WO2023226857A1 - 一种基于可伸缩旋臂的楼梯清洁机器人 - Google Patents

一种基于可伸缩旋臂的楼梯清洁机器人 Download PDF

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Publication number
WO2023226857A1
WO2023226857A1 PCT/CN2023/094917 CN2023094917W WO2023226857A1 WO 2023226857 A1 WO2023226857 A1 WO 2023226857A1 CN 2023094917 W CN2023094917 W CN 2023094917W WO 2023226857 A1 WO2023226857 A1 WO 2023226857A1
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WO
WIPO (PCT)
Prior art keywords
swing arm
fuselage
rotating
driving wheel
wheel
Prior art date
Application number
PCT/CN2023/094917
Other languages
English (en)
French (fr)
Inventor
张磊
邵建根
苏雷
刘海涛
刘宇
姚兴田
戴丽娟
Original Assignee
南通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南通大学 filed Critical 南通大学
Priority to GB2410766.6A priority Critical patent/GB2629945A/en
Publication of WO2023226857A1 publication Critical patent/WO2023226857A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to the technical field of stair cleaning robots, and in particular to a stair cleaning robot based on a telescopic swing arm.
  • Fan Hongwei designed the structure and control system of a box-type stair cleaning robot based on the principle of lifting and telescopic to climb stairs.
  • This stair cleaning robot uses guide rails combined with gears and racks to move up and down stairs. It is also equipped with a center-of-mass adjustment mechanism and uses a vertical steering gear to connect to a motor bracket with wheels so that the wheels can turn in place.
  • Ultrasonic ranging modules are installed in front of the front working box and on the left and right sides, and the motion control of the stair cleaning robot is realized based on the microcontroller.
  • the main thing that the robot needs to detect is the distance signal. It uses an ultrasonic sensor array to collect the signal.
  • the collected signal is processed by the embedded microcontroller, and instructions are issued to the motor and steering gear according to the preset program to complete the corresponding action.
  • Distinguish signals between steps and flat areas Install two ultrasonic ranging modules 162mm above and below the automatic identification board to identify steps and flat surfaces and detect step height; when the robot collects the distance in front: it is mainly implemented using three ultrasonic modules , two ultrasonic modules are used to detect the distance between the body and the front steps or walls during longitudinal and lateral movement to keep it within the range of 5 to 10mm and can be fine-tuned; robot obstacle avoidance signal: the main purpose is to determine the robot's direction of travel.
  • Robot anti-fall signal The robot's working environment is a corridor, and each staircase has a height difference. In order to protect pedestrians and robots, anti-fall signal detection is very necessary . Since the front and rear boxes are on the same level when the robot is working normally, the ultrasonic module is installed vertically on the ground on the bottom of the front and rear boxes to directly detect the distance between the bottom of the box and the ground. However, due to its large size and bloated structure, it is inconvenient to move back and forth on the stair steps, so it has never been able to be introduced to the market.
  • Takahisa Kakudou et al. designed a box-type stair cleaning robot with legs.
  • the advantages of this robot are: the mechanical structure is relatively simple, making it easy to arrange the cleaning module; when on flat ground, the legs can be retracted It fits closely to the body, reducing its overall size.
  • the use of flip-down stairs has poor stability and increased control difficulty. Therefore, the above-mentioned common problem of walking on stairs of different heights cannot be solved.
  • the present invention applies for a stair cleaning robot based on a telescopic arm, which is expected to fill such gaps and solve the problems of stair cleaning robots walking on stairs of different heights. This is of great significance to the practical application of stair cleaning robots. and value.
  • the purpose of the present invention is to solve the shortcomings existing in the prior art and propose a stair cleaning robot based on a telescopic swing arm.
  • the telescopic swing arm can be used to walk on stairs of different heights, thereby improving the robot's performance.
  • the range of stairs to be cleaned is to go downstairs without turning around, which greatly saves the time for the robot to go downstairs, thereby improving the cleaning efficiency and improving the practical application value of the robot.
  • a stair cleaning robot based on a telescopic swing arm including a cleaning robot body.
  • the cleaning robot body includes a fuselage, a control system located at the top of the fuselage, and a cleaning mechanism located at the bottom of the fuselage.
  • a first telescopic swing arm mechanism is provided on the left side, and a second telescopic swing arm mechanism is provided on the right side of the fuselage. The first telescopic swing arm mechanism and the second telescopic swing arm mechanism Left and right symmetrical settings;
  • the control system includes a control panel, a battery and a radar arranged on a control seat.
  • the radar is provided with a first reset sensor on one side, and a second reset sensor is provided on one side of the control panel.
  • the second reset sensor The sensor and the first reset sensor are arranged symmetrically left and right.
  • the control seat is also provided with a first photoelectric sensor and a second photoelectric sensor. The first photoelectric sensor and the second photoelectric sensor are arranged on one side of the fuselage in the direction of going downstairs.
  • the fuselage includes a shell and a bottom plate provided at the bottom of the shell.
  • the bottom plate is provided with a first main drive wheel, a second main drive wheel, a third main drive wheel, and a fourth main drive wheel driven by a motor. wheel, a first universal wheel and a second universal wheel; the first main drive wheel, the third main drive wheel and the first universal wheel are distributed on the left side of the fuselage, the second main drive wheel, The fourth main drive wheel and the second universal wheel are distributed on the right side of the fuselage;
  • the inner side of the base plate is provided with a horizontally arranged rotating spindle.
  • the middle position of the rotating spindle is provided with a swing arm motor and a reducer.
  • One end of the rotating spindle is provided with a first shaft end fixing seat and a first bearing.
  • the other end of the main shaft is provided with a second shaft end fixing seat and a second bearing;
  • the rotating main shaft is arranged perpendicularly to the axial direction of the first main driving wheel, the second main driving wheel, the third main driving wheel and the fourth main driving wheel. ;
  • the first shaft end fixing seat and the second shaft end fixing seat are both fixedly connected to the bottom plate, and the first shaft end fixing seat passes through the first shaft end fixing seat.
  • the bearings are connected and rotate with each other, and the second shaft end fixed seat is connected with the second bearing and rotate with each other;
  • the housing is provided with a housing baffle, and a first roller and a second roller are provided inside the housing baffle.
  • the first roller and the second roller are connected through a connecting piece and rotate.
  • the cleaning mechanism includes a first rotating brush, a second rotating brush, a third rotating brush and a fourth rotating brush driven by a motor, and a first rolling brush and a second rolling brush driven by a motor.
  • the first rotating brush and the third rotating brush are distributed on the left side of the fuselage and rotate relative to each other, and the second rotating brush and the fourth rotating brush are distributed on the right side of the fuselage and rotate relative to each other.
  • the cleaning mechanism also includes a fan and a dust box located inside the fuselage, the fan and the dust box Connected, a dust suction port is provided between the first roller brush and the second roller brush, and the fan forms a negative pressure at the dust suction port for sucking the cleaned garbage into the dust box.
  • the first telescopic swing arm mechanism and the second telescopic swing arm mechanism have the same structure.
  • the first telescopic swing arm mechanism includes an active boom connected to the rotating main shaft, and an active boom connected to the main shaft of the rotation.
  • the driven arm is connected with the arm.
  • the inner wall of the active arm is provided with a driving pulley, a third bearing and a push rod seat.
  • the first shaft end fixed seat and the driving pulley are fixedly connected by screws.
  • the driving pulley is connected to the rotating main shaft through the third bearing and forms mutual rotation;
  • the driven pulley, the tensioner spiral arm and the push rod rod are respectively provided on the inner wall of the driven arm, and the One end of the push rod rod is connected to the driven boom, and the other end of the push rod rod is connected to the push rod seat;
  • a first tension pulley and a second tension pulley are respectively provided on the swing arm of the tension pulley, and a transmission belt is connected to the driving pulley, the first tension pulley, the second tension pulley and the driven pulley.
  • the rotating arm of the tensioning wheel is fixedly connected to the rotating shaft of the tensioning wheel, and the rotating shaft of the tensioning wheel and the driven arm are connected through a torsion spring and rotate with each other; the driven pulley passes through the rotating shaft. It is connected with the rotating arm, which is arranged on the outside of the driven arm and forms mutual rotation with the driven arm.
  • the first, second, third and fourth main driving wheels are Mecanum wheels.
  • the present invention has the following beneficial effects:
  • the present invention adopts a telescopic arm, and makes the direction of the main driving wheel and the rotating main axis of the driving arm consistent (that is, the driving wheel axis is perpendicular to the rotating main axis), so that the robot can directly pass the rotating arm at the edge of the stairs without turning around. Go downstairs.
  • This method greatly saves the time for the robot to go downstairs (because there is no need to turn around). You can Walking on stairs of different heights increases the range of stairs that the robot can clean, thus laying a good foundation for its promotion and application.
  • the present invention adopts the method of designing rollers at the rear, so that the robot can move forward along the tread surface against the rising surface.
  • the present invention uses radar to detect whether there are obstacles in the forward direction, so that the robot can cope with various practical situations and improve the practical application value of the robot.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • FIG. 2 is a schematic structural diagram of the control system in the present invention.
  • Figure 3 is a bottom view of the cleaning mechanism in the present invention.
  • Figure 4 is a front view of the cleaning mechanism in the present invention.
  • Figure 5 is a schematic structural diagram of the side and front of the first retractable swing arm mechanism in the present invention.
  • Figure 6 is a schematic structural diagram of the side and rear of the first retractable swing arm mechanism in the present invention.
  • Figure 7 is a bottom view of the fuselage of the present invention.
  • Figure 8 is a top view of the fuselage of the present invention.
  • Figure 9 is a front view of the fuselage of the present invention.
  • FIGs 10-15 are schematic diagrams of the working principle state of the present invention.
  • the front, rear, left, and right orientations of the robot in this embodiment are as shown in Figure 1, and the movement of the robot on the tread surface of the present invention refers to the robot moving on the tread surface in the left and right directions, that is, walking sideways left and right like a crab. , rather than focusing on moving forward.
  • a stair cleaning robot based on a telescopic swing arm includes a cleaning robot body.
  • the cleaning robot body includes a fuselage 5, a control system 1 located on the top of the fuselage 5, and a control system 1 located on the top of the fuselage 5.
  • the cleaning mechanism 2 at the bottom has a first telescopic arm mechanism 3 on the left side of the fuselage 5 and a second telescopic arm mechanism 4 on the right side of the fuselage 5.
  • the telescopic arm mechanism 3 and the second telescopic arm mechanism 5 are arranged symmetrically.
  • the control system 1 includes a control panel 6, a battery 7 and a radar 12 arranged on a control seat.
  • a first reset sensor 8 is provided on one side of the radar 12, and a first reset sensor 8 is provided on one side of the control panel 6.
  • a second reset sensor 9 is provided on the side.
  • the second reset sensor 8 and the first reset sensor 9 are arranged symmetrically.
  • the control seat is also provided with a first photoelectric sensor 10 and a second photoelectric sensor 11.
  • the first The photoelectric sensor 10 and the second photoelectric sensor 11 are arranged on the downstairs direction side of the fuselage 5 for downward illumination; among them, the first reset sensor 9 and the second reset sensor 8, and the first universal wheel 39 described below
  • the second universal wheels 42 are distributed on both sides of the fuselage and form two sounding structures.
  • Sounding means downward detection of whether it is empty (empty); signals detected through two infrared photoelectric sensors and the sounding structure , the control system determines whether the fuselage sticks out of the stair treads to prevent falling.
  • the radar 12 always detects whether there are obstacles in the forward direction, such as walls or railings, and obtains the position of the robot on the steps.
  • the cleaning mechanism 2 includes a first rotating brush 13, a second rotating brush 14, a third rotating brush 15 and a fourth rotating brush 16 driven by a motor.
  • the driven first roller brush 17 and the second roller brush 18; the first rotating brush 13 and the third rotating brush 15 are distributed on the left side of the fuselage 5 and perform relative rotational motion, and the second rotating brush 14 and the fourth rotating brush 16 are distributed on the right side of the fuselage 5 and perform relative rotation motion.
  • the first roller brush 17 and the second roller brush 18 are distributed in the middle position of the fuselage 5 and perform relative rotation motion; so
  • the cleaning mechanism 2 also includes a fan 19 located inside the fuselage 5 and Dust box 20, the fan 19 is connected to the dust box 20, the interface between the fan 19 and the dust box 20 is sealed, and a dust suction port 54 is provided between the first roller brush 17 and the second roller brush 18.
  • first rotating brush 13, second rotating brush 14, third rotating brush 15 and fourth rotating brush 16 are used to clean garbage, and sweep the garbage to the first roller brush 17 and
  • the dust suction port 54 between the second roller brushes 18, and under the action of the fan 19, creates a negative pressure at the dust suction port 54 for sucking the cleaned garbage into the dust box 20 to realize the cleaning function.
  • the fuselage 5 includes a shell 50 and a bottom plate 36 located at the bottom of the shell 50.
  • the bottom plate 36 is provided with a first main drive wheel 37 and a second main drive wheel driven by a motor. wheel 38, the third main driving wheel 40, the fourth main driving wheel 41, the first universal wheel 39 and the second universal wheel 42; the first main driving wheel 37, the third main driving wheel 40 and the first universal wheel
  • the directional wheel 39 is distributed on the left side of the fuselage 5
  • the second main driving wheel 38 , the fourth main driving wheel 41 and the second universal wheel 42 are distributed on the right side of the fuselage 5 .
  • a horizontally arranged rotating spindle 45 is provided inside the bottom plate 36.
  • a swing arm motor 46 and a reducer 47 are provided in the middle of the rotating spindle 45.
  • One end of the rotating spindle 45 is provided with a first shaft end fixing seat. 43 and the first bearing 44.
  • the other end of the rotating main shaft 45 is provided with a second shaft end fixed seat 48 and a second bearing 49; the rotating main shaft 45 is connected with the first main driving wheel 37, the second main driving wheel 38, The third main driving wheel 40 and the fourth main driving wheel 41 are arranged vertically in the axial direction; the first shaft end fixing seat 43 and the second shaft end fixing seat 48 are both fixedly connected to the bottom plate 36, and the first shaft end is fixed The seats 43 are connected through the first bearing 44 and rotate with each other, and the second shaft end fixed seat 48 is connected with the second bearing 49 and rotate with each other.
  • the housing 50 is provided with a housing baffle 51, and a first roller 52 and a second roller 53 are provided inside the housing baffle 51.
  • the first roller 52 and the second roller 53 are connected through a connecting piece. form a rotation.
  • the first main driving wheel 37 , the second main driving wheel 38 , the third main driving wheel 40 and the fourth main driving wheel 41 are all Mecanum wheels.
  • the rotating main shaft 45 is arranged perpendicularly to the axis direction of the first main driving wheel 37, the second main driving wheel 38, the third main driving wheel 40 and the fourth main driving wheel 41, so that the robot does not need to turn around and go downstairs or After going upstairs or going up the stairs, the main driving wheels of the robot walk along the tread surface (that is, the left and right directions of the main driving wheel axis perpendicular to the tread surface), so the robot can directly clean the stairs in the left and right directions driven by the main driving wheels.
  • the robot doesn't have to turn around. It should be noted that the so-called turning around here refers to: the robot circles itself in place. The vertical central axis of the body is rotated 90 degrees.
  • the first telescopic arm mechanism 3 and the second telescopic arm mechanism 4 have the same structure.
  • the first telescopic arm mechanism 3 includes a rotating main shaft 45
  • the connected active boom 23 and the driven boom 24 connected to the active boom 23 are respectively provided with a driving pulley 21, a third bearing 22 and a push rod seat 27 on the inner wall of the active boom 23.
  • the first shaft end fixed seat 43 and the driving pulley 21 are fixedly connected by screws.
  • the driving pulley 21 is connected to the rotating main shaft 45 through the third bearing 22 and forms mutual rotation; the inner side of the driven arm 23
  • a driven pulley 25, a tensioning wheel arm 30 and a push rod rod 28 are respectively provided on the wall.
  • One end of the push rod rod 28 is connected to the driven boom 24, and the other end of the push rod rod 28 is connected to the driven arm 24.
  • One end is connected with push rod seat 27.
  • the tension wheel arm 30 is provided with a first tension wheel 29 and a second tension wheel 31 respectively.
  • the driving pulley 21, the first tension wheel 29, the second tension wheel 31 and the slave A transmission belt 26 is connected to the moving pulley 25 .
  • the tensioning wheel arm 30 is fixedly connected to the tensioning wheel rotating shaft 35.
  • the tensioning wheel rotating shaft 35 and the driven arm 24 are connected through a torsion spring 34 and form mutual rotation; the driven belt
  • the wheel 25 is connected to the rotating arm 33 through the rotating shaft 32.
  • the rotating arm 33 is arranged on the outside of the driven arm 24 and rotates with the driven arm 24.
  • the working principle of the invention before the robot is ready to go downstairs, it relies on the principle that the pair of main driving wheels (Mecanum wheels) can make the robot's body move laterally (normally, the robot moves left and right along the tread surface).
  • the Mecanum wheels rotate in the same direction as ordinary wheels; when the robot is preparing to go downstairs, the pairs of Mecanum wheels are rotated in reverse, so that the robot leans forward and is ready to go downstairs. ), making the robot slightly protrude from the stair riser.
  • Figure 10 is a schematic diagram of the robot slightly protruding its body to prepare to go downstairs. Then the rotating spindle 45 rotates clockwise to drive the rotating arm 23 to rotate clockwise.
  • the first shaft end fixed seat 43 and the driving pulley 21 rotate counterclockwise relative to the driving arm 23.
  • the driving pulley 21 drives the transmission belt 26 to rotate counterclockwise.
  • the driving belt 26 The driven pulley 25 is driven to rotate counterclockwise, the driven pulley 25 drives the rotating shaft 32 to rotate counterclockwise, and the rotating shaft 32 drives the rotating arm 33 to rotate counterclockwise, so that the entire swivel arm mechanism is unfolded, as shown in Figure 11.
  • the rotating arm 33 serves as a supporting arm and is relatively stationary with the staircase.
  • FIG. 12 shows the working principle diagram of the first telescopic swing arm.
  • FIG. 13 is a schematic diagram of the working principle of the telescopic swing arm.
  • the swing arm designed in the present invention is telescopic. If the swing arm is extended, the motor drives the push rod rod 28 to move to the right, and the thrust of the push rod rod 28 causes the tensioning device (tension wheel swing arm 30, first tension wheel 29, second tension wheel 31 ) overcomes the counterclockwise torque of the torsion spring 34 and rotates clockwise, the active boom 23 and the driven boom 24 separate from each other along the guide rail, and the overall length of the swing arm becomes longer.
  • tensioning device tension wheel swing arm 30, first tension wheel 29, second tension wheel 31
  • the motor reversely rotates to retract the push rod, the active boom 23 and the driven boom 24 close together along the guide rail, the overall length of the swing arm becomes shorter, and the push rod
  • the recovery force plus the reset torque of the torsion spring 34 of the tensioning device can complete the above-mentioned retraction movement.
  • Figure 14 is a schematic diagram of the working principle of the robot moving along the tread surface by relying on the riser surface.
  • rollers are designed at the rear so that the first roller 52 and the second roller 53 are in contact with the riser surface. Stay in contact and roll. Since the rear of the robot is in close contact with the stair riser, if the swing arm is in the posture shown in Figure 1 at this moment, the swing arm will interfere with the riser. Therefore, the control needs to lift the swing arm slightly (that is, rotate it at a certain angle) to make the swing arm Do not touch the kicking surface.
  • the outer Mecanum wheel ie, the third main drive wheel 40 and the fourth main drive wheel 41
  • the second main driving wheel 38 ensures that the robot is always close to the skirting surface instead of gradually moving away from the skirting surface.
  • the advantage of keeping the robot closely attached to the skirting surface is that it can sweep the brushes, that is, the first rotating brush 13 and the second rotating brush Brush 14 closely adheres to the joint between the skirting and the tread to ensure that these parts are cleaned.
  • FIG 15 is a schematic diagram of the working principle of radar detection.
  • Radar 12 is mainly responsible for detecting obstacles in the front, left and right, and detecting whether there are stairs in front. Based on the radar detection, the robot decides whether to go downstairs, stop moving or retreat according to the identification method of obstacles and stairs and related control methods.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明涉及楼梯清洁机器人技术领域，尤其涉及一种基于可伸缩旋臂的楼梯清洁机器人，包括清洁机器人本体，清洁机器人本体包括机身、设于机身顶部的控制系统、以及设于机身底部的清扫机构，机身的左侧设有第一可伸缩式旋臂机构，机身的右侧设有第二可伸缩式旋臂机构，第一可伸缩式旋臂机构和第二可伸缩式旋臂机构左右对称设置；控制系统包括设置在控制座上的控制板、电池和雷达，雷达的一侧设有第一复位传感器，控制板的一侧设有第二复位传感器。本发明采用可伸缩的旋臂，可在不同高度的楼梯上行走，提高了机器人能清扫的楼梯的范围，采用不转身下楼，大大节省了机器人下楼时间，从而提高了清扫效率，提高了机器人的实际应用价值。

Description

一种基于可伸缩旋臂的楼梯清洁机器人 技术领域
本发明涉及楼梯清洁机器人技术领域，尤其涉及一种基于可伸缩旋臂的楼梯清洁机器人。
背景技术
世界人口激增，建筑业蓬勃发展，各种高楼大厦拔地而起，楼梯清洁工作量十分庞大。然而，目前推向市场的清洁机器人大多数是室内平地清洁机器人，对于楼梯或台阶性地面无能为力。为了解决相关清洁问题的自动化机械，国内外都在不断的研发楼梯清洁机器人。现有的一些爬楼结构只能适用于固定楼梯踏步高度，对于不同高度的楼梯无法进行爬楼工作。
樊红卫基于升降伸缩的原理实现爬楼设计了箱体式楼梯清洁机器人的结构与控制系统。这一楼梯清洁机器人以导轨配合齿轮、齿条的方式实现上下楼梯，同时配以质心调节机构，用竖直安放的舵机与带有轮子的电机支架连接，使轮子可在原地转向。在前工作箱体前方和左右两侧装设超声测距模块，基于单片机实现楼梯清洁机器人的运动控制。机器人需要检测的主要是距离信号，选用超声传感器点阵进行采集，将采集信号交由嵌入式单片机处理，依据预先设定程序发布指令给电机和舵机，完成相应动作。台阶与平地区分信号：在自动识别板的上下相距162mm位置处安装两个超声测距模块，用于识别台阶与平面及检测台阶高度；当机器人对前方距离的采集：主要采用三个超声模块实现，两个超声波模块用于检测纵向和横向运动过程中，机体与前方台阶或墙壁间的距离，使之保持在5～10mm范围内并可微调；机器人避障信号：主要目的是对机器人行进方向的前方和左右两侧障碍物识别，并根据程序设定判断，进行姿态调整；机器人防跌落信号：机器人工作环境为楼道，各楼梯具有高度落差，为保护行人和机器人，防跌落信号检测十分必要。由于机器人正常工作时，前后箱体在同一水平面上，将超声模块竖直于地面安装在前后箱体的底面，直接检测箱体底面与地面间距离。但由于体积较庞大，结构臃肿，不方便在楼梯踏步上来回移动，所以一直无法推向市场。
Takahisa Kakudou等设计了一种带撑脚的箱体式楼梯清洁机器人。该机器人的优点是：机械结构相对简单，方便布置清洁模块；在平地时，可以将撑脚收回 紧帖车身，使得其总体尺寸减小。然而采用翻转式下楼梯，稳定性差，控制难度增加。因此，上述在不同高度楼梯上行走的常见问题未能得以解决。
对此，本发明申请一种基于可伸缩旋臂的楼梯清洁机器人，有望填补此类空白，解决楼梯清洁机器人在不同高度楼梯上行走时的问题，这对于楼梯清洁机器人推向实用化有着重要意义与价值。
发明内容
本发明的目的是为了解决现有技术中存在的缺点，而提出的一种基于可伸缩旋臂的楼梯清洁机器人，采用可伸缩的旋臂，可在不同高度的楼梯上行走，提高了机器人能清扫的楼梯的范围，采用不转身下楼，大大节省了机器人下楼时间，从而提高了清扫效率，提高了机器人的实际应用价值。
为了实现上述目的，本发明采用了如下技术方案：
一种基于可伸缩旋臂的楼梯清洁机器人，包括清洁机器人本体，所述清洁机器人本体包括机身、设于机身顶部的控制系统、以及设于机身底部的清扫机构，所述机身的左侧设有第一可伸缩式旋臂机构，所述机身的右侧设有第二可伸缩式旋臂机构，所述第一可伸缩式旋臂机构和第二可伸缩式旋臂机构左右对称设置；
所述控制系统包括设置在控制座上的控制板、电池和雷达，所述雷达的一侧设有第一复位传感器，所述控制板的一侧设有第二复位传感器，所述第二复位传感器和第一复位传感器左右对称设置，所述控制座上还设有第一光电传感器和第二光电传感器，所述第一光电传感器和第二光电传感器设于机身下楼方向一侧。
优选地，所述机身包括外壳、以及设于外壳底部的底板，所述底板上设有由电机驱动的第一主驱动轮、第二主驱动轮、第三主驱动轮、第四主驱动轮、第一万向轮和第二万向轮；所述第一主驱动轮、第三主驱动轮和第一万向轮分布于机身的左侧部，所述第二主驱动轮、第四主驱动轮和第二万向轮分布于机身的右侧部；
所述底板内侧设有一横向设置的旋转主轴，所述旋转主轴的中间位置设有旋臂电机和减速器，所述旋转主轴的一端设有第一轴端固定座和第一轴承，所述旋转主轴的另一端设有第二轴端固定座和第二轴承；所述旋转主轴与第一主驱动轮、第二主驱动轮、第三主驱动轮和第四主驱动轮的轴方向垂直设置；所述第一轴端固定座和第二轴端固定座均与底板固定连接，所述第一轴端固定座通过第一 轴承连接并形成相互转动，所述第二轴端固定座通过第二轴承连接并形成相互转动；
所述外壳上设有一外壳挡板，所述外壳挡板的内侧设有第一滚轮和第二滚轮，所述第一滚轮和第二滚轮通过连接件连接并形成转动。
优选地，所述清扫机构包括由电机驱动的第一旋转毛刷、第二旋转毛刷、第三旋转毛刷和第四旋转毛刷、以及由电机驱动的第一滚刷和第二滚刷；所述第一旋转毛刷和第三旋转毛刷分布于机身的左侧并做相对旋转运动，所述第二旋转毛刷和第四旋转毛刷分布于机身的右侧并做相对旋转运动，所述第一滚刷和第二滚刷分布于机身的中间位置并做相对旋转运动；所述清扫机构还包括设于机身内侧的风机和尘盒，所述风机与尘盒连接，所述第一滚刷和第二滚刷之间设有吸尘口，所述风机在吸尘口处形成负压用于将清扫的垃圾吸入尘盒内。
优选地，所述第一可伸缩式旋臂机构和第二可伸缩式旋臂机构的结构相同，所述第一可伸缩式旋臂机构包括与旋转主轴连接的主动大臂、以及与主动大臂连接的从动大臂，所述主动大臂的内侧壁上分别设有主动带轮、第三轴承和推杆座，所述第一轴端固定座与主动带轮之间通过螺钉固定连接，所述主动带轮通过第三轴承与旋转主轴连接并形成相互转动；所述从动大臂的内侧壁上分别设有从动带轮、张紧轮旋臂和推杆杆部，所述推杆杆部的一端与从动大臂连接，所述推杆杆部的另一端与推杆座连接；
所述张紧轮旋臂上分别设有第一张紧轮和第二张紧轮，所述主动带轮、第一张紧轮、第二张紧轮和从动带轮上套接有传动带。
优选地，所述张紧轮旋臂固定连接在张紧轮旋转轴上，所述张紧轮旋转轴与从动大臂通过扭簧连接并形成相互转动；所述从动带轮通过旋转轴与旋转小臂连接，所述旋转小臂设于从动大臂的外侧并与从动大臂形成相互转动。
优选地，所述第一主驱动轮、第二主驱动轮、第三主驱动轮和第四主驱动轮均为麦克纳姆轮。
与现有技术相比，本发明具有以下有益效果：
1、本发明采用可伸缩的旋臂，并使得主驱动轮与驱动旋臂的旋转主轴方向一致(即驱动轮轴与旋转主轴垂直)，可使机器人不用转身可直接在楼梯边缘处通过旋转旋臂下楼，此方式大大节省了机器人下楼时间(因为不用转身)，可在 不同高度的楼梯上行走，提高了机器人能清扫的楼梯的范围，从而为其推广应用打下了良好基础。
2、本发明为了避免传统依靠侧面的传感器测距的不可靠现象，而采用后方设计滚轮的方式，使机器人靠着踢面沿踏步面前行。
3、本发明通过雷达探测前进方向是否有障碍，使机器人能应对各种实际情况，提高了机器人的实际应用价值。
附图说明
图1为本发明的整体结构示意图；
图2为本发明中控制系统的结构示意图；
图3为本发明中清扫机构的仰视图；
图4为本发明中清扫机构的主视图；
图5为本发明中第一可伸缩式旋臂机构的侧前方结构示意图；
图6为本发明中第一可伸缩式旋臂机构的侧后方结构示意图；
图7为本发明中机身的仰视图；
图8为本发明中机身的俯视图；
图9为本发明中机身的主视图；
图10-图15为本发明的工作原理状态示意图。
图中：1控制系统、2清扫机构、3第一可伸缩式旋臂机构、4第二可伸缩式旋臂机构、5机身、6控制板、7电池、8第一复位传感器、9第二复位传感器、10第一光电传感器、11第二光电传感器、12雷达、13第一旋转毛刷、14第二旋转毛刷、15第三旋转毛刷、16第四旋转毛刷、17第一滚刷、18第二滚刷、19风机、20尘盒、21主动带轮、22第三轴承、23主动大臂、24从动大臂、25从动带轮、26传动带、27推杆座、28推杆杆部、29第一张紧轮、30张紧轮旋臂、31第二张紧轮、32旋转轴、33旋转小臂、34扭簧、35张紧轮旋转轴、36底板、37第一主驱动轮、38第二主驱动轮、39第一万向轮、40第三主驱动轮、41第四主驱动轮、42第二万向轮、43第一轴端固定座、44第一轴承、45旋转主轴、46旋臂电机、47减速器、48第二轴端固定座、49第二轴承、50外壳、51外壳挡板、52第一滚轮、53第二滚轮、54吸尘口。
具体实施方式
下面结合附图将对本发明实施例中的技术方案进行清楚、完整地描述，以使本领域的技术人员能够更好的理解本发明的优点和特征，从而对本发明的保护范围做出更为清楚的界定。本发明所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本实施例中有关机器人前后左右方位如图1所示，且本发明的机器人在踏步面上的移动，指机器人沿左右方向在踏步面上移动，即像螃蟹一样左右横着走，而不是以向前走为主。
参照图1-15，一种基于可伸缩旋臂的楼梯清洁机器人，包括清洁机器人本体，所述清洁机器人本体包括机身5、设于机身5顶部的控制系统1、以及设于机身5底部的清扫机构2，所述机身5的左侧设有第一可伸缩式旋臂机构3，所述机身5的右侧设有第二可伸缩式旋臂机构4，所述第一可伸缩式旋臂机构3和第二可伸缩式旋臂机构5左右对称设置。
其中，参照图2，所述控制系统1包括设置在控制座上的控制板6、电池7和雷达12，所述雷达12的一侧设有第一复位传感器8，所述控制板6的一侧设有第二复位传感器9，所述第二复位传感器8和第一复位传感器9左右对称设置，所述控制座上还设有第一光电传感器10和第二光电传感器11，所述第一光电传感器10和第二光电传感器11设于机身5下楼方向一侧，用于向下照射；其中，第一复位传感器9和第二复位传感器8、以及下述的第一万向轮39、第二万向轮42分布于机身的两侧，并构成两个探空结构，探空即向下探测是否为空(踏空)；通过两个红外光电传感器和探空结构检测的信号，控制系统判断机身是否探出楼梯台阶踏面，防止跌落。雷达12时刻探测前进方向是否有障碍，如墙壁或栏杆等，以及获取机器人在台阶上所处的位置。
具体的，参照图3-4，所述清扫机构2包括由电机驱动的第一旋转毛刷13、第二旋转毛刷14、第三旋转毛刷15和第四旋转毛刷16、以及由电机驱动的第一滚刷17和第二滚刷18；所述第一旋转毛刷13和第三旋转毛刷15分布于机身5的左侧并做相对旋转运动，所述第二旋转毛刷14和第四旋转毛刷16分布于机身5的右侧并做相对旋转运动，所述第一滚刷17和第二滚刷18分布于机身5的中间位置并做相对旋转运动；所述清扫机构2还包括设于机身5内侧的风机19和 尘盒20，所述风机19与尘盒20连接，该风机19与尘盒20的接口处为密封连接，所述第一滚刷17和第二滚刷18之间设有吸尘口54。
实际使用时，由上述的第一旋转毛刷13、第二旋转毛刷14、第三旋转毛刷15和第四旋转毛刷16用于清扫垃圾，并将垃圾扫向第一滚刷17和第二滚刷18之间的吸尘口54，并在风机19的作用下，在吸尘口54处形成负压用于将清扫的垃圾吸入尘盒20内，实现清扫功能。
具体的，参照图7-9，所述机身5包括外壳50、以及设于外壳50底部的底板36，所述底板36上设有由电机驱动的第一主驱动轮37、第二主驱动轮38、第三主驱动轮40、第四主驱动轮41、第一万向轮39和第二万向轮42；所述第一主驱动轮37、第三主驱动轮40和第一万向轮39分布于机身5的左侧部，所述第二主驱动轮38、第四主驱动轮41和第二万向轮42分布于机身5的右侧部。
其中，所述底板36内侧设有一横向设置的旋转主轴45，所述旋转主轴45的中间位置设有旋臂电机46和减速器47，所述旋转主轴45的一端设有第一轴端固定座43和第一轴承44，所述旋转主轴45的另一端设有第二轴端固定座48和第二轴承49；所述旋转主轴45与第一主驱动轮37、第二主驱动轮38、第三主驱动轮40和第四主驱动轮41的轴方向垂直设置；所述第一轴端固定座43和第二轴端固定座48均与底板36固定连接，所述第一轴端固定座43通过第一轴承44连接并形成相互转动，所述第二轴端固定座48通过第二轴承49连接并形成相互转动。
其中，所述外壳50上设有一外壳挡板51，所述外壳挡板51的内侧设有第一滚轮52和第二滚轮53，所述第一滚轮52和第二滚轮53通过连接件连接并形成转动。
其中，所述第一主驱动轮37、第二主驱动轮38、第三主驱动轮40和第四主驱动轮41均为麦克纳姆轮。
本实施例中，采用旋转主轴45与第一主驱动轮37、第二主驱动轮38、第三主驱动轮40和第四主驱动轮41的轴方向垂直设置，使得机器人不用转身下楼或上楼，在下楼或上楼后，机器人的主驱动轮由于沿踏步面(即主驱动轮轴垂直踏步面的左右方向)行走，因此机器人可以在主驱动轮的驱动下直接沿左右方向清扫楼梯，机器人不用转身。需要说明的是，这里所谓转身指：机器人在原地绕自 身竖直的中心轴旋转90度。
具体的，参照图5-6，所述第一可伸缩式旋臂机构3和第二可伸缩式旋臂机构4的结构相同，所述第一可伸缩式旋臂机构3包括与旋转主轴45连接的主动大臂23、以及与主动大臂23连接的从动大臂24，所述主动大臂23的内侧壁上分别设有主动带轮21、第三轴承22和推杆座27，所述第一轴端固定座43与主动带轮21之间通过螺钉固定连接，所述主动带轮21通过第三轴承22与旋转主轴45连接并形成相互转动；所述从动大臂23的内侧壁上分别设有从动带轮25、张紧轮旋臂30和推杆杆部28，所述推杆杆部28的一端与从动大臂24连接，所述推杆杆部28的另一端与推杆座27连接。
其中，所述张紧轮旋臂30上分别设有第一张紧轮29和第二张紧轮31，所述主动带轮21、第一张紧轮29、第二张紧轮31和从动带轮25上套接有传动带26。
其中，所述张紧轮旋臂30固定连接在张紧轮旋转轴35上，所述张紧轮旋转轴35与从动大臂24通过扭簧34连接并形成相互转动；所述从动带轮25通过旋转轴32与旋转小臂33连接，所述旋转小臂33设于从动大臂24的外侧并与从动大臂24形成相互转动。
本发明的工作原理：机器人准备下楼前，依靠成对的主驱动轮(麦克纳姆轮)对转后能够使机器人的车体发生横向移动的原理(本机器人正常情况下是沿踏步面左右移动进行清扫，此刻麦克纳姆轮作为一般的轮子同方向转动；而让机器人准备下楼时，则使成对的麦克纳姆轮对转，使机器人向前探出身子，作好下楼准备)，使机器人微微从楼梯踢面探出，如图10所示为机器人微微探出机身准备下楼的示意图。然后旋转主轴45顺时针旋转带动旋转大臂23顺时针转动，第一轴端固定座43与主动带轮21相对主动大臂23逆时针转动，主动带轮21带动传动带26逆时针转动，传动带26带动从动带轮25逆时针转动，从动带轮25带动旋转轴32逆时针转动，旋转轴32带动旋转小臂33逆时针转动，使得旋臂机构整体展开,如图11所示。在旋转过程中，当旋转小臂33与下一级台阶梯面接触时，此时旋转小臂33作为支撑臂并与楼梯相对静止，旋臂继续以上述运动关系运动，旋臂以小臂关节为圆心带动机身5做圆弧运动离开当前台阶梯面，直到机身5与下一级台阶梯面接触。整个过程机身作圆周运动，但是自身不转动，仍是 一种平动，所以是圆周平动，如图12所示为第一可伸缩式旋臂的工作原理图。
如图13所示是旋臂伸缩式的工作原理示意图，为了适应不同高度的楼梯，本发明设计的旋臂是可伸缩的。若使旋臂伸长，则电机驱动推杆杆部28向右运动，推杆杆部28推力使得张紧装置(张紧轮旋臂30、第一张紧轮29、第二张紧轮31)克服扭簧34逆时针的扭力顺时针转动，主动大臂23与从动大臂24沿着导轨相互分离，旋臂整体长度变长。若使旋臂缩回，则在上述伸长之后，电机反转收回推杆杆部，主动大臂23与从动大臂24沿着导轨相互合拢，旋臂整体长度变短，推杆杆部回收力加上张紧装置的扭簧34的复位扭力可使上述缩回运动完成。
如图14所示机器人依靠踢面沿踏步面运动的工作原理示意图，为了让机器人靠着踢面沿踏步面运动，采用后方设计滚轮的方式，使第一滚轮52、第二滚轮53与踢面保持接触并进行滚动。由于机器人后方与楼梯踢面紧帖，此刻若旋臂是图1的姿态，则旋臂将与踢面干涉，所以在控制上需将旋臂稍微抬起(即旋转一定角度)，使旋臂不与踢面相碰。在机器人移动的控制上还需要使外侧的麦克纳姆轮(即第三主驱动轮40、第四主驱动轮41的转速略高于内侧的麦克纳姆轮(即第一主驱动轮37、第二主驱动轮38，保证机器人一直紧帖踢面，而不是逐渐远离踢面。让机器人与踢面紧帖的优点是：可以让扫刷，即第一旋转毛刷13、第二旋转毛刷14紧帖踢面与踏面的结合部，保证将这些部位清扫干净。
如图15所示是雷达探测的工作原理示意图，雷达12主要负责前方、左右方的障碍物探测，以及前方是否有楼梯的探测。根据雷达探测的情况，机器人按照障碍物及楼梯的判别方法和有关控制方法，决定是否下楼，停止运动或后退。
另外，需要说明的是，上述用于驱动主驱动轮和毛刷的电机均与现有技术无本质区别，且由于该电机在本发明中并非重点保护的技术方案，因此其电机的结构和工作原理在这里不再详细阐述。
本发明中披露的说明和实践，对于本技术领域的普通技术人员来说，都是易于思考和理解的，且在不脱离本发明原理的前提下，还可以做出若干改进和润饰。因此，在不偏离本发明精神的基础上所做的修改或改进，也应视为本发明的保护范围。

Claims (6)

  1. 一种基于可伸缩旋臂的楼梯清洁机器人，包括清洁机器人本体，其特征在于，所述清洁机器人本体包括机身、设于机身顶部的控制系统、以及设于机身底部的清扫机构，所述机身的左侧设有第一可伸缩式旋臂机构，所述机身的右侧设有第二可伸缩式旋臂机构，所述第一可伸缩式旋臂机构和第二可伸缩式旋臂机构左右对称设置；
    所述控制系统包括设置在控制座上的控制板、电池和雷达，所述雷达的一侧设有第一复位传感器，所述控制板的一侧设有第二复位传感器，所述第二复位传感器和第一复位传感器左右对称设置，所述控制座上还设有第一光电传感器和第二光电传感器，所述第一光电传感器和第二光电传感器设于机身下楼方向一侧。
  2. 根据权利要求1所述的一种基于可伸缩旋臂的楼梯清洁机器人，其特征在于，所述机身包括外壳、以及设于外壳底部的底板，所述底板上设有由电机驱动的第一主驱动轮、第二主驱动轮、第三主驱动轮、第四主驱动轮、第一万向轮和第二万向轮；所述第一主驱动轮、第三主驱动轮和第一万向轮分布于机身的左侧部，所述第二主驱动轮、第四主驱动轮和第二万向轮分布于机身的右侧部；
    所述底板内侧设有一横向设置的旋转主轴，所述旋转主轴的中间位置设有旋臂电机和减速器，所述旋转主轴的一端设有第一轴端固定座和第一轴承，所述旋转主轴的另一端设有第二轴端固定座和第二轴承；所述旋转主轴与第一主驱动轮、第二主驱动轮、第三主驱动轮和第四主驱动轮的轴方向垂直设置；所述第一轴端固定座和第二轴端固定座均与底板固定连接，所述第一轴端固定座通过第一轴承连接并形成相互转动，所述第二轴端固定座通过第二轴承连接并形成相互转动；
    所述外壳上设有一外壳挡板，所述外壳挡板的内侧设有第一滚轮和第二滚轮，所述第一滚轮和第二滚轮通过连接件连接并形成转动。
  3. 根据权利要求1所述的一种基于可伸缩旋臂的楼梯清洁机器人，其特征在于，所述清扫机构包括由电机驱动的第一旋转毛刷、第二旋转毛刷、第三旋转毛刷和第四旋转毛刷、以及由电机驱动的第一滚刷和第二滚刷；所述第一旋转毛刷和第三旋转毛刷分布于机身的左侧并做相对旋转运动，所述第二旋转毛刷和第四旋转毛刷分布于机身的右侧并做相对旋转运动，所述第一滚刷和第二滚刷分布于机身的中间位置并做相对旋转运动；所述清扫机构还包括设于机身内侧的风机 和尘盒，所述风机与尘盒连接，所述第一滚刷和第二滚刷之间设有吸尘口，所述风机在吸尘口处形成负压用于将清扫的垃圾吸入尘盒内。
  4. 根据权利要求2所述的一种基于可伸缩旋臂的楼梯清洁机器人，其特征在于，所述第一可伸缩式旋臂机构和第二可伸缩式旋臂机构的结构相同，所述第一可伸缩式旋臂机构包括与旋转主轴连接的主动大臂、以及与主动大臂连接的从动大臂，所述主动大臂的内侧壁上分别设有主动带轮、第三轴承和推杆座，所述第一轴端固定座与主动带轮之间通过螺钉固定连接，所述主动带轮通过第三轴承与旋转主轴连接并形成相互转动；所述从动大臂的内侧壁上分别设有从动带轮、张紧轮旋臂和推杆杆部，所述推杆杆部的一端与从动大臂连接，所述推杆杆部的另一端与推杆座连接；
    所述张紧轮旋臂上分别设有第一张紧轮和第二张紧轮，所述主动带轮、第一张紧轮、第二张紧轮和从动带轮上套接有传动带。
  5. 根据权利要求4所述的一种基于可伸缩旋臂的楼梯清洁机器人，其特征在于，所述张紧轮旋臂固定连接在张紧轮旋转轴上，所述张紧轮旋转轴与从动大臂通过扭簧连接并形成相互转动；所述从动带轮通过旋转轴与旋转小臂连接，所述旋转小臂设于从动大臂的外侧并与从动大臂形成相互转动。
  6. 根据权利要求2所述的一种基于可伸缩旋臂的楼梯清洁机器人，其特征在于，所述第一主驱动轮、第二主驱动轮、第三主驱动轮和第四主驱动轮均为麦克纳姆轮。
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