the machine body 1 is mounted on the first guide block 8, the second rotating shaft 11 is parallel to the first rotating shaft 6 and is positioned right above the first rotating shaft 6, and one end of the second rotating shaft 11 extending out of the machine body 1 is connected with triangular wheels 15, in the embodiment, at least 4 triangular wheels 15 are symmetrically arranged on two sides of the machine body 1; the diameter of the triangular wheel 15 is larger than that of the universal wheel 14; in order to realize the rotation of the triangle wheel 15, the invention is provided with a driving gear 12 on the first rotating shaft 6, the driving gear 12 is meshed with a first driven gear 13 arranged on the second rotating shaft 11, thereby transmitting the power of the first rotating shaft 6 to the second rotating shaft 11; in order to realize the on-off of the second rotating shaft 11, a containing cavity 16 is arranged between the containing box 2 and the concave cavity 4, a lifting mechanism is arranged in the containing cavity 16, two ends of the containing cavity 16 are respectively communicated with the first guide groove 7 and the guide hole 9, and a lifting mechanism is arranged in the containing cavity 16.
The lifting mechanism comprises transmission assemblies and driving assemblies, the transmission assemblies are symmetrically arranged at two ends of the containing cavity 16, and the driving assemblies are arranged in the containing cavity 16 and connected with the transmission assemblies at the two ends. The transmission assembly comprises rotating wheels 17, and the rotating wheels 17 are arranged at two ends of the containing cavity 16; a second guide groove 18 is formed in the inner wall of the containing cavity 16, a third guide block 19 is connected in the second guide groove 18 in a sliding mode, a third rotating shaft 20 and a second driven gear 21 are connected to the third guide block 19 in a transmission mode, the other end of the third rotating shaft 20 is connected to the non-central position of one side of the rotating wheel 17 to form a crankshaft, a pull rope 23 is arranged on the rotating wheel 17, the other end of the pull rope 23 is installed on the corresponding first guide block 8 or second guide block 10, a driving rack 22 in meshed connection with the second driven gear 21 is arranged at the lower end of the containing cavity 16, and the second driven gear 21 can move horizontally when being pulled through the driving rack 22; in order to realize the synchronous movement of the first guide block 8 and the second guide block 10, a third guide groove 24 is formed in the inner top wall of the containing cavity 16, a fourth guide block 25 is slidably sleeved in the third guide groove 24, a first traction rod 26 is connected between the fourth guide block 25 and the second driven gear 21, and a second traction rod 28 is connected on the first traction rod 26. The second tow bar 28 may be a telescopic bar.
In the invention, the driving component is the air cylinder 27, the model of the air cylinder 27 is SCD50x100-100-LB, the air cylinder 27 is longitudinally arranged at the central position of the containing cavity 16, the movable end of the air cylinder is connected with the end parts of the second traction rods 28 at two sides, the synchronous motion of the transmission components at two ends is realized, the first guide block 8 and the second guide block 10 are synchronously lifted, and the second rotating shaft 11 is ensured to be stably clutched with the first rotating shaft 6.
The working principle is as follows: the starting motor 5 drives the first rotating shaft 6 to rotate, and the first rotating shaft 6 drives the universal wheel 14 to rotate so as to enable the robot to move; when the robot moves to a stair, the cylinder 27 is started to drive the second traction rod 28 to deflect, the first traction rod 26 is driven by the second traction rod 28 to deflect, the second traction rod 28 drives the fourth guide block 25 to horizontally move in the third guide groove 24, the second traction rod 28 drives the second driven gear 21 to horizontally move on the driving rack 22, the second driven gear 21 drives the third rotating shaft 20 to horizontally move, the third guide block 19 is driven to horizontally move in the second guide groove 18, the pull rope 23 pulls the first guide block 8 and the second guide block 10 to vertically move downwards through the rotating wheel 17, the first driven gear 13 and the driving gear 12 can be meshed and connected, the first rotating shaft 6 can drive the second rotating shaft 11 to rotate when rotating, the triangular wheel 15 can rotate, the robot can climb on the stair, and when the second rotating shaft 11 is lifted, the second rotating shaft 11 is firstly lifted to drive the two triangular wheels 15 to lift the two dust collecting members 3 to lift; in the invention, the four groups of triangular wheels cannot be lifted simultaneously, so that the switching between a ladder climbing mode and a cleaning mode is realized; the dust collector 3 sucks the garbage sundries into the containing box 2, and the garbage sundries in the containing box 2 can be intensively cleaned by opening the containing box.
Claims (8)
1. An automatic cleaning robot for a high-rise residential step comprises a machine body (1), and a containing box (2) and a dust collecting piece (3) which are arranged on the machine body (1), wherein the dust collecting piece (3) is communicated with the containing box (2); the device is characterized in that a concave cavity (4) is formed in the lower end of the machine body (1), a motor (5) is arranged in the concave cavity (4), the output end of the motor (5) is connected with a first rotating shaft (6), and the end part of the first rotating shaft (6) is connected with a universal wheel (14); a first guide groove (7) is further formed in the concave cavity (4), a first guide block (8) is arranged in the first guide groove (7) in a sliding mode, a guide hole (9) is formed in the machine body (1), and a second guide block (10) is arranged in the guide hole (9) in a sliding mode; a second rotating shaft (11) is arranged on the first guide block (8), the second rotating shaft (11) is sleeved and penetrates through the second guide block (10), the other end of the second rotating shaft (11) is connected with a triangular wheel (15), and the diameter of the universal wheel (14) is smaller than that of the triangular wheel (15); the first rotating shaft (6) is also provided with a driving gear (12), the second rotating shaft (11) is connected with a first driven gear (13), and the driving gear (12) is meshed with the first driven gear (13); the first guide block (8) and the second guide block (10) are connected with a lifting mechanism.
2. The robot for automatically cleaning the stairs of high-rise residential buildings according to claim 1, wherein the first guide groove (7) and the guide hole (9) are longitudinally arranged and at the same level.
3. The robot for automatically cleaning the stairs of the high-rise residential buildings according to the claim 2, characterized in that a containing cavity (16) is arranged between the containing box (2) and the concave cavity (4), and the containing cavity (16) is respectively communicated with the first guide groove (7) and the guide hole (9).
4. The robot of claim 1, wherein the lifting mechanism comprises a transmission assembly and a driving assembly, the transmission assembly is symmetrically arranged in the containing cavity (16), and the driving assembly is arranged in the containing cavity (16) and connected with the transmission assembly.
5. The automatic cleaning robot for the high-rise residential stairway is characterized in that the transmission assembly comprises a rotating wheel (17) arranged in a containing cavity (16), a second guide groove (18) is formed in the inner wall of the containing cavity (16), a third guide block (19) is connected in the second guide groove (18) in a sliding mode, a third rotating shaft (20) is rotatably installed on the third guide block (19), a second driven gear (21) is fixedly sleeved on the third rotating shaft (20), a driving rack (22) meshed with the second driven gear (21) is integrally connected to the lower end of the containing cavity (16), a pull rope (23) is arranged on the rotating wheel (17), one end of the pull rope (23) is connected with the second driven gear (21), the other end of the pull rope (23) bypasses the rotating wheel (17) and is connected with a first guide block (8) or a second guide block (10), a third guide groove (24) is formed in the top wall of the containing cavity (16), a fourth guide block (25) is slidably sleeved in the third guide groove (24), and two ends of a second guide block (26) and a second guide rod (26) are respectively hinged to a traction rod (21); the first traction rod (26) is hinged with a second traction rod (28).
6. The robot for automatically cleaning the stairs of high-rise residential buildings according to claim 5, characterized in that the driving assembly comprises a cylinder (27), the cylinder (27) is longitudinally arranged in the receiving cavity (16), and the movable end of the cylinder is hinged with the second traction rod (28); the second traction rod (28) is driven by the expansion of the cylinder (27) to push the first traction rod (26) to drive the second driven gear (21) to move transversely on the driving rack (22).
7. The robot for automatically cleaning the stairs of high-rise residential buildings according to claim 1, wherein the triangular wheels (15) are provided with at least 4 groups and are symmetrically arranged at two sides of the machine body (1).
8. The robot for automatically cleaning the stairs of high-rise residential buildings according to claim 1, wherein the universal wheels (14) are provided with at least 4 groups, and are symmetrically arranged on both sides of the machine body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211450931.2A CN115813263A (en) | 2022-11-18 | 2022-11-18 | Automatic cleaning robot for high-rise residential step ladder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211450931.2A CN115813263A (en) | 2022-11-18 | 2022-11-18 | Automatic cleaning robot for high-rise residential step ladder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115813263A true CN115813263A (en) | 2023-03-21 |
Family
ID=85529398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211450931.2A Withdrawn CN115813263A (en) | 2022-11-18 | 2022-11-18 | Automatic cleaning robot for high-rise residential step ladder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115813263A (en) |
-
2022
- 2022-11-18 CN CN202211450931.2A patent/CN115813263A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230321 |
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| WW01 | Invention patent application withdrawn after publication |