CN102397037B - Cleaning equipment capable of climbing up and down stairs - Google Patents
Cleaning equipment capable of climbing up and down stairs Download PDFInfo
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- CN102397037B CN102397037B CN201010277220.0A CN201010277220A CN102397037B CN 102397037 B CN102397037 B CN 102397037B CN 201010277220 A CN201010277220 A CN 201010277220A CN 102397037 B CN102397037 B CN 102397037B
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- cleaning equipment
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- stair activity
- vertical thrust
- tooth bar
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- 238000004140 cleaning Methods 0.000 title claims abstract description 53
- 230000009194 climbing Effects 0.000 title abstract 4
- 230000000694 effects Effects 0.000 claims description 44
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000004308 accommodation Effects 0.000 claims description 8
- 230000000750 progressive effect Effects 0.000 claims description 6
- 230000002547 anomalous effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention discloses cleaning equipment capable of climbing up and down stairs. The cleaning equipment comprises a driving member which is used for driving the cleaning equipment capable of climbing up and down the stairs, a vertical movement member provided with a built-in space which is used for accommodating the driving member, and clamped with the driving member, and a horizontal movement member which is clamped with the driving member. The driving member is provided with a vertical pushing shaft and a horizontal pushing shaft and a gear of the vertical pushing shaft is clamped with a first rack of the vertical movement member so as to move vertically on the first rack; and a gear of the horizontal pushing shaft is clamped with a second rack of the horizontal movement member so as to move horizontally on the second rack. A vertical driving shaft and a horizontal driving shaft are moved mutually so as to drive the cleaning equipment capable of climbing up and down the stairs to climb up and down the stairs.
Description
Technical field
The present invention relates to a kind of stair activity cleaning equipment of energy stair activity.
Background technology
But sweep environment and be one, must do and expend time in again and the item of energy, luckily give the credit to electromechanics development fast, occur on the market utilizing the cleaning equipment that artificial intelligence technology can self cleaning ground, helping to save time, energy.But the various cleaning equipments that occur on the market only limit to advance back and forth at single plane, run into barrier (such as table pin, vase etc.) and from side, avoid, treat that single plane is clean completely to shut down.
If will clean plane, extend to staircase, because the high low head between ladder is too large, existing cleaning equipment cannot automatically make progress or cross over ladder downwards and advance, have on the contrary the period of advancing topple over may.In other words, the clean of stair still needs artificial mode to carry out.
Summary of the invention
In view of the above-mentioned inconvenience that brings of cleaning equipment that cannot automated cleaning stair, the invention provides a kind of stair activity cleaning equipment, they can automatic upper and lower stair, and clean stair surface.
One embodiment of the invention provides a kind of stair activity cleaning equipment, this cleaning equipment comprises a drive member, by a power supply, drive, and there is a vertical thrust motor and a horizontal propulsion motor, this vertical thrust motor driving one is equiped with the vertical thrust axle of the first gear in axis body, this horizontal propulsion motor driving one is equiped with the horizontal cardan shaft of the second gear in axis body; One member that moves both vertically, has built-in space and puts for this drive member, and wear groove in the side setting of two sides, and the surface of wearing groove in this has vertically disposed the first tooth bar, uses the first gear for this drive member in this first tooth bar and vertically movable; One horizontal movement member, both sides respectively have a bracing frame and are connected by a baffle plate, the top of each this bracing frame has horizontally disposed the second tooth bar, use the second gear for this drive member in this second tooth bar and horizontal anomalous movement, and this bracing frame has a ladder accommodation space, for the accommodation space with respect to this member different ladder when vertically movable and this drive member is movable with respect to this horizontal movement modular level that moves both vertically by this drive member is provided.
The stair activity cleaning equipment of one embodiment of the invention also comprises two gripper shoes, and subtend is arranged at the both sides of this fixed pedestal respectively, so that this two motor is for being arranged between this fixed pedestal and this two gripper shoe; Wherein, the two ends of this horizontal cardan shaft extend beyond this two gripper shoe.In another embodiment of the present invention, this two gripper shoe is arranged at this and moves both vertically between member and this horizontal movement member.
The stair activity cleaning equipment of one embodiment of the invention, wherein this horizontal cardan shaft this vertical thrust axle be near this fixed pedestal, and the length of this horizontal cardan shaft the length of this vertical thrust axle for long.
The stair activity cleaning equipment of one embodiment of the invention also comprises two lower covers, is arranged at respectively the lower end of these 2 first tooth bars; And two upper covers, be arranged at respectively the upper end of these 2 first tooth bars.
The stair activity cleaning equipment of one embodiment of the invention also comprises a limit inferior piece, is arranged at the wherein upper end of one of this two lower cover.
The stair activity cleaning equipment of one embodiment of the invention also comprises one first limit piece, is arranged at one end of the wherein one of this second tooth bar, in order to limit this horizontal cardan shaft in the progressive extreme position of a first party; And one second limit piece, be arranged at the opposite end of the wherein one of this second tooth bar, in order to limit this this horizontal cardan shaft in the progressive extreme position of a second party, wherein, this first and second direction is contrary direction.
The stair activity cleaning equipment of one embodiment of the invention, wherein, this vertical thrust motor and this horizontal propulsion motor are individually fixed in a fixed pedestal.
The stair activity cleaning equipment of one embodiment of the invention also comprises a carrier, is arranged at the below of this stair activity cleaning equipment, in order to carry this stair activity cleaning equipment.
Stair activity cleaning equipment of the present invention can stair activity, and can clean stair surface.
Accompanying drawing explanation
Fig. 1 is the stereogram of drive member of the stair activity cleaning equipment of one embodiment of the invention.
Fig. 2 is the stereogram of the member that moves both vertically of the stair activity cleaning equipment of one embodiment of the invention.
Fig. 3 is the stereogram of horizontal movement member of the stair activity cleaning equipment of one embodiment of the invention.
Fig. 4 is the stereogram of the stair activity cleaning equipment of one embodiment of the invention.
The step exploded view of Fig. 5 a-Fig. 5 d for advancing upstairs.
The step exploded view of Fig. 6 a-Fig. 6 d for downstairs advancing.
Main element symbol description:
100: drive member; 101: power supply;
102: vertical thrust motor; 103: horizontal propulsion motor;
104: vertical thrust axle; 1041: the first gears;
105: horizontal cardan shaft; 1051: the second gears;
106: fixed pedestal; 107: gripper shoe;
200: member moves both vertically; 201: built-in space;
202: upper cover; 203: lower cover;
204: the first tooth bars; 300: horizontal movement member;
301: baffle plate; 302: bracing frame;
303: the second tooth bars; 304: the first limit pieces;
305: the second limit pieces.
The specific embodiment
Please refer to Fig. 1-Fig. 3, the stereogram of each member of the stair activity cleaning equipment that it is a preferred embodiment of the present invention.Stair activity cleaning equipment comprises drive member 100, member 200 and horizontal movement member 300 move both vertically.Drive member 100 comprises power supply 101; One vertical thrust motor 102 and a horizontal propulsion motor 103, be connected to power supply 101, these vertical thrust motor 102 drivings one are equiped with the vertical thrust axle 104 of the first gear 1041 in axis body, these horizontal propulsion motor 103 drivings one are equiped with the horizontal cardan shaft 105 of the second gear 1051 in axis body.Vertical thrust motor 102 and horizontal propulsion motor 103 can be and be individually fixed in fixed pedestal 106.The both sides of fixed pedestal 106 can arrange respectively a gripper shoe 107, make vertical thrust motor 102 and horizontal propulsion motor 103 for being arranged between fixed pedestal 106 and two gripper shoes 107, and the two ends of horizontal cardan shaft 105 extend beyond this two gripper shoe 107, but the length of vertical thrust axle 104 is less than the distance between this two gripper shoe 107.The member 200 that moves both vertically has built-in space 201 and puts for this drive member 100, and wear groove in the side setting of two sides, and the surface of wearing groove in this has vertically disposed the first tooth bar 204, use the first gear 1041 for this drive member 100 in this first tooth bar 204 and vertically movable.The upper end of this first tooth bar 204 and lower end are respectively equipped with upper cover 202 and lower cover 203, to limit the vertical scope of activities of the first gear 1041.The both sides of horizontal movement member 300 respectively have a bracing frame 302, and connect two bracing frames 302 by a baffle plate 301, the top of each bracing frame 302 has horizontally disposed the second tooth bar 303, use the second gear 1051 for this drive member 100 in this second tooth bar 303 and horizontal anomalous movement, and there is a ladder accommodation space, for the accommodation space with respect to this member different ladder when vertically movable and this drive member is movable with respect to this horizontal movement modular level that moves both vertically by this drive member is provided.This two gripper shoe 107 is arranged at respectively this and moves both vertically between member 200 and this horizontal movement member 300 (with reference to Fig. 4).One end of the wherein one of this second tooth bar 303 can arrange one first limit piece 304, in order to limit this horizontal cardan shaft 105 in the progressive extreme position of a first party.Also one second limit piece 305 can be arranged in addition to the opposite end of the wherein one (identical or different from the second tooth bar 303 that the first limit piece 304 is set all can) of this second tooth bar 303, in order to limit this horizontal cardan shaft 105 in the progressive extreme position of a second party.First direction and second direction are contrary direction.For example, in the present embodiment, the direction of first direction for advancing towards baffle plate 301, second direction is to leave the direction of baffle plate 301.When drive member 100 is placed in this built-in space 201, the first gear 1041 of this vertical thrust axle 104 is fastened with this first tooth bar 204.Then the second gear 1051 of the horizontal cardan shaft 105 of drive member 100 is fastened with the second tooth bar 303 of horizontal movement member 300, like this complete the assembling of stair activity cleaning equipment, as shown in Figure 4.Cleaning device (for example dust catcher) is arranged at the below of drive member 100, and can automatic up-down stairs and movement along with stair activity cleaning equipment.In normal ideal case, horizontal cardan shaft 105 props up the first limit piece 304, and vertical thrust axle 104 props up upper cover 202.
User can select stair activity cleaning equipment for advancing or advancing upstairs downstairs on the control panel of stair activity cleaning equipment, below will the function mode of two kinds of situations be described respectively.
(1) advance upstairs
Complete the assembling of stair activity cleaning equipment as aforementioned after, before stair activity cleaning equipment is positioned over to stair, make the ladder accommodation space front end of this bracing frame 302 prop up the upwards vertical surface of a step, and power-on 101.
Step 1 upstairs: move both vertically member 200 by the first tooth bar 204 with the mutual movement of the first gear 1041 of vertical thrust axle 104 vertical lifting, until vertical thrust axle 104 props up lower cover 203 and stops.Complete state after step 1 upstairs as shown in Figure 5 a.
Step 2 upstairs: the member 200 that moves both vertically is together with drive member 100, the mutual movement of the second gear 1051 and the second tooth bar 303 by horizontal cardan shaft 105, and it is mobile (that is, to leave baffle plate 301) forward, until horizontal cardan shaft 105 props up the second limit piece 305 and stops.Complete state after step 2 upstairs as shown in Figure 5 b.
Step 2-1 (optionally) upstairs: the member 200 that moves both vertically can decline with the mutual movement of the first gear 1041 of vertical thrust axle 104 a little by the first tooth bar 204, the lower end of the member 200 that makes to move both vertically is firmly positioned over the upwards surface of a step.
Step 3 upstairs: horizontal movement member 300 together with drive member 100 by the first tooth bar 204 with the mutual movement of the first gear 1041 of vertical thrust axle 104 vertical lifting, until vertical thrust axle 104 props up upper cover 202 and stops.Complete state after step 3 upstairs as shown in Figure 5 c.
Step 4 upstairs: horizontal movement member 300 is by the mutual movement of the second gear 1051 and second tooth bar 303 of horizontal cardan shaft 105, and move forward, until horizontal cardan shaft 105 props up the first limit piece 304, or the ladder accommodation space front end of bracing frame 302 props up the vertical surface of the step that makes progress and stops.The state after step 4 upstairs of completing is as shown in Fig. 5 d.
Step 4-1 (optionally) upstairs: bracing frame 302 can decline with the mutual movement of the first gear 1041 of vertical thrust axle 104 a little by the first tooth bar 204, make the lower end of bracing frame 302 firmly be positioned over the upwards surface of a step.
Above-mentioned step upstairs can constantly be cycled to repeat, and therefore, stair activity cleaning equipment can constantly be gone upstairs.
In addition, a height sensors is arranged at this drive member 100, for example, when detecting the barrier (wall) in the place ahead, highly over a limit value, can not proceed step upstairs.
(2) downstairs advance
Complete the assembling of stair activity cleaning equipment as aforementioned after, before stair activity cleaning equipment is positioned over to stair, make the leading edge of this L-type bracing frame 302 and the leading edge of the member 200 that moves both vertically flushes with the current vertical surface leading edge of place step, and power-on 101.
Step 1 downstairs: horizontal movement member 300 is by the mutual movement of the second gear 1051 and second tooth bar 303 of horizontal cardan shaft 105, and move forward, until horizontal cardan shaft 105 props up the first limit piece 304.Complete and go downstairs step 1 state afterwards as shown in Figure 6 a.
Step 2 downstairs: horizontal movement member 300 together with drive member 100 by the first tooth bar 204 with the mutual movement of the first gear 1041 of vertical thrust axle 104 vertical moving down, until vertical thrust axle 104 props up lower cover 203, or the lower end of bracing frame 302 props up to the horizontal surface of next step and stops.Complete and go downstairs step 2 state afterwards as shown in Figure 6 b.
Step 3 downstairs: the member 200 that moves both vertically is together with drive member 100, the mutual movement of the second gear 1051 and the second tooth bar 303 by horizontal cardan shaft 105, and move towards baffle plate 301, until horizontal cardan shaft 105 props up the second limit piece 305 and stops.Complete and go downstairs step 3 state afterwards as shown in Fig. 6 c.
Step 4 downstairs: move both vertically member 200 by the first tooth bar 204 with the mutual movement of the first gear 1041 of vertical thrust axle 104 vertical moving down, until vertical thrust axle 104 props up upper cover 202 and stops.Complete and go downstairs step 4 state afterwards as shown in Fig. 6 d.
Above-mentioned step downstairs can constantly be cycled to repeat, and therefore, stair activity cleaning equipment can constantly be gone downstairs.
From above explanation, can understand, because must exceeding gripper shoe 107, the length of horizontal cardan shaft 105 could fasten with the second tooth bar 303, and vertical thrust axle 104 must fasten with the first tooth bar 204, therefore, this horizontal cardan shaft 105 this vertical thrust axle 104 is near this fixed pedestal 106, just can not hinder advancing of stair activity cleaning equipment.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (8)
1. a stair activity cleaning equipment, comprise: a drive member, by a power supply, drive, and there is a vertical thrust motor and a horizontal propulsion motor, described vertical thrust motor driving one is equiped with the vertical thrust axle of the first gear in axis body, described horizontal propulsion motor driving one is equiped with the horizontal cardan shaft of the second gear in axis body, it is characterized in that, also comprises:
One member that moves both vertically, having built-in space puts for described drive member, and wear groove in the side setting of two sides, and and there is vertically disposed the first tooth bar in described surface of wearing groove, use the first gear for described drive member in described the first tooth bar and vertically movable;
One horizontal movement member, both sides respectively have a bracing frame and are connected by a baffle plate, the top of each support frame as described above has horizontally disposed the second tooth bar, use the second gear for described drive member in described the second tooth bar and horizontal anomalous movement, wherein said bracing frame has a ladder accommodation space, the accommodation space of different ladders when providing movable with respect to described horizontal movement modular level with respect to the vertical activity of the described member that moves both vertically and described drive member by described drive member.
2. stair activity cleaning equipment according to claim 1, is characterized in that, described vertical thrust motor and described horizontal propulsion motor are individually fixed in a fixed pedestal.
3. stair activity cleaning equipment according to claim 2, is characterized in that, the more described vertical thrust axle of described horizontal cardan shaft is near described fixed pedestal, and the length of the more described vertical thrust axle of the length of described horizontal cardan shaft is for long.
4. stair activity cleaning equipment according to claim 1, is characterized in that, also comprises:
Two lower covers, are arranged at respectively the lower end of two described the first tooth bars; And two upper covers, be arranged at respectively the upper end of two described the first tooth bars.
5. stair activity cleaning equipment according to claim 1, is characterized in that, also comprises:
One first limit piece, is arranged at one end of the wherein one of described the second tooth bar, in order to limit described horizontal cardan shaft in the progressive extreme position of a first party; And
One second limit piece, is arranged at the opposite end of the wherein one of described the second tooth bar, in order to limit described horizontal cardan shaft in the progressive extreme position of a second party,
Wherein, described first direction and described second direction are contrary direction.
6. stair activity cleaning equipment according to claim 2, is characterized in that, also comprises:
Two gripper shoes, subtend is arranged at the both sides of described fixed pedestal respectively, so that described vertical thrust motor and described horizontal propulsion motor are arranged between described fixed pedestal and described two gripper shoes;
Wherein, the two ends of described horizontal cardan shaft extend beyond described two gripper shoes, and the length of described vertical thrust axle is less than the distance between described two gripper shoes.
7. stair activity cleaning equipment according to claim 6, is characterized in that, moves both vertically between member and described horizontal movement member described in described two gripper shoes are arranged at.
8. stair activity cleaning equipment according to claim 1, is characterized in that, also comprises:
One height sensors, is arranged at described drive member, can detect the stair height in described stair activity cleaning equipment the place ahead, and the obstacle height when the place ahead does not continue upstairs over a limit value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010277220.0A CN102397037B (en) | 2010-09-08 | 2010-09-08 | Cleaning equipment capable of climbing up and down stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010277220.0A CN102397037B (en) | 2010-09-08 | 2010-09-08 | Cleaning equipment capable of climbing up and down stairs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102397037A CN102397037A (en) | 2012-04-04 |
| CN102397037B true CN102397037B (en) | 2014-05-07 |
Family
ID=45879954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010277220.0A Active CN102397037B (en) | 2010-09-08 | 2010-09-08 | Cleaning equipment capable of climbing up and down stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102397037B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631172B (en) * | 2012-04-20 | 2013-05-08 | 南通大学 | Lifting telescopic corridor cleaning robot |
| CN104207733A (en) * | 2014-08-04 | 2014-12-17 | 南京信息工程大学 | Negative-pressure adsorption type corridor cleaning robot |
| CN105996910B (en) * | 2016-05-19 | 2018-06-29 | 上海电机学院 | Domestic stair automatic cleaning machine people |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3422255A1 (en) * | 1984-06-15 | 1985-12-19 | Norbert 3410 Northeim Geisler | Chassis for a wheelchair |
| CN2464304Y (en) * | 2001-02-19 | 2001-12-12 | 师建军 | Wheel chair capable of going up/down stairs |
| CN2917606Y (en) * | 2006-06-26 | 2007-07-04 | 广东工业大学 | Wheeled chair capable of going upstairs and downstairs |
| CN201090550Y (en) * | 2007-09-20 | 2008-07-23 | 韶关市起重机厂有限责任公司 | Electromagnetic valve for tipper |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004110846A1 (en) * | 2003-06-18 | 2004-12-23 | Dajian Wang | A climbing stairs device and climbing stairs method thereof |
| KR100977705B1 (en) * | 2007-05-02 | 2010-08-24 | 이해준 | Apparatus for cleaning nonslip of stairs |
| JP2009018111A (en) * | 2007-07-13 | 2009-01-29 | Nagasaki Univ | Stairs climbing device |
-
2010
- 2010-09-08 CN CN201010277220.0A patent/CN102397037B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3422255A1 (en) * | 1984-06-15 | 1985-12-19 | Norbert 3410 Northeim Geisler | Chassis for a wheelchair |
| CN2464304Y (en) * | 2001-02-19 | 2001-12-12 | 师建军 | Wheel chair capable of going up/down stairs |
| CN2917606Y (en) * | 2006-06-26 | 2007-07-04 | 广东工业大学 | Wheeled chair capable of going upstairs and downstairs |
| CN201090550Y (en) * | 2007-09-20 | 2008-07-23 | 韶关市起重机厂有限责任公司 | Electromagnetic valve for tipper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102397037A (en) | 2012-04-04 |
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Effective date of registration: 20171103 Address after: Bailu town in Hunan province Chenzhou city Suxian district forest road by two and the stone tiger Avenue Interchange grambo Industrial Park Patentee after: HUNAN GRAND-PRO ROBOT TECHNOLOGY CO., LTD. Address before: Taiwan Taipei County China Asia Road Tucheng City, No. 8 Lane 108 Patentee before: Yan Chengxiang |