CN214484414U - Stair cleaning machines people - Google Patents
Stair cleaning machines people Download PDFInfo
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- CN214484414U CN214484414U CN202120092783.6U CN202120092783U CN214484414U CN 214484414 U CN214484414 U CN 214484414U CN 202120092783 U CN202120092783 U CN 202120092783U CN 214484414 U CN214484414 U CN 214484414U
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Abstract
The utility model discloses a stair cleaning robot, wherein four corners of an upper support plate and a lower support plate are connected through guide rods; the two fixed sleeves are arranged on two side walls of the lower support plate; the motor I and the motor II are respectively arranged at the two sides of the upper supporting plate; one ends of the screw I and the screw II are in transmission connection with the motor I and the motor II, and the other ends of the screw I and the screw II are provided with a slide block nut I and a slide block nut II and extend out of the through hole of the fixed sleeve; the cleaning support plate and the cleaning support plate are L-shaped, and the vertical parts of the cleaning support plate and the cleaning support plate are fixedly connected with corresponding slide block nuts; connecting blocks are respectively arranged on the side walls of the opposite sides of the vertical parts of the cleaning support plate and the cleaning support plate along the two sides of the corresponding slide block nuts; the four guide rods penetrate through the corresponding connecting blocks; the cleaning support plate and the cleaning support plate are respectively provided with a cleaning mechanism and a cleaning mechanism, and the lower ends of the cleaning support plate and the cleaning support plate are respectively provided with two Mecanum wheels. The utility model discloses conveniently clean stair.
Description
Technical Field
The utility model relates to a clean equipment technical field, specifically be a stair cleaning machines people.
Background
At present, in the market, the number of robots for cleaning stairs is small, and the height of floors is greatly increased, so that the robots are particularly important for intelligently cleaning the stairs, but the conventional floor sweeping robot can only be applied to relatively flat ground, the working area is greatly limited, and the floor sweeping robot cannot be used for cleaning typical stair-shaped or raised ground such as stairs, and the like, so that the stair cleaning robot convenient for cleaning the stairs is provided.
SUMMERY OF THE UTILITY MODEL
In view of the technical problem who exists among the background art, the utility model provides a conveniently clean stair cleaning robot of stair. In order to achieve the above object, the utility model provides a following technical scheme:
a stair cleaning robot comprises a sweeping mechanism, a driving mechanism, a floor cleaning mechanism, a sweeping support plate, a floor cleaning support plate and Mecanum wheels; the driving mechanism comprises an upper support plate, a lower support plate, a screw I, a screw II, a motor I, a motor II and a guide rod; the number of the guide rods is four; the four corners of the upper support plate and the lower support plate are fixedly connected through corresponding guide rods; the two guide rods are fixedly sleeved on the two side walls of the lower support plate and at the middle positions of the two corresponding guide rods; through holes matched with the corresponding screw I and screw II are formed in the two fixed sleeves; four corners of the lower support plate are respectively provided with Mecanum wheels; the motor I and the motor II are respectively arranged at the two sides of the upper supporting plate; one ends of the screw I and the screw II are in transmission connection with output shafts of the corresponding motor I and the motor II, and the other ends of the screw I and the screw II are provided with a slide block nut I and a slide block nut II which are matched with the screw I and the screw II and extend out of corresponding through holes of the fixed sleeve; the cleaning support plate and the cleaning support plate are L-shaped, and the vertical parts of the cleaning support plate and the cleaning support plate are fixedly connected with corresponding slide block nuts; connecting blocks are respectively arranged on the side walls of the opposite sides of the vertical parts of the cleaning support plate and the cleaning support plate along the two sides of the corresponding slide block nuts; the four guide rods penetrate through the corresponding connecting blocks; the cleaning support plate and the cleaning support plate are respectively provided with a cleaning mechanism and a cleaning mechanism, and the lower ends of the cleaning support plate and the cleaning support plate are respectively provided with two Mecanum wheels.
The sweeping mechanism comprises a sweeping brush and a dust storage box; the number of the sweeping brushes is two; the two sweeping brushes are respectively and rotatably arranged at the position below the horizontal part of the sweeping support plate through corresponding sweeping motors; the dust storage box is detachably arranged at the middle position of the two sweeping brushes below the horizontal part of the sweeping support plate, and an opening is formed in the dust storage box close to the outer side.
The floor cleaning mechanism comprises cleaning cloth, a cleaning motor, a cleaning shaft and a water tank; the cleaning motor is arranged above the cleaning support plate; one end of the cleaning shaft is in transmission connection with the output shaft of the cleaning motor, and the other end of the cleaning shaft extends out of the floor cleaning support plate and is detachably connected with the cleaning cloth; the water tank is arranged below the clean floor plate; the water tank is provided with a high-pressure spray head communicated with the water tank.
The robot also comprises a tentacle sensor and an ultrasonic sensor; the number of the whisker sensors is two; the two whisker sensors are arranged at the positions of two sides of the sweeping support plate; the ultrasonic sensor is arranged on the sweeping support plate and at one end position far away from the guide rod.
The robot also comprises a main control board; the main control board is arranged on the lower support plate.
The utility model has the advantages that:
1. the utility model realizes the climbing, cleaning and floor cleaning of the robot by arranging the driving mechanism, and is convenient to clean the stairs;
2. the motor controls the lead screw to rotate forwards to drive the cleaning mechanism or the floor cleaning mechanism to ascend, when the motor drives the lead screw to rotate backwards, the slide block nut cannot move downwards to be equivalent to fixing because the Mecanum wheel below the cleaning mechanism or the floor cleaning mechanism is supported on the ground, and the lead screw rotates backwards and upwards at the same time, so that the integral driving mechanism is driven to ascend, and the climbing of the driving mechanism is realized;
3. the sweeping motor drives the corresponding sweeping brush to rotate forwards and reversely to form inward sweeping resultant force, so that the garbage dust is swept into the opening of the dust storage box, and the sweeping efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of the robot structure of the present invention;
FIG. 2 is a schematic view of the dust storage bin of FIG. 1 in its positional configuration;
FIG. 3 is a schematic view of the positional configuration of the cleaning cloth of FIG. 1;
fig. 4 is a side view of the robot of the present invention (the cleaning mechanism is raised to the same height as the step);
fig. 5 is a side view of the robot of the present invention (the driving mechanism is raised to the same height as the step);
figure 6 is a side view of the robot of the present invention (floor cleaning mechanism raised to level with the steps);
in the figure, 1-lower support plate, 2-fixed sleeve, 3-dust storage box, 4-sweeping brush, 5-sweeping motor, 6-sweeping support plate, 7-whisker sensor, 8-lead screw I, 9-motor I, 10-upper support plate, 11-motor II, 12-lead screw II, 13-sweeping support plate, 14-floor-sweeping motor, 15-Mecanum wheel, 16-water tank, 17-cleaning shaft, 18-cleaning cloth, 19-ultrasonic sensor, 20-slider nut II, 21-slider nut I, 22-connecting block, 23-guide rod, 24-driving mechanism, 25-sweeping mechanism and 26-sweeping mechanism.
Detailed Description
Referring to fig. 1 to 6, a stair cleaning robot comprises a sweeping mechanism 25, a driving mechanism 24, a floor cleaning mechanism 26, a sweeping support plate 6, a floor cleaning plate 13 and mecanum wheels 15; the driving mechanism 24 comprises an upper support plate 10, a lower support plate 1, a screw I8, a screw II 12, a motor I9, a motor II 11 and a guide rod 23; four guide rods 23 are provided; four corners of the upper support plate 10 and the lower support plate 1 are fixedly connected through corresponding guide rods 23; the two fixed sleeves 2 are arranged on the two side walls of the lower support plate 1 and at the middle positions of the two corresponding guide rods 23; through holes matched with the corresponding screw I8 and screw II 12 are formed in the two fixing sleeves 2; four corners of the lower support plate 1 are respectively provided with Mecanum wheels 15 for driving the driving mechanism 24 to move; the motor I9 and the motor II 11 are respectively arranged at the two sides of the upper support plate 10; one end of each of the screw I8 and the screw II 12 is in transmission connection with the output shaft of the corresponding motor I9 and the output shaft of the corresponding motor II 11, the other end of each of the screw I8 and the screw II 12 is provided with a slider nut I21 and a slider nut II 20 which are matched with the screw I8 and the screw II 12, and the slider nuts II 20 extend out of the through holes of the corresponding fixing sleeve 2, and the fixing sleeve 2 limits the tail ends of the screw I8 and the screw II 12; the cleaning support plate 6 and the floor cleaning support plate 13 are both in an L shape (as shown in figure 1), and the vertical parts of the cleaning support plate 6 and the floor cleaning support plate 13 are fixedly connected with a corresponding slide block nut I21 and a corresponding slide block nut II 20; connecting blocks 22 are respectively arranged on the side walls of the opposite sides of the vertical parts of the cleaning support plate 6 and the cleaning support plate 13 along the corresponding slide block nuts I21 and II 20; the four guide rods 23 penetrate through the corresponding connecting blocks 22 matched with the guide rods, and the guide rods 23 can move up and down in the corresponding connecting blocks 22; the cleaning stay 6 and the cleaning stay 13 are provided with a cleaning mechanism 25 and a cleaning mechanism 26, respectively, and two mecanum wheels 15 are provided at the lower ends of the cleaning stay 6 and the cleaning stay 13, respectively.
The cleaning mechanism 25 comprises a sweeping brush 4 and a dust storage box 3; two sweeping brushes 4 are arranged; the two sweeping brushes 4 are respectively and rotatably arranged at the positions below the horizontal part of the sweeping support plate 6 through the corresponding sweeping motors 5; the dust storage box 3 is detachably arranged at the middle position of the two sweeping brushes 4 below the horizontal part of the sweeping support plate 6, and an opening is arranged on the outer side of the dust storage box 3.
The floor cleaning mechanism 26 comprises a cleaning cloth 18, a cleaning motor, a cleaning shaft 17 and a water tank 16; the cleaning motor is arranged above the cleaning support plate 13; one end of the cleaning shaft 17 is connected with the output shaft of the cleaning motor in a transmission way, the other end extends out of the cleaning support plate 13 and is detachably connected with the cleaning cloth 18, and the cleaning cloth 18 can be replaced by cleaning tools such as a mop head and the like; the water tank 16 is arranged below the clean floor 13; the water tank 16 is provided with a high pressure nozzle communicated with the water tank 16, and the high pressure nozzle is used for spraying water mist to the ground.
The robot also comprises a whisker sensor 7 and an ultrasonic sensor 19; the number of the whisker sensors 7 is two; the two whisker sensors 7 are arranged at the positions of two sides of the cleaning support plate 6, in the transverse cleaning process, if the whisker sensor 7 at one side touches the wall, the robot can perform transverse scanning in the opposite direction, and when the whisker sensor 7 at the other side touches the wall at the other side, the cleaning is stopped; an ultrasonic sensor 19 (which can be replaced by a gray sensor) is arranged on the sweeping support plate 6 and at a position far away from one end of the guide rod 23, and the ultrasonic sensor 19 detects that the distance between the robot and the stairs is less than a certain distance (such as five centimeters), so that the Mecanum wheel 15 is controlled to stop moving forwards.
The robot also comprises a main control board and a controller; the main control board is arranged on the lower support plate 1, the ultrasonic sensor 19 is electrically connected with the motor I9 through the controller, and when the ultrasonic sensor 19 detects that the distance between the robot and the stairs is less than a certain distance, the motor I9 is controlled by the main control board to drive the screw I8 to rotate in the forward direction; the whisker sensor 7 is electrically connected with the Mecanum wheel 15 below the lower support plate 1 through a controller, if the whisker sensor 7 or the gray sensor on one side is triggered, the Mecanum wheel 15 below the lower support plate 1 moves in the reverse direction, the robot can sweep in the reverse direction, and when the whisker sensor 7 or the gray sensor on the other side is triggered, the Mecanum wheel 15 below the lower support plate 1 stops moving, so that the cleaning of the front half part of the stair is completed.
As shown in fig. 1-6, the working principle and flow of the present invention are as follows:
the Mecanum wheels 15 of the cleaning support plate 6 and the cleaning support plate 13 move forwards, when the ultrasonic sensor 19 detects that the distance between the robot and the stairs is less than a certain distance, the motor I9 is controlled by the main control board to drive the screw rod I8 to rotate forwards, the cleaning support plate 6 is driven by the corresponding slide block nut I21 to ascend to the position where the bottom of the Mecanum wheel 15 below the cleaning support plate 6 is at the same height as the stairs (as shown in figure 4), the Mecanum wheels 15 below the lower support plate 1 move forwards until the lower support plate 1 is in contact with the stairs, then the Mecanum wheels 15 below the lower support plate 1 reciprocate transversely, the cleaning motor 5 drives the corresponding cleaning brushes 4 to rotate forwards and backwards to form an inward cleaning resultant force, so that garbage and dust are swept into the opening of the dust storage box 3, and in the transverse cleaning process, if the whisker sensor 7 on one side touches the wall, the Mecanum wheels 15 below the lower support plate 1 move reversely, the robot will sweep in the opposite direction, when the whisker sensor 7 or the gray sensor on the other side touches the wall on the other side, the cleaning is stopped, the cleaning of the front half part of the stair is completed, then the motor I9 and the motor II 11 respectively drive the corresponding screw I8 and the corresponding screw II 12 to rotate reversely, the slider nut I21 and the slider nut II 20 should move downwards, but because the Maxam wheel 15 below the cleaning support plate 6 and the clean support plate 13 is supported on the ground and cannot continue to move downwards, at this time, the slider nut I21 and the slider nut II 20 are fixed (the cleaning support plate and the clean support plate are both fixed), the screw I8 and the screw II 12 rotate upwards while rotating, the corresponding motor I9 and the corresponding motor II 11 are pushed upwards, so that the whole upper support plate 10 and the lower support plate 1 (namely the whole driving mechanism) are upwards, and after the robot is lifted to the same height as the stair (as shown in figure 5), the cleaning support plate 6 and the Mecanum wheels 15 of the cleaning support plate 13 move forwards, the lower support plate 1 moves to the front half part of the stair, the cleaning support plate 6 moves to the rear half part of the stair, and the Mecanum wheels 15 below the lower support plate 1 drive the whole mechanism to move transversely to clean the rear half part of the same stair. Finally, the motor II 11 drives the screw II 12 to rotate forwards, the corresponding slide block nut II 20 drives the clean support plate 13 to ascend to the same height as the stairs (as shown in figure 6), the high-pressure spray head of the water tank 16 starts to spray water mist on the ground, and the clean ground motor 14 drives the cleaning cloth 18 to rotate to wipe the ground. The above actions are circulated, so that the functions of climbing, cleaning and cleaning the floor of the robot can be completed.
Claims (5)
1. A stair cleaning robot, characterized in that: the robot comprises a cleaning mechanism, a driving mechanism, a floor cleaning mechanism, a cleaning support plate, a floor cleaning support plate and Mecanum wheels; the driving mechanism comprises an upper support plate, a lower support plate, a screw I, a screw II, a motor I, a motor II and a guide rod; the number of the guide rods is four; the four corners of the upper support plate and the lower support plate are fixedly connected through corresponding guide rods; the two guide rods are fixedly sleeved on the two side walls of the lower support plate and at the middle positions of the two corresponding guide rods; through holes matched with the corresponding screw I and screw II are formed in the two fixed sleeves; mecanum wheels are uniformly arranged at the lower end of the lower support plate; the motor I and the motor II are respectively arranged at the two sides of the upper supporting plate; one ends of the screw I and the screw II are in transmission connection with output shafts of the corresponding motor I and the motor II, and the other ends of the screw I and the screw II are provided with a slide block nut I and a slide block nut II which are matched with the screw I and the screw II and extend out of corresponding through holes of the fixed sleeve; the cleaning support plate and the cleaning support plate are L-shaped, and the vertical parts of the cleaning support plate and the cleaning support plate are fixedly connected with corresponding slide block nuts; connecting blocks are respectively arranged on the side walls of the opposite sides of the vertical parts of the cleaning support plate and the cleaning support plate along the two sides of the corresponding slide block nuts; the four guide rods penetrate through the corresponding connecting blocks; the cleaning support plate and the cleaning support plate are respectively provided with a cleaning mechanism and a cleaning mechanism, and the lower ends of the cleaning support plate and the cleaning support plate are uniformly provided with two Mecanum wheels.
2. A stair cleaning robot as claimed in claim 1, wherein: the sweeping mechanism comprises a sweeping brush, a dust storage box and a sweeping motor; the number of the sweeping brushes is two; the two sweeping brushes are respectively and rotatably arranged at the position below the horizontal part of the sweeping support plate through corresponding sweeping motors; the dust storage box is detachably arranged at the middle position of the two sweeping brushes below the horizontal part of the sweeping support plate, and an opening is formed in the dust storage box close to the outer side.
3. A stair cleaning robot as claimed in claim 2, wherein: the floor cleaning mechanism comprises cleaning cloth, a cleaning motor, a cleaning shaft and a water tank; the cleaning motor is arranged above the cleaning support plate; one end of the cleaning shaft is in transmission connection with the output shaft of the cleaning motor, and the other end of the cleaning shaft extends out of the floor cleaning support plate and is detachably connected with the cleaning cloth; the water tank is arranged below the clean floor plate; the water tank is provided with a high-pressure spray head communicated with the water tank.
4. A stair cleaning robot as claimed in claim 3 wherein: the robot also comprises a tentacle sensor and an ultrasonic sensor; the number of the whisker sensors is two; the two whisker sensors are arranged at the positions of two sides of the sweeping support plate; the ultrasonic sensor is arranged on the sweeping support plate and at one end position far away from the guide rod.
5. A stair cleaning robot as claimed in claim 4, wherein: the robot also comprises a main control board; the main control board is arranged on the lower support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120092783.6U CN214484414U (en) | 2021-01-13 | 2021-01-13 | Stair cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120092783.6U CN214484414U (en) | 2021-01-13 | 2021-01-13 | Stair cleaning machines people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214484414U true CN214484414U (en) | 2021-10-26 |
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ID=78215357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120092783.6U Active CN214484414U (en) | 2021-01-13 | 2021-01-13 | Stair cleaning machines people |
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| Country | Link |
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| CN (1) | CN214484414U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115462706A (en) * | 2022-06-10 | 2022-12-13 | 北京建筑大学 | Liftable formula stair cleaning machines people |
-
2021
- 2021-01-13 CN CN202120092783.6U patent/CN214484414U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115462706A (en) * | 2022-06-10 | 2022-12-13 | 北京建筑大学 | Liftable formula stair cleaning machines people |
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