CN209018621U - A kind of lift step sweeping robot - Google Patents

Abstract

The utility model provides a kind of lift step sweeping robot, including chassis, multiple omni-directional wheels, dust extractor, dust suction piece, multiple motors, it further include lifting assembly, the lifting assembly includes lead screw, feed screw nut, synchronizing wheel and flange bearing, the lead screw top and feed screw nut cooperate, one group of lifting assembly includes two synchronizing wheels, and one of synchronizing wheel is connect with feed screw nut, another synchronizing wheel is connect with lifting motor.The utility model realizes the all-around mobile of sweeping robot, lifting chassis, crosses step and cleaning function, the blank of step robot cleaning is filled up, may be implemented to step mechanization, intelligence, automation cleaning, this has adapted to the demand of modern industrial society, has very big prospect.

Description

A kind of lift step sweeping robot

Technical field

The utility model relates to robot field more particularly to a kind of lift step sweeping robots.

Background technique

The development time of sweeping robot more than ten years is made a general survey of, it can be found that the technology change of sweeping robot experienced two greatly Stage: the first stage: floor sweeping function improves the stage, and the most essential work of sweeping robot is exactly to complete ground cleaning, because And early stage sweeping robot primarily to improving purging system and working.The sweeping robot of early stage has been devoted to mention Its intelligence of height, updating improves the functions such as its induction system and cleaning path.Second stage: the intelligent stage is cleaned, is swept the floor Robot will substitute people and work, and need to carry out home environment identification perception, therefore sweeping robot starts to increase Some additional intellectualized technologies, for example, increase intelligence recharge, obstacle detouring of climbing, dropproof function, APP remote control function etc.. Although sweeping robot has inseparable origin with dust catcher, in some places, by the technology precipitating of many years, leather Newly, sweeping robot is even more to have the characteristics of more innovating than dust catcher, is suitable for the efficiently busy life of modern society people It is living.Being constantly progressive and develop with sweeping robot industry, sweeping robot gradually obtains the approval of user.In recent years, it swept Floor-washing robot is popularized at an amazing speed, and market development is very swift and violent.But present sweeping robot only can be Work in one plane carries out some simple obstacle avoidances, and even a slight gradient just can not go beyond.However, current Most of cell floor, office building, the stair in the place such as school are also only hand sweeping, in face of so great stair Step cleaning project can only employ employee to clean, this cleaning mode not only inefficiency, but also waste big The human and material resources of amount, financial resources.

Such as application No. is the patents of CN201710871203.1 to disclose a kind of intelligent sweeping robot, the present invention includes Shell, running gear, clearing apparatus and control detection device, are connected with mopping device by articulated mounting on the shell, The mopping device includes several support rollers, conveyer belt, clean box, humidification box and motor, on the conveyer belt uniformly between Every being provided with mop, on a moving belt, the support roller includes the first support roller, for the side connection of the mop Two support rollers, third support roller, the 4th support roller, the 5th support roller, the 6th support roller and compression roller, all support rollers Be mutually arranged in parallel, the diameter of second support roller is identical as the diameter of the 6th support roller and the second support roller in Mandrel line and the central axis of the 6th support roller are located at same level.The robot of the patent only has in a plane The function of work cannot achieve across step cleaning work.

Utility model content

In order to overcome sweeping robot in the prior art that can not cross over the defect of step operation, the utility model devise one Kind lift step sweeping robot, meets what the floors such as current generation each major company, school, apartment cleaned step Demand has very big application value.

The utility model solves technical solution used by aforementioned technical problem: a kind of lift step sweeping machine People, including chassis, multiple omni-directional wheels, dust extractor, dust suction piece, multiple motors, further include lifting assembly, the lifting assembly packet Lead screw, feed screw nut, synchronizing wheel and flange bearing are included, the lead screw top and feed screw nut cooperate, and one group of lifting assembly includes Two synchronizing wheels, one of synchronizing wheel are connect with feed screw nut, another synchronizing wheel is connect with lifting motor.

Preferably, synchronizing wheel carries out tapping process, is fixedly connected between feed screw nut.

Any of the above-described scheme is preferably, two synchronizing wheel outer cladding synchronous belts.

Any of the above-described scheme is preferably, and synchronizing wheel and synchronous belt are set to above chassis, above synchronizing wheel and synchronous belt Support plate is set, support column is set between support plate and chassis.

Any of the above-described scheme is preferably, and lifting motor is fixed on above support plate, and setting through-hole is as silk in support plate The channel that thick stick passes through.

Any of the above-described scheme is preferably, and lead screw lower end is fixed on glass-fiber-plate by fixing piece, table in glass board ends Face is fixedly connected with L-square respectively；Glass board ends lower surface is fixedly connected with motor mounting plate respectively, in motor mounting plate The driving motor of connection controls its corresponding omni-directional wheel rotation.

Any of the above-described scheme is preferably, bottom plate quadrangle be arranged sliding-rail sliding, sliding rail upper end pass through sliding-rail sliding, lower end with The L-square of glass board ends connects.

Any of the above-described scheme is preferably, and six omni-directional wheels, including two groups of vertical setting of types omni-directional wheel groups and one are arranged below chassis The horizontally-arranged omni-directional wheel group of group, every group of omni-directional wheel group include two omni-directional wheels and its corresponding driving motor, and driving motor drives omnidirectional It rotates to the all-around mobile for realizing robot.

Any of the above-described scheme is preferably, and lifting assembly is two groups, and every group controls one group of vertical setting of types omni-directional wheel group respectively.

Any of the above-described scheme is preferably, and horizontally-arranged omni-directional wheel group is fixed below chassis, passes through motor mounting plate and chassis It is fixedly connected.

Any of the above-described scheme is preferably, and infrared sensor is arranged in chassis surrounding, for identification the ring of robot surrounding Border.

Any of the above-described scheme is preferably, and single-chip microcontroller is arranged above chassis as control core, single-chip microcontroller and lifting electricity Machine, dust extractor, driving motor are electrically connected by driving circuit

Any of the above-described scheme is preferably, and single-chip microcontroller is electrically connected with power module and clock module by external circuit.

The utility model realizes the all-around mobile of sweeping robot, lifting chassis, crosses step and cleaning function, fills out The blank for having mended the cleaning of step robot, may be implemented to step mechanization, intelligence, automation cleaning, this has adapted to existing For the demand of industrial society, there are very big Research Prospects.

Detailed description of the invention

Fig. 1 is the schematic diagram according to a preferred embodiment of the lift step sweeping robot of the utility model.

Fig. 2 is the bottom view according to an embodiment on the chassis of the lift step sweeping robot of the utility model.

Fig. 3 is the work according to an embodiment of the level ground of the lift step sweeping robot of the utility model State diagram.

Fig. 4 is the preferred embodiment according to the omni-directional wheel distribution of the lift step sweeping robot of the utility model Schematic diagram.

Fig. 5 is the preferred embodiment according to the lifting assembly of the lift step sweeping robot of the utility model Schematic diagram.

Fig. 6 is one assembled according to the feed screw nut and synchronizing wheel of the lift step sweeping robot of the utility model The schematic diagram of embodiment.

Fig. 7 is to cross step 1 according to the step of an embodiment of the lift step sweeping robot of the utility model Schematic diagram.

Fig. 8 is to turn over according to the step of the embodiment as shown in Figure 7 of the lift step sweeping robot of the utility model More step 2 schematic diagram.

Fig. 9 is to cross step 3 according to the step as shown in Figure 7 of the lift step sweeping robot of the utility model Schematic diagram.

Figure 10 is to turn over according to the step of the embodiment as shown in Figure 7 of the lift step sweeping robot of the utility model The more schematic diagram of step 4.

Figure 11 is the frame according to an embodiment of the control system of the lift step sweeping robot of the utility model Figure.

It illustrates:

1, omni-directional wheel, 2, dust extractor, 3, dust suction piece, 4, lead screw, 5, feed screw nut, 6, synchronizing wheel, 7, flange bearing, 8, Synchronous belt, 9, support plate, 10, support column, 11, fixing piece, 12, glass-fiber-plate, 13, sliding rail, 14, sliding-rail sliding, 15, infrared ray biography Sensor.

Specific embodiment

In order to be further understood that the summary of the invention of the utility model, below in conjunction with specific embodiment to the utility model It is described in more detail, embodiment only has exemplary effect to the utility model, without the effect of any restrictions； The insubstantial modifications that anyone skilled in the art are made on the basis of the utility model all should belong to the utility model guarantor The range of shield.

Embodiment 1

As shown in Figure 1, a kind of lift step sweeping robot, including chassis, multiple omni-directional wheels 1, dust extractor 2, suction Dirt piece 3, multiple motors, further include lifting assembly, as shown in figure 5, the lifting assembly includes lead screw 4, feed screw nut 5, synchronizes Wheel 6 and flange bearing 7,4 top of lead screw and feed screw nut 5 cooperate, and one group of lifting assembly includes two synchronizing wheels 6, wherein One synchronizing wheel 6 is connect with feed screw nut 5, another synchronizing wheel 6 is connect with lifting motor.Mechanism linear motion may be implemented Mechanical structure has a lot of kinds, including gear and rack teeth mechanism, 5 mechanism of feed screw nut, cam mechanism, slider-crank mechanism, V belt translation Or chain conveyer and hydraulic-pneumatic transmission.In conjunction with the mechanical structure and actual demand of product in the utility model, the present embodiment The realization of elevating movement is carried out using the mechanical structure of collocation 8 synchronizing wheel 6 of synchronous belt of feed screw nut 5.In actual application, Gear and rack teeth mechanism, cam mechanism, slider-crank mechanism, V belt translation or chain conveyer and liquid can also be used according to different needs Press Pneumatic Transmission.

As shown in fig. 6, in the present embodiment, synchronizing wheel 6 carries out tapping process, it is fixedly connected between feed screw nut 5.Silk Thick stick nut 5 is installed bolt by four holes with synchronizing wheel 6 and is attached.

In the present embodiment, two synchronizing wheel 6 outer cladding, one synchronous belts 8.

As shown in Figure 1 and Figure 5, in the present embodiment, synchronizing wheel 6 and synchronous belt 8 are set to above chassis, synchronizing wheel 6 with Support plate 9 is set above synchronous belt 8, support column 10 is set between support plate 9 and chassis.

In the present embodiment, lifting motor is fixed on 9 top of support plate, and setting through-hole is passed through as lead screw 4 in support plate 9 Channel.

In the present embodiment, 4 lower end of lead screw is fixed on glass-fiber-plate 12 by fixing piece 11,12 both ends upper surface of glass-fiber-plate It is fixedly connected respectively with L-square；12 both ends lower surface of glass-fiber-plate is fixedly connected with motor mounting plate respectively, in motor mounting plate The driving motor of connection controls its corresponding omni-directional wheel 1 and rotates.The glass-fiber-plate used in the present embodiment, can be according to actual needs It is substituted for the plate of other materials.

In the present embodiment, sliding-rail sliding 14 is arranged in bottom plate quadrangle, and 13 upper end of sliding rail passes through sliding-rail sliding 14, lower end and glass The L-square at fine 12 both ends of plate connects.

Motor is by 6 synchronous belt 8 of synchronizing wheel to drive nut to rotate, and lead screw 4 is connected with the wheel on chassis, belongs to Fixed state, does not rotate, so lead screw 4 will drive glass-fiber-plate 12 and two omni-directional wheels 1 are increased or reduced, it is real The elevating movement on existing chassis.

As shown in Figure 2, Figure 3 and Figure 4, in the present embodiment, six omni-directional wheels 1, including two groups of vertical setting of types are set below chassis Omni-directional wheel group and one group of horizontally-arranged omni-directional wheel group, every group of omni-directional wheel group include two omni-directional wheels 1 and its corresponding driving motor, driving Motor driven omni-directional wheel 1 turns to the all-around mobile for realizing robot.The omni-directional wheel group layout on the chassis Fig. 2, when robot exists When flat general work, such as Fig. 3, six omni-directional wheels 1 are in same level.First four omni-directional wheel group electricity perpendicular to each other on chassis Machine work, the steering and revolving speed that need to only control different motors can realize the Omni-mobile on chassis.

In the present embodiment, lifting assembly is two groups, and every group controls one group of vertical setting of types omni-directional wheel group respectively.

In the present embodiment, horizontally-arranged omni-directional wheel group is fixed below chassis, is fixedly connected by motor mounting plate with chassis.

In the present embodiment, infrared sensor 15 is arranged in chassis surrounding, for identification the environment of robot surrounding.

In the present embodiment, as shown in figure 11, STM32 single-chip microcontroller is set above chassis as control core, STM32 is mono- Piece machine is electrically connected by driving circuit with lifting motor, dust extractor 2, driving motor

In the present embodiment, STM32 single-chip microcontroller is electrically connected with power module and clock module by external circuit.

In the present embodiment, dust extractor 2 is arranged above chassis, using the standard vacuum structure of prior art household Design generates vacuum in the shell of sealing, draws dust, pass through dust suction later using motor band movable vane piece high speed rotation Piece 3 is restored again into dust accumulation chamber interior.

In the present embodiment, power module uses the common charge power supply of the prior art, and it is aobvious that the time may be implemented in clock module Show function and timing cleaning function, the corresponding program of above-mentioned function is stored in STM32 single-chip microcontroller.STM32 single-chip microcontroller is also set up Infrared sensor detection circuit and remote control circuit can receive infrared sensor signal, identify to robot, The signal that can also receive the sending of user terminal Digiplex, responds to instruction.The modules of robot are in single-chip microcontroller Control under, mutually coordinated work, it is ensured that the realization of the various functions of robot.

The lift step sweeping robot of the present embodiment, mainly by the lifting on glass-fiber-plate 12 and chassis and it is mobile come It realizes crossing for step, carries out step to cross mainly including following four step:

Step 1: as shown in fig. 7, two 5 driving motor of feed screw nut work, make robot chassis rise overally, reach After the height that infrared sensor 15 is identified, four omni-directional wheels 1 is driven to move forward robot, to make first cross The omni-directional wheel 1 of row is in two stage steps.

Step 2: as shown in figure 8, only will be close to the vertical setting of types omni-directional wheel on one group of (totally two) vertical direction of two stage steps Group is increased, until wheel and two stage steps horizontal plane are tangent.

Step 3: as shown in figure 9, motor driven omni-directional wheel 1, band mobile robot is moved forward, and reaches effect shown in Fig. 9, Due to there is the supporting role of first four wheel (two horizontally-arranged omni-directional wheels 1 and two vertical setting of types omni-directional wheels 1), robot will not be to one The inclination of grade step is fallen.Later, robot lifting motor is run, and starts to increase one group of last vertical setting of types omni-directional wheel group.

Step 4: as shown in Figure 10, after one group of last vertical setting of types omni-directional wheel group increases, robot is slightly preceding to exercise 6 entirely Step is all climbed up to wheel 1, carries out step cleaning.

It, can be to hinder around automatic identification since the robot surrounding is equipped with infrared sensor 15 when working on level land Hinder, so floor cleaning can be carried out automatically；When working on stair, the preposition infrared sensor of robot can identify and step away from From to judge whether to need to cross step.When needing to cross step, robot can be lifted progress step automatically and cross；Later Robot starts to clean step plane, at this point, two horizontally-arranged omni-directional wheels 1 of robot installation start turning, realizes water Translation is dynamic, clean without dead angle to step.

The present embodiment passes through the up-down mode of feed screw nut 5,6 synchronous belt of motor driven synchronizing wheel, 8 structure and lead screw spiral shell The steady lifting for being implemented in combination with robot of mother 5 and sliding-rail sliding 14, convenient and efficient stable progress stairway step are crossed.This reality With the novel all-around mobile for realizing sweeping robot, lifting chassis, step and cleaning function are crossed, has filled up step machine People clean blank, may be implemented to step mechanization, intelligence, automation cleaning, this has adapted to modern industrial society Demand has very big Research Prospects, meets the floors such as current generation each major company, school, apartment and clean to step Demand, have very big application value.

Embodiment 2

Embodiment 2 is similar to Example 1, the difference is that the lift step sweeping robot size in the present embodiment For 250mm long × 230mm wide × 180mm high.Ruler in actual production manufacturing process, according to user demand and practical application operating condition Very little limitation can make a variety of various sizes of lift step sweeping robots.

Embodiment 3

Embodiment 3 is similar to Example 1, the difference is that adopting between the feed screw nut 5 in the present embodiment and synchronizing wheel 6 It is fixedly connected with welding manner.

Embodiment 4

Embodiment 4 is similar to Example 1, the difference is that adopting between the feed screw nut 5 in the present embodiment and synchronizing wheel 6 It is fixedly connected with riveting method.

Although the utility model, those skilled in the art have shown and described referring particularly to its preferred embodiment It is appreciated that the various changes that can be made in form and details are practical new without departing from sheet described in the appended claims The range of type.It is described in detail above in conjunction with specific embodiment of the utility model, but is not the limit to the utility model System.It is all according to the technical essence of the utility model any simple modification made to the above embodiment, still fall within practical The range of new technique scheme.

Claims (13)

1. a kind of lift step sweeping robot, including chassis, multiple omni-directional wheels (1), dust extractor (2), dust suction piece (3), Multiple motors, it is characterised in that: further include lifting assembly, the lifting assembly includes lead screw (4), feed screw nut (5), synchronizing wheel (6) cooperate with flange bearing (7), lead screw (4) top and feed screw nut (5), one group of lifting assembly includes two synchronizing wheels (6), one of synchronizing wheel (6) connect with feed screw nut (5), another synchronizing wheel (6) is connect with lifting motor.

2. lift step sweeping robot according to claim 1, it is characterised in that: synchronizing wheel (6) carries out at tapping Reason, is fixedly connected between feed screw nut (5).

3. lift step sweeping robot according to claim 1, it is characterised in that: two synchronizing wheel (6) outer claddings Synchronous belt (8).

4. lift step sweeping robot according to claim 1, it is characterised in that: synchronizing wheel (6) and synchronous belt (8) It is set to above chassis, support plate (9) is set above synchronizing wheel (6) and synchronous belt (8), are arranged between support plate (9) and chassis Support column (10).

5. lift step sweeping robot according to claim 1, it is characterised in that: lifting motor is fixed on support plate (9) channel that through-hole is passed through as lead screw (4) is set above, in support plate (9).

6. lift step sweeping robot according to claim 1, it is characterised in that: lead screw (4) lower end passes through fixation Part (11) is fixed on glass-fiber-plate (12), and glass-fiber-plate (12) both ends upper surface is fixedly connected with L-square respectively；Glass-fiber-plate (12) Both ends lower surface is fixedly connected with motor mounting plate respectively, and the driving motor connected in motor mounting plate controls its corresponding omnidirectional Take turns (1) rotation.

7. lift step sweeping robot according to claim 1, it is characterised in that: sliding-rail sliding is arranged in bottom plate quadrangle (14), sliding rail (13) upper end passes through sliding-rail sliding (14), and lower end is connect with the L-square at glass-fiber-plate (12) both ends.

8. lift step sweeping robot according to claim 1, it is characterised in that: six omnidirectionals are arranged below chassis Take turns (1), including two groups of vertical setting of types omni-directional wheel groups and one group of horizontally-arranged omni-directional wheel group, every group of omni-directional wheel group include two omni-directional wheels (1) and Its corresponding driving motor, driving motor drive omni-directional wheel (1) to turn to the all-around mobile for realizing robot.

9. lift step sweeping robot according to claim 1, it is characterised in that: lifting assembly is two groups, every group One group of vertical setting of types omni-directional wheel group is controlled respectively.

10. lift step sweeping robot according to claim 1, it is characterised in that: horizontally-arranged omni-directional wheel group is fixed on Below chassis, it is fixedly connected by motor mounting plate with chassis.

11. lift step sweeping robot according to claim 1, it is characterised in that: infrared ray is arranged in chassis surrounding Sensor (15), for identification environment of robot surrounding.

12. lift step sweeping robot according to claim 1, it is characterised in that: monolithic is arranged above chassis Machine is electrically connected with lifting motor, dust extractor (2), driving motor by driving circuit as control core, single-chip microcontroller.

13. lift step sweeping robot according to claim 1, it is characterised in that: single-chip microcontroller and power module and Clock module is electrically connected by external circuit.