CN209003837U - A kind of wheeled stair cleaning machine of low-power consumption triangle - Google Patents

Abstract

The utility model belongs to Smart Home technical field, disclose a kind of wheeled stair cleaning machine of low-power consumption triangle, it is provided with mounting platform, the top of the mounting platform is movably installed with cleaning bar brush by shaft, the front end of the mounting platform, which is bolted, is equipped with stepper motor, is equipped with ordinary wheel on the output shaft of the stepper motor；The rear end of the mounting platform is equipped with motor driver, and optoelectronic switch is equipped on the side wall of the mounting platform, and the tail portion of the mounting platform is embedded with infrared probe；The optoelectronic switch passes through conducting wire with infrared probe and connects motor driver, and the motor driver connects driving motor by conducting wire；The rear side riveting of the mounting platform has bearing, and the Bearing inner is movably installed with triangle wheel by shaft.The triangle idler wheel and ordinary wheel of the wheeled stair cleaning machine of low-power consumption triangle combine, and realize that scavenging machine moves horizontally and go downstairs movement, the cleaning function on bar brush cleaning agency realization stair ground.

Description

A kind of wheeled stair cleaning machine of low-power consumption triangle

Technical field

The utility model belongs to Smart Home technical field more particularly to a kind of wheeled stair cleaning machine of low-power consumption triangle.

Background technique

Currently, the prior art commonly used in the trade is such that

With the development of society, making more and more intelligence systems start the manual labor instead of the mankind, and increasingly Automation, intelligence.The mode of traditional stair hand sweeping, both not environmentally, sweeping efficiency are again low, and cleaner is time-consuming and takes Power.In corridor public environment special in this way, need that burnisher is high-efficient, disposable sweep-out pattern is big and easy to operate Cleaning equipment replace traditional artificial work.Takahisa Kakudou etc. proposes a kind of building Ji Pa and cleaning in one Box type robot, it is poor using convertible upper downstairs mode, stability.He Lianyun proposes a kind of using parallelogram shape Change feature realizes the robot of cleaning function downstairs, and control core is STC89C51 single-chip microcontroller, at response speed and information Reason ability is slightly inadequate.

In conclusion problem of the existing technology is:

(1) mode of traditional stair hand sweeping, both not environmentally, sweeping efficiency are again low, and cleaner is time-consuming and laborious

(2) using the sweeping robot of convertible upper mode downstairs, stability is poor

(3) downstairs the robot of cleaning function, control core are STC89C51 single-chip microcontroller, response speed and information in realization Processing capacity is slightly inadequate.

Summary of the invention

In view of the problems of the existing technology, the utility model provides a kind of wheeled stair cleaning machine of low-power consumption triangle.

The utility model is realized in this way the wheeled stair cleaning machine of low-power consumption triangle is provided with mounting platform, it is described The top of mounting platform is movably installed with cleaning bar brush by shaft, and the front end of the mounting platform, which is bolted, to be equipped with Stepper motor is equipped with ordinary wheel on the output shaft of the stepper motor；

The rear end of the mounting platform is equipped with motor driver, is equipped with photoelectricity on the side wall of the mounting platform and opens It closes, the tail portion of the mounting platform is embedded with infrared probe；The optoelectronic switch passes through conducting wire with infrared probe and connects motor Driver, the motor driver connect driving motor by conducting wire；

The rear side riveting of the mounting platform has bearing, and the Bearing inner is movably installed with triangle wheel by shaft.

The wheeled stair cleaning machine of low-power consumption triangle further include:

For providing the power supply of power supply；

It is connected with infrared probe, the sensor module of object detection is realized by optoelectronic switch and obliquity sensor；

It is connected with motor driver, incudes surrounding signals, the infrared induction mould that control stepper motor stops working Block；

It is connected with motor driver, for realizing the servo driving module of steering engine control.

The cleaning bar brush uses acrylic board brush body.

In conclusion advantages of the present invention and good effect are as follows:

The triangle idler wheel and ordinary wheel of the wheeled stair cleaning machine of low-power consumption triangle combine, and realize that scavenging machine moves horizontally With movement downstairs, bar brush cleaning agency realizes the cleaning function on stair ground.The wheeled stair cleaning machine of low-power consumption triangle is with low The processor of the MSP430 series of power consumption is control core, and the detection of stair information is carried out in conjunction with sensor combinations, carries out position The functions such as identification, avoidance execute movement by control stepper motor and steering engine, to control scavenging machine walking, and clean item The movement of brush.

Detailed description of the invention

Fig. 1 is the work running track of the wheeled stair cleaning machine of low-power consumption triangle provided by the embodiment of the utility model Figure；

Fig. 2 is the construction module distribution map of the wheeled stair cleaning machine of low-power consumption triangle provided by the embodiment of the utility model；

Fig. 3 is the overall circuit block diagram of the wheeled stair cleaning machine of low-power consumption triangle provided by the embodiment of the utility model；

Fig. 4 is circuit mounting sheet structural schematic diagram provided by the embodiment of the utility model；

Fig. 5 is triangle wheel structural schematic diagram provided by the embodiment of the utility model；

Fig. 6 is bearing arrangement schematic diagram provided by the embodiment of the utility model；

Fig. 7 is mounting rack structural schematic diagram provided by the embodiment of the utility model；

Fig. 8 is cleaning bar brush structural schematic diagram provided by the embodiment of the utility model；

Fig. 9 is cleaning brush mounting platform structural schematic diagram provided by the embodiment of the utility model；

Figure 10 is UG effect picture provided by the embodiment of the utility model；

Figure 11 is sensor provided by the embodiment of the utility model and MSP430F149 catenation principle figure；

Figure 12 is infrared induction module provided by the embodiment of the utility model and MSP430F149 catenation principle figure；

Figure 13 is stepper motor driving principle figure provided by the embodiment of the utility model；

Figure 14 is scavenging machine main program flow chart provided by the embodiment of the utility model；

Figure 15 is scavenging machine main program flow chart provided by the embodiment of the utility model；

Figure 16 is PWM wave control stepper motor timing diagram provided by the embodiment of the utility model；

Figure 17 is step motor control flow chart provided by the embodiment of the utility model；

Figure 18 is steering engine control structure figure provided by the embodiment of the utility model；

Figure 19 is steering engine control flow chart provided by the embodiment of the utility model；

In figure: 1, triangle wheel；2, infrared probe；3, bearing；4, motor driver；5, optoelectronic switch；6, stepper motor；7, Ordinary wheel；8, bar brush is cleaned；9, circuit mounting sheet；10, mounting rack；11, mounting platform；12, chassis；13, sensor.

Specific embodiment

For the invention, features and effects that can further appreciate that the utility model, the following examples are hereby given, and cooperates Detailed description are as follows for attached drawing.

The wheeled stair cleaning machine of low-power consumption triangle is provided with mounting platform 11, and the top of the mounting platform 11 is by turning Axis, which is movably installed with, cleans bar brush 8, and the front end of the mounting platform 11, which is bolted, is equipped with stepper motor 6, the step Ordinary wheel 7 is installed on into the output shaft of motor 6；

The rear end of the mounting platform 11 is equipped with motor driver 4, is equipped with light on the side wall of the mounting platform 11 The tail portion of electric switch 5, the mounting platform 11 is embedded with infrared probe 2；The optoelectronic switch 5 and infrared probe 2 are by leading Line connects motor driver 4, and the motor driver 4 connects driving motor by conducting wire；

The rear side of the mounting platform 11, which rivets, bearing 3, is movably installed with triangle wheel by shaft inside the bearing 3 1。

The wheeled stair cleaning machine of low-power consumption triangle further include:

For providing the power supply of power supply；

It is connected with infrared probe 2, the sensor die of object detection is realized by optoelectronic switch 5 and obliquity sensor 13 Block；

It is connected with motor driver 4, incudes surrounding signals, the infrared induction that control stepper motor 6 stops working Module；

It is connected with motor driver 4, for realizing the servo driving module of steering engine control.

The cleaning bar brush 8 uses acrylic board brush body.

Scavenging machine working principle, which specifically includes that, cleans the method for operation, trash processing way, running protection.

Clean the method for operation: the idler wheel design that scavenging machine is combined using triangle wheel 1 and ordinary wheel 7, it is top-down from The cleaning bar brush 8 of running on next section step slowly on one section stairway step, scavenging machine rear portion can be started shipment with scavenging machine one Row, and stairway step is cleaned under the effect of gravity.When scavenging machine runs to the junction of stair and floor, pass through biography Sensor 13 acquire signal identification current location, later control stepper motor 6 so that scavenging machine is turned over 90 degree, move to lower section stair after Continuous work, repeats the above process always, until stair cleaning finishes.The work running track of scavenging machine is as shown in Figure 1.

Trash processing way: the small volume of scavenging machine can aggravate the weight of scavenging machine after collecting rubbish, be unfavorable for reducing Power consumption.Therefore, the trash processing way of machine is not entered using rubbish.Rubbish is swept into always ground floor from upper at runtime by machine Ladder can reduce the structure design difficulty and system energy consumption of scavenging machine in this way.

Running protection mode: scavenging machine working environment is special, and in order to reduce the artificially harm to scavenging machine, scavenging machine is used Meeting people is the mode design stopped.Using whether there is or not personnel activities in the detection surrounding a certain range of infrared probe 2, avoidance is reached with this Function.

Scavenging machine important technological parameters and operating mode, as shown in table 1.

The wheeled scavenging machine important technological parameters of 1 triangle of table and operating mode

Scavenging machine overall structure:

Scavenging machine working environment is special, and guarantees the quality cleaned, and this requires the volumes of scavenging machine cannot be excessive, needs Each functional module of rational deployment, scavenging machine construction module are as shown in Figure 2.

Scavenging machine overall circuit design:

The hardware circuit of scavenging machine specifically includes that power supply, sensor module, stepper motor 6 and its drive module, steering engine are driven Dynamic model block.Scavenging machine overall circuit block diagram, as shown in Figure 3.

Select MSP430F149 as scavenging machine core microprocessors, the MSP430 series microprocessor of TI company is a kind of 16 mixed-signal processors for especially emphasizing super low-power consumption are well suited for being applied to use the battery powered field that works long hours It closes.The series microprocessor is with its extremely low power consumption, powerful processing capacity, on piece peripheral module abundant, convenience and high-efficiency The features such as development scheme, is widely used in the fields such as portable apparatus, intelligence sensor, practical detecting instrument, motor control.

The mechanical structure of scavenging machine, which specifically includes that, climbs bottom of the building disk, cleans forearm, cleans bar brush 8.In order to guarantee that scavenging machine can With the even running on stair, chassis 12 is in such a way that triangle wheel 1 is combined with ordinary wheel 7.Circuit mounting plate is mainly used for Power supply, drive module, signal conversion module etc. are installed, as shown in Figure 4.The building component of climbing of scavenging machine is mainly triangle wheel 1, is utilized The coaxial principle of three-wheel, realize scavenging machine step road surface stable operation, as shown in Figure 5.Using the installation of two internal diameter 8MM Bearing 3 can not only be such that triangle wheel 1 and scavenging machine skeleton rationally connects, but also can reduce resistance when scavenging machine operation, reach To the purpose for reducing power consumption, as shown in Figure 6.Motor is more in system, and reasonable installation motor can make scavenging machine tie in space With simply clearly visual effect, motor mounting rack are as shown in Figure 7 on structure.Bar brush is used to clean the rubbish on stairway step Rubbish, it is formed with acrylic board processing and fabricating, as shown in Figure 8.Cleaning brush mounting platform 11, as shown in figure 9, the component is main It for cleaning the connection of bar brush 8, while being also the mounting platform 11 of the partial circuit of system.It is imitated with the chassis 12 of UG software design Fruit figure is as shown in Figure 10.

The wheeled scavenging machine hardware circuit design of low-power consumption triangle

Sensor module:

Sensor 13 is mainly optoelectronic switch 5 and obliquity sensor.Optoelectronic switch 5 is infrared two-way emission type sensor, mainly It is the principle of reflection using light, has a pair of of infrared receiving tube and transmitting tube on the head of switch, incudes when there is object to be in probe Within the scope of when, the transmitting light of transmitting tube, which is reflected by the object, to be received pipe and is received, to change the state of circuit.Inclination angle sensing Device is that conductive bead using the conductive ball trigger circuit in copper post, when sensor run-off the straight in copper post can be inner in it Portion rolls, and realizes that the variation to angle judges with this.It cannot be directly processed device for solving the output level of sensor and read this One problem added level translation module in system, realize shaking hands between sensor and processor.Sensor and processor connect Schematic diagram is connect, as shown in figure 11.

Infrared induction module:

To make one to be preferably minimized for the injury to scavenging machine, infrared induction module is housed on scavenging machine.Infrared induction module With MSP430F149 catenation principle figure, as shown in figure 12.When someone is when popping one's head in induction range, internal PNP three-level of popping one's head in Pipe disconnects so that circuit disconnects, and the P1.0 foot of single-chip microcontroller obtains low level, so that stepper motor 6 controls Signal Fail.So that machine Device is out of service, plays the role of protecting oneself.

Stepper motor 6 and drive module:

Scavenging machine utilizes L298N motor drive module using the Asia Mei Tally large torque 12V six lines, two stepper motors 6 Driving.6 driving principle figure of stepper motor, as shown in figure 13.

MG996R servo driving module:

Servo driving module is mainly used for controlling steering engine, it is using specific coding chip by changing the electricity in circuit Resistance value is hindered, goes to realize the angle of steering engine is precisely controlled.MG996R type steering engine is a kind of 180 degree rotation angle steering engine, has angle Accurate and low noise feature.Steering engine is realized and is controlled, there are many kinds of methods, for example are gone using the I/O port output PWM of single-chip microcontroller Steering engine is controlled, also can use actuator driving plate connection 10K or so variable resistance, turning for steering engine can be adjusted by rotating resistance Angle.Realize that steering engine controls herein by PWM wave, helm control circuit schematic diagram, as shown in figure 14.

Scavenging machine program specifically includes that main program, interrupt routine, Step-by-step Motor Device Driver, steering engine control program.

Program design:

Scavenging machine system main program flow chart, as shown in figure 15.

6 Driver Design of stepper motor

It cleans machine control system and stepper motor 6 is controlled using PWM wave.PWM wave controls 6 timing diagram of stepper motor, such as Figure 16 It is shown.Speed regulating control can be carried out to stepper motor 6 by changing PWM wave duty ratio.The controlling party that scavenging machine motor is clapped using single four Formula is implemented to control using I/O port simulation PWM wave to motor.Motor control flow chart, as shown in figure 17.

Steering engine controls programming

MG996R steering engine control structure figure, as shown in figure 18.

Steering engine control flow chart, as shown in figure 19.

The wheeled stair cleaning machine of low-power consumption triangle is using the single-chip microcontroller of MSP430 series as control core, integrated optic-electronic sensor Module, stepper motor 6 and steering engine module, and under corresponding software process control acquire stair information, realize scavenging machine from upper and Lower walking and cleaning works.The experimental results showed that the cleaning function identifies different stair height, with the speed row of 0.3m/s It walks, and has the function of position identification, automatic obstacle-avoiding, low in energy consumption etc., system bulk is small, light-weight, stable and reliable operation, can subtract The labor intensity of light corridor stair swabber improves labor efficiency, reduces cost, provides for environmental worker a kind of simple Convenient and fast cleaning thing has certain application value.

The above is only the preferred embodiment to the utility model, is not made in any form to the utility model Limitation, it is all according to the technical essence of the utility model any simple modification made to the above embodiment, equivalent variations with Modification, is all within the scope of the technical scheme of the utility model.

Claims (3)

1. a kind of wheeled stair cleaning machine of low-power consumption triangle, which is characterized in that the wheeled stair cleaning machine of low-power consumption triangle is set It is equipped with mounting platform, the top of the mounting platform is movably installed with cleaning bar brush, the front end of the mounting platform by shaft It is bolted and stepper motor is installed, ordinary wheel is installed on the output shaft of the stepper motor；

The rear end of the mounting platform is equipped with motor driver, and optoelectronic switch, institute are equipped on the side wall of the mounting platform The tail portion of mounting platform is stated embedded with infrared probe；The optoelectronic switch passes through conducting wire with infrared probe and connects motor driven Device, the motor driver connect driving motor by conducting wire；

The rear side riveting of the mounting platform has bearing, and the Bearing inner is movably installed with triangle wheel by shaft.

2. the wheeled stair cleaning machine of low-power consumption triangle as described in claim 1, which is characterized in that the wheeled building of low-power consumption triangle Terraced scavenging machine further include:

For providing the power supply of power supply；

It is connected with infrared probe, the sensor module of object detection is realized by optoelectronic switch and obliquity sensor；

It is connected with motor driver, incudes surrounding signals, the infrared induction module that control stepper motor stops working；

It is connected with motor driver, for realizing the servo driving module of steering engine control.

3. the wheeled stair cleaning machine of low-power consumption triangle as described in claim 1, which is characterized in that the cleaning bar brush is using sub- gram Power scrubbing brush body.