CN216823241U - Spiral wheel set stair-climbing cleaning trolley based on thread fit principle - Google Patents

Abstract

The utility model discloses a spiral wheel group stair-climbing cleaning vehicle, which comprises a synchronous belt transmission mechanism, a stair-climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism; Cooperate to realize the movement on the stairs; the transmission of the lifting mechanism can easily realize the conversion of the stair-climbing cleaning vehicle's flat road walking action and the stair-climbing action; using the Mecanum wheel as a moving mechanism improves the flexibility of the stair-climbing cleaning vehicle, making The stair cleaning vehicle can work in more different environments; it is a stair-climbing cleaning vehicle that can go up and down the stairs smoothly, quickly, efficiently and flexibly under automatic control.

Description

A spiral wheel set climbing cleaning vehicle based on the principle of thread coordination

technical field

The utility model belongs to the technical field of intelligent cleaning, and particularly provides a stair-climbing cleaning vehicle with a spiral wheel set based on the principle of thread cooperation.

Background technique

With the rapid development of science and technology, robots have rapidly developed from traditional industrial manufacturing to different fields of society, such as medical services, education and entertainment, exploration and surveying, disaster relief, and intelligent transportation. Nowadays, more and more robots appear in our daily life, and robots have become an indispensable part of many people's lives. At the same time, the increasingly complex unstructured environment puts forward new requirements for the types and structures of robots. The research on obstacle-crossing robots in unstructured environments is of great significance for expanding the working space of robots. Among them, the stair climbing robot uses artificial intelligence and its own structure to achieve stair climbing work, and can autonomously complete the handling and processing of people or goods in special spaces. Its use value is gradually accepted and recognized by people. At present, there are four main types of stair climbing robots on the market, namely wheeled stair climbing robots, crawler stair climbing robots, swing arm stair climbing robots, and legged stair climbing robots. In general, these stair climbing robots generally have the disadvantages of low turning efficiency, relatively low speed, cumbersome movements, and low ladder climbing efficiency. Therefore, it is very important to develop a stair-climbing robot that can go up and down the stairs smoothly, quickly and efficiently under automatic control, and has the advantages of compact structure, simple and efficient, and stable movement compared with the traditional stair-climbing robot.

SUMMARY OF THE INVENTION

The purpose of the present utility model is to provide a spiral wheel group stair-climbing cleaning vehicle based on the principle of thread coordination, so as to solve the problems raised in the above-mentioned background technology.

In order to achieve the above purpose, the technical scheme of the present utility model is as follows: a spiral wheel group stair-climbing cleaning vehicle based on the principle of thread cooperation, comprising a synchronous belt transmission mechanism, a stair-climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism, and is characterized in that : The synchronous belt transmission mechanism includes a second stepping motor, a large synchronous wheel, a small synchronous wheel, a large gear, a small tooth and a synchronous belt; the two large synchronous wheels are installed on both sides of the side main board, and the second stepping motor is fixed On the side mainboard, the large gear and the large synchronous wheel are coaxially connected to the second stepper motor, the pinion is fixed on the side mainboard through the shaft, the pinion and the small synchronous wheel are coaxially connected, and the pinion and the large tooth mesh with each other to synchronize The wheels are connected by a synchronous belt, the second stepping motor drives the large gear to rotate, the large gear drives the small gear, and the gear drive drives the synchronous wheel to rotate through the synchronous belt transmission. The stair climbing mechanism includes a wheel train and a fixing device; the wheel train includes 12 left-handed wheels and 12 right-handed wheels; the fixing device includes a wheel fixing frame, a rotating shaft fixing frame, a rotating shaft, and a flange bearing, The wheel fixing frame is fixed on the rotating shaft in a spiral distribution, the rotating shaft fixing frame is connected with the rotating shaft, the front and rear ends of each rotating shaft are connected with a rotating shaft fixing frame, and each rotating shaft fixing frame is fixed on the two sides. ; The moving mechanism includes a Mecanum wheel set, a first step motor, and a lateral gear box; the Mecanum wheel set consists of 4 Mecanum wheels, each Mecanum wheel and 1 Side gear box combination; four gears of different sizes are used inside the side gear box to realize secondary transmission; the lifting mechanism includes a fixed plate, a connecting shaft, a hydraulic rod, a fixed rod, a connecting rod, a lifting bar, a bracket plate, aluminum profile frame and electric push rod; the fixed plates are respectively fixed on the upper main board, the fixed plate acts as a limit lift bar, the lower part of the lift bars on both sides is connected with a connecting rod, and the middle of the connecting rod is connected with the electric push rod When the electric push rod rotates, it drives the connecting rod to move horizontally, so that the lifting bar can realize the lifting function. The upper part of the lifting bar is connected with the bracket plate, the bracket plates on both sides are fixed to each other by a plurality of aluminum profile frames, the connecting shaft is fixed on the bracket plate, and is connected with the hydraulic rod and the fixing rod. The cleaning mechanism includes a suction-sweeping mechanism and a mopping mechanism; the suction-sweeping mechanism includes a suction-sweeper base plate, a suction-sweeper base plate support, a suction-sweep fan, a suction pipe and a universal wheel, and the two sides of the suction-sweeper base plate are respectively It is connected with a bottom bracket of the vacuum cleaner, a vacuum fan is installed on each bottom bracket of the vacuum cleaner, the dust suction pipe is fixed in the center of the bottom plate of the vacuum cleaner, and a universal wheel is installed on both sides of the bottom plate of the vacuum cleaner; The mopping mechanism includes a solenoid valve, a box body, a shunt pipe, collodion and a partition; the solenoid valve is fixed in the box body, the shunt pipe is connected with the solenoid valve, the collodion is installed at the bottom of the outer side of the box body, and the partition plate is fixed on Above the solenoid valve inside the box.

Compared with the prior art, the beneficial effect of the utility model is that the design of the spiral wheel group stair-climbing cleaning vehicle is more innovative among similar products at home and abroad, and the wheel group spiral structure is adopted. In the stair-climbing mechanism assembly, the resultant cyclic action of the frictional forward force with the stair surface when the forward spiral wheel rotates and the frictional forward force with the stair surface when the back spiral wheel rotates is circulated as a kind of the spiral spiral wheel. The stair-climbing power of the stair-climbing type, the friction component perpendicular to the advancing direction of the stair surface when the left-handed wheel rotates and the frictional advancing component that is perpendicular to the advancing direction of the stair surface when the right-handed wheel rotates cancel each other out, driving the stair-climbing robot to achieve Up and down stairs. The lifting mechanism adopts a combined structure of chain drive and screw nut drive, which can easily realize the conversion between the stair-climbing robot's flat-road walking action and the stair-climbing action. The use of Mecanum wheels increases the flexibility of the cleaning vehicle, allowing the cleaning vehicle to work in more diverse environments.

In general, the spiral wheel group stair-climbing cleaning vehicle has the advantages of simple structure, easy manufacture, flexibility, low cost, good safety performance, and has the advantages of simplicity, efficiency and smooth movement compared with the traditional ladder-climbing robot.

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments.

Description of drawings

Fig. 1 is the structural representation of a kind of spiral wheel group stair-climbing cleaning vehicle of the present utility model;

Fig. 2 is a bottom view of a spiral wheel group stair-climbing cleaning vehicle of the present utility model;

Figure 3 is a schematic diagram of the moving mechanism of a spiral wheel group stair-climbing cleaning vehicle of the present invention;

Figure 4 is a partial view of the transmission mechanism of a spiral wheel group stair-climbing cleaning vehicle of the present invention;

Figure 5 is a schematic diagram of the lifting mechanism of a spiral wheel group stair-climbing cleaning vehicle of the present invention;

6 is a schematic diagram of the mopping and washing mechanism of a spiral wheel group stair-climbing cleaning vehicle of the present invention;

7 is a schematic diagram of the suction-sweeping mechanism of a spiral wheel group stair-climbing cleaning vehicle of the present invention;

In the figure, the main board 1, the left-hand wheel 2, the side board 3, the right-hand wheel 4, the rotating shaft 5, the rotating shaft fixing frame 6, the flange bearing 7, the wheel fixing frame 8, the mecanum wheel 9, the first step motor 10 , side gear set 11 , hydraulic rod 12 , lifting bar 13 , bracket plate 14 , fixed plate 15 , large synchronous wheel 16 , synchronous belt 17 , small synchronous wheel 18 , pinion 19 , second stepper motor 20 , large gear 21, connecting shaft 22, aluminum profile frame 23, electric push rod 24, connecting rod 25, fixing rod 26, solenoid valve 27, partition 28, box body 29, shunt pipe 30, rubber cotton 31, suction and sweeper bottom plate 32, The bottom bracket of the suction sweeper 33 , the universal wheel 34 , the suction sweeping fan 35 , and the suction duct 36 .

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the examples of the present utility model. The synchronous belt transmission mechanism, the stair climbing mechanism, the moving mechanism, the lifting mechanism and the cleaning mechanism are characterized in that: the synchronous belt transmission mechanism as shown in FIG. The large gear 21, the pinion 19 and the synchronous belt 17; the two large synchronous wheels 16 are installed on both sides of the side main board 3, the second stepper motor 20 is fixed on the side main board 3, the large gear 21 and the large synchronous wheel 16 and the second The stepping motor 20 is coaxially connected, the pinion gear is fixed on the side main board 3 through the shaft, the pinion gear 19 and the small synchronizing wheel 18 are coaxially connected, the pinion gear 19 and the large gear 21 are meshed with each other, and the synchronizing wheels are connected by a synchronous belt 17, The second stepping motor 20 drives the large gear 21 to rotate, and the large gear 21 drives the pinion 19; the gear drive drives the synchronous wheel to rotate through the synchronous belt drive, and makes the wheel mechanisms on the left and right sides turn in opposite directions to offset the generation of the stair-climbing mechanism. of lateral friction.

The stair climbing mechanism shown in Figure 1, Figure 2 and Figure 3 includes 12 left-handed wheels 2 and 12 right-handed wheels 4, wheel fixing frame 8, rotating shaft fixing frame 6, rotating shaft 5, flange bearing 7; wheel fixing frame 8. As shown in Figure 2, it is fixed on the rotating shaft 5 in a spiral distribution. The rotating shaft fixing frame 6 is connected with the rotating shaft 5. The front and rear ends of each rotating shaft 5 are connected with a rotating shaft fixing frame 6. The flange bearings 7 on the main board 3 on both sides are connected. Due to the spiral distribution of the left-handed wheel 2 and the right-handed wheel 4, the contact with the stairs is continuous and stable, so the climbing process will be relatively stable.

The moving mechanism shown in FIG. 3 includes a Mecanum wheel set, a first step motor 10 and a lateral gear box 11; the Mecanum wheel set is composed of four Mecanum wheels 9, each Mecanum wheel 9 Combined with a side gear box 11; the side gear box 11 uses 4 gears of different sizes to realize the secondary transmission, and the end of the side gear box 11 is connected with the first step motor 10, and realizes the increase of the maximum torque. function, increase the compactness of the structure, and save the finishing space.

The lifting mechanism shown in FIG. 5 includes a fixed plate 15, a connecting shaft 22, a hydraulic rod 12, a fixed rod 26, a connecting rod 25, a lifting bar 13, a bracket plate 14, an aluminum profile frame 23 and an electric push rod 24; The fixing plates 15 are respectively fixed on the upper main board 1. The fixing plates 15 play the role of the limiting lifting bars 13. The lower parts of the lifting bars 13 on both sides are connected with a connecting rod 25, and the middle of the connecting rod 25 is connected with the electric push rod 24. When the rod 24 rotates, it drives the connecting rod 25 to move horizontally, so that the lifting bar 13 can realize the lifting and lowering function. The upper part of the lifting bar 13 is connected with the bracket plate 14 , the bracket plates 14 on both sides are fixed to each other by a plurality of aluminum profile frames 23 , and the connecting shaft 22 is fixed on the bracket plate 14 and is connected with the hydraulic rod 12 and the fixing rod 26 .

The cleaning mechanism shown in FIG. 6 and FIG. 7 includes a suction-sweeping mechanism and a mopping mechanism; the suction-sweeping mechanism includes a suction-sweeper bottom plate 32, a suction-sweeper bottom plate bracket 33, a universal wheel 34, a suction-sweep fan 35 and a suction-sweeper bottom plate 32. The dust duct 36, the two sides of the vacuum cleaner bottom plate 32 are respectively connected with a vacuum cleaner bottom plate bracket 33, and a suction sweep fan 35 is installed on each vacuum cleaner bottom plate bracket 33, and the dust suction pipe 36 is fixed on the vacuum cleaner bottom plate 32. In the center, a universal wheel 34 is installed on both sides of the bottom plate 32 of the suction sweeper; the mopping mechanism includes a solenoid valve 27, a partition 28, a box 29, a shunt 30 and a rubber cotton 31; the solenoid valve 27 is fixed on the In the box body 29 , the shunt pipe 30 is connected to the solenoid valve 27 , the rubber cotton 31 is installed on the bottom of the outer side of the box body 29 , and the partition plate 28 is fixed above the solenoid valve 27 inside the box body 29 .

The working principle of the device is as follows: when the spiral wheel group stair-climbing cleaning vehicle is cleaning, it will automatically open the lifting mechanism when facing the stairs, retract the Mecanum wheel 9 of the moving mechanism, and the synchronous belt transmission mechanism will start to work, driving the left rotation When the wheel 2 and the right-handed wheel 4 rotate, the frictional components perpendicular to the advancing direction of the stair surface cancel each other when the left-handed wheel 2 and the right-handed wheel 4 rotate, and the contact with the stair step is similar to the thread matching to realize the overall movement on the step. After reaching the flat ground, the Mecanum wheel 9 of the moving mechanism automatically unfolds, stops the operation of the synchronous belt transmission mechanism, and realizes multi-directional movement by controlling the steering and speed of the Mecanum wheel 9, so that the cleaning vehicle can continue to complete the cleaning work on the flat ground. The suction-sweeping mechanism removes and collects dust and other wastes through the rapid rotation of the suction-sweeping fan 35 and the action of the suction duct 36, and then completes the cleaning of the environment after mopping through the rear mopping mechanism when walking.

Matters not covered by the present invention are known in the art.

The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those who are familiar with the technology to understand the content of the present invention and implement accordingly, and cannot limit the protection scope of the present invention with this. All equivalent changes or modifications made according to the spirit of the present invention shall be included within the protection scope of the present invention.

Claims (6)

1. a spiral wheel group stair-climbing cleaning vehicle based on the principle of thread cooperation, comprising a synchronous belt drive mechanism, a stair-climbing mechanism, a moving mechanism, a lifting mechanism and a cleaning mechanism, it is characterized in that: the synchronous belt transmission mechanism comprises the first Two stepper motors, large synchronous wheel, small synchronous wheel, large gear, small teeth and synchronous belt; 2 large synchronous wheels are installed on both sides of the side board, the second stepper motor is fixed on the side board, the large gear and the large synchronous belt The wheel is coaxially connected to the second stepper motor, the pinion is fixed on the side mainboard through the shaft, the pinion and the small synchronous wheel are coaxially connected, the pinion and the large tooth mesh with each other, and the synchronous wheel is connected by a synchronous belt, the second step The motor drives the big gear to rotate, the big gear drives the pinion, and the gear drive drives the synchronous wheel to rotate through the synchronous belt; the stair climbing mechanism includes a gear train and a fixing device; the gear train includes 12 left-handed wheels and 12 Right-rotating wheel; the fixing device includes a wheel fixing frame, a rotating shaft fixing frame, a rotating shaft, and a flange bearing, the wheel fixing frame is fixed on the rotating shaft in a spiral distribution, and the rotating shaft fixing frame is connected with the rotating shaft. There is a rotating shaft fixing frame connected, and each rotating shaft fixing frame is connected with the flange bearings fixed on the main board on both sides; because of the spiral distribution of the wheels, the contact with the stairs is continuous and stable, so the climbing process will be relatively stable; The moving mechanism includes a Mecanum wheel set, a first step motor, and a lateral gear box; the Mecanum wheel set is composed of 4 Mecanum wheels, each Mecanum wheel and a lateral Gearbox combination; four gears of different sizes are used inside the side gear box to realize secondary transmission, and the end of the side gear box is connected with the first step motor, and realizes the function of increasing the maximum torque and increasing the compactness of the structure. save space; The lifting mechanism includes a fixed plate, a connecting shaft, a hydraulic rod, a fixed rod, a connecting rod, a lifting bar, a bracket plate, an aluminum profile frame and an electric push rod; The function of the lifting bar, the lower part of the lifting bar on both sides is connected with a connecting rod, and the middle of the connecting rod is connected with the electric push rod. When the electric push rod rotates, the connecting rod moves horizontally, so that the lifting bar can realize the lifting function; the upper part of the lifting bar is connected with the electric push rod. It is connected with the bracket plate, the bracket plates on both sides are fixed to each other through a plurality of aluminum profile frames, the connecting shaft is fixed on the bracket plate, and is connected with the hydraulic rod and the fixing rod; the cleaning mechanism includes a suction-sweeping mechanism and a mopping mechanism; The suction-sweeping mechanism includes a suction-sweeper base plate, a suction-sweeper base-plate support, a suction-sweeping fan, a suction pipe and a universal wheel. A suction sweeping fan is installed on the bracket, the suction pipe is fixed in the center of the suction sweeper bottom plate, and a universal wheel is respectively installed on both sides of the suction sweeper base plate; the mopping mechanism includes a solenoid valve, a box body, a shunt pipe, Glue cotton and partition; the solenoid valve is fixed in the box body, the shunt pipe is connected with the solenoid valve, the rubber cotton is installed at the bottom of the outer side of the box body, and the partition plate is fixed above the solenoid valve inside the box body. 2. A kind of spiral wheel set climbing cleaning vehicle based on the principle of thread cooperation according to claim 1, it is characterized in that: described wheel mechanism comprises a plurality of left-handed wheels and right-handed wheels, left-handed wheels and right-handed wheels When rotating, the friction components perpendicular to the advancing direction of the stair surface cancel each other out, and the contact between the wheel and the stair step is similar to the thread fit to realize the overall movement on the step. 3. A kind of spiral wheel group stair-climbing cleaning vehicle based on the principle of thread cooperation according to claim 1, characterized in that: the Mecanum wheel is combined with a side gear box; the side gear box Four gears of different sizes are used internally to realize secondary transmission. The end of the lateral gear box is connected to the stepper motor. The secondary transmission delivers the torque of the motor, and achieves the effect of increasing the maximum torque, increasing the compactness of the structure and saving the finishing space. . 4. A kind of helical wheel group climbing cleaning vehicle based on the principle of thread matching according to claim 1, is characterized in that: the second stepping motor of the synchronous belt transmission mechanism drives the large gear to rotate, and the large gear drives the small gear to rotate. Gear, gear drive drives the synchronous wheel to rotate through the synchronous belt, and makes the left-handed wheel and the right-handed wheel turn opposite to offset the lateral friction force generated by the stair climbing mechanism. The connection between the synchronous wheel and the synchronous belt increases the synchronization of the rotation of the two sides sex. 5. A kind of screw-type wheel group stair-climbing cleaning vehicle based on the principle of thread cooperation according to claim 1, characterized in that: the fixed plates of the lifting mechanism are respectively fixed on both sides of the upper main board, and the fixed plates lift up and down from the limit The lower part of the lifting bars on both sides is connected with a connecting rod, and the middle of the connecting rod is connected with the electric push rod. When the electric push rod rotates, it drives the connecting rod to move horizontally, so that the lifting bar can realize the lifting function, so as to easily complete the The conversion of the stair-climbing robot's flat-road walking action and the stair-climbing action. 6. A kind of spiral wheel group stair-climbing cleaning vehicle based on the principle of thread cooperation according to claim 1, characterized in that: the cleaning mechanism comprises a suction-sweeping mechanism and a mopping-cleaning mechanism, and the suction-sweeping mechanism is located in the stair-climbing cleaning mechanism. In front of the forward direction of the car, the mopping and washing mechanism is located behind the forward direction of the stair-climbing cleaning car, which realizes the flow of the stair-climbing cleaning car's suction-sweeping-mowing action.

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