CN105996910B - Domestic stair automatic cleaning machine people - Google Patents
Domestic stair automatic cleaning machine people Download PDFInfo
- Publication number
- CN105996910B CN105996910B CN201610334684.8A CN201610334684A CN105996910B CN 105996910 B CN105996910 B CN 105996910B CN 201610334684 A CN201610334684 A CN 201610334684A CN 105996910 B CN105996910 B CN 105996910B
- Authority
- CN
- China
- Prior art keywords
- dust suction
- cleaning machine
- automatic cleaning
- machine people
- mounting bracket
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
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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
-
- 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
-
- 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
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The invention discloses a kind of domestic stair automatic cleaning machine people, including the dust suction sweeper with walking mechanism, further include：It is connected to the mounting bracket that can be moved on the dust suction sweeper and in anterior-posterior horizontal direction relative to the dust suction sweeper；The dust suction sweeper and mounting bracket is driven to move horizontally driving mechanism what anterior-posterior horizontal direction relatively moved；It is connected to the telescope support that on the link and can be stretched/close up in vertical direction；The telescopic drive equipment that the telescope support is driven to stretch/close up in vertical direction.The configuration of the present invention is simple is ingenious, using being convenient to, can automatically clear up stair, and the time of hand sweeping stair is saved for people, mitigates the amount of labour that people sweep domestic hygiene.
Description
Technical field
The invention belongs to Smart Home technical fields, and in particular to a kind of domestic stair automatic cleaning machine people.
Background technology
The household cleaning machine people developed now, mainly indoor cleaning machine people, exclusively for stair cleaning design
Robot is seldom related to, and be the compound staircase design of family clean robot more less it.
Invention content
The present invention seeks to：In view of the deficiencies of the prior art, a light, compact domestic stair automatic cleaning is devised
Robot carries out the clean amount of labour of domestic hygiene to mitigate people.
The technical scheme is that：A kind of domestic stair automatic cleaning machine people, it is clear including the dust suction with walking mechanism
Device is swept, is further included：
It is connected on the dust suction sweeper and can be moved relative to the dust suction sweeper in anterior-posterior horizontal direction
Mounting bracket；
The dust suction sweeper and mounting bracket is driven to move horizontally driving mechanism what anterior-posterior horizontal direction relatively moved；
It is connected to the telescope support that on the mounting bracket and can be stretched/close up in vertical direction；
The telescopic drive equipment that the telescope support is driven to stretch/close up in vertical direction.
The present invention based on the above technical solution, further includes following preferred embodiment：
The dust suction sweeper include housing, the dirt cup in the housing, be opened in the housing bottom and with institute
State the suction inlet that dirt cup is connected, the negative pressure air exhauster connected in the housing and with the suction inlet gas phase.
The dirt cup lid for being used to open/closing the dirt cup is provided at the top of the housing.
The bottom of the housing is equipped with three round brush for being arranged in the suction inlet periphery.
The suction inlet is in " ten " font structure.
The walking mechanism include movable motor, with the movable motor drive connection two driving wheels, two it is driven
Wheel, described two driving wheels and two driven wheels are set on the bottom of the dust suction sweeper and rectangular distribution.
The walking mechanism further includes be connected to the dust suction sweeper bottom two turntables with can horizontally rotating, institute
Two driving wheels stated are separately mounted on the two turntables, and the driven wheel is universal rolling wheel.
The driving mechanism that moves horizontally includes the screw being connected between the dust suction sweeper and mounting bracket, drives institute
State the lead screw motor of screw rotation.
The telescope support includes two semi-frames for being arranged in the mounting bracket arranged on left and right sides, each described half
Frame includes a support baseboard, two first struts and two second connecting rods, and two first struts are in " X " type arranged crosswise
And be hinged, two second connecting rods are in " X " type arranged crosswise and are hinged, one end hinge of two first struts
It is connected on the support baseboard, one end of two second connecting rods is hinged on the mounting bracket, two first struts
The other end of the other end and two second connecting rods be respectively articulated with.
The telescopic drive equipment for one end is hinged on the support baseboard and the other end with wherein one described second
The hinged electric pushrod of connecting rod.
It is an advantage of the invention that：This domestic stair automatic cleaning machine people's simple and ingenious structure of the present invention, using nor
It is often convenient, stair can be automatically cleared up, the time of hand sweeping stair is saved for people, mitigates people and sweeps domestic hygiene
The amount of labour.
Description of the drawings
The invention will be described further in the following with reference to the drawings and specific embodiments：
Fig. 1 is the dimensional structure diagram of this domestic stair automatic cleaning machine people of the embodiment of the present invention；
Fig. 2 is the dimensional structure diagram at this another visual angle of domestic stair automatic cleaning machine people of the embodiment of the present invention；
Fig. 3 is the present invention looks up structural representation of this domestic stair automatic cleaning machine people of the embodiment of the present invention；
Fig. 4~Fig. 7 is the course of work demonstration graph of this domestic stair automatic cleaning machine people of the embodiment of the present invention；
Wherein：1- dust suction sweepers, 2- mounting brackets, 3- move horizontally driving mechanism, 4- telescope supports, and 5- telescopic drives are set
It is standby, 6- walking mechanisms, 1a- housings, 1b- suction inlets, 1c- dirt cup lids, 1d- round brush, 3a- screws, 4b-the first struts, 4c-the
Two connecting rods, 6a- driving wheels, 6b- driven wheels, 6c- turntables.
Specific embodiment
Fig. 1~Fig. 7 shows the specific embodiment of this domestic stair automatic cleaning machine people of the present invention, with routine
Household sweeping robot is identical, it also includes the dust suction sweeper 1 with walking mechanism 6, the function of the dust suction sweeper 1
It is similar with the dust catcher or sweeping robot of household with structure.
The key improvements of the present embodiment are that the robot further includes mounting bracket 2, moves horizontally driving mechanism 3, flexible branch
Frame 4 and telescopic drive equipment 5.Wherein：
Mounting bracket 2 is connected on the dust suction sweeper 1, and mounting bracket 2 can be relative to dust suction sweeper 1 front and rear
Horizontal direction moves.
Driving mechanism 3 is moved horizontally for driving the dust suction sweeper 1 and mounting bracket 2 in the opposite shifting in anterior-posterior horizontal direction
It is dynamic.
Telescope support 4 is connected on the mounting bracket 2, and the telescope support 4 in vertical direction can stretch/close
Disturbance is made.
Telescopic drive equipment 5 is used to that the telescope support 4 to be driven to stretch/close up in vertical direction.
With reference to shown in Fig. 4~Fig. 7, when domestic stair automatic cleaning machine people is used to clean stair, first by machine
People is placed on the entering on terrace land face of stair lower end.Telescopic drive equipment 5 controls telescope support 4 to be vertically unfolded, and then makes dust suction
Sweeper 1 is raised to stair first order step height, and on the ground, upper support is lived for the bottom support of telescope support 4 at this time
Dust suction sweeper 1, such as Fig. 4.Then, moving horizontally driving mechanism 3 controls dust suction sweeper 1 to be moved forward relative to mounting bracket 2,
And dust suction sweeper 1 is caused to be in stair first order step top position, such as Fig. 5.Later, the control of telescopic drive equipment 5 is flexible
Stent 4 vertically closes up, so that dust suction sweeper 1 is fallen on stair first order step, is now in the flexible of closed configuration
Stent 4, which is supported, to be connected on dust suction sweeper 1, such as Fig. 6.Then, move horizontally driving mechanism 3 control mounting bracket 2 relative to
Dust suction sweeper 1 moves forward, and mounting bracket 2 and dust suction sweeper 1 is made to restore to reset condition, and dust suction sweeper 1 is to stair
First order step carries out cleaning dust absorption, after the completion for the treatment of stair first order platform cleaning dust absorption, repeats above-mentioned action to the stair second level
Platform carries out cleaning dust absorption, and so on, complete the cleaning dust absorption to entire stair.
The robot is in speeling stairway step, since dust suction sweeper 1 is pushed to correct stair height, therefore originally
Robot is provided with the sensor of sensing stair height.Dust suction sweeper 1 is pushed the mistake being placed on step by screw in order to prevent
Cheng Zhong, because the Forward of dust suction sweeper 1 causes centre-of gravity shift that robot is caused to tilt, robot is in dust suction sweeper 1 and peace
The range sensor for being provided between 2 and detecting distance therebetween is shelved, when 1 forepart of dust suction sweeper and stair wall distance are few
When 1 centimetre, trolley stops moving forward and starting lead screw motor drive screw rotation, and the push of dust suction sweeper 1 is placed on step.
In this example, (dirt cup is equipped with filter to dirt cup of the dust suction sweeper 1 including housing 1a, in the housing
Net), the suction inlet 1b that is opened in the housing bottom and is connected with the dirt cup, in the housing and with the dust suction
The negative pressure air exhauster that implication is connected.And the dirt for being used to open/closing the dirt cup is provided at the top of the housing 1a
Cup lid 1c.During work, the negative-pressure sucking that negative pressure air exhauster generates after the completion of dust suction, is beaten in the dust sucking dirt cup in environment
The dirt cup lid 1c is opened to pour out dust.
In addition, this example is equipped with three round brush 1d for being arranged in the suction inlet 1b peripheries in the bottom of the housing 1a,
This three round brush are arranged in the front side, left side and right side of suction inlet 1b.So ensure the equal energy of dust around suction inlet 1b
It is enough swept up at suction inlet, and then is inhaled into dirt cup.
And the suction inlet 1b is designed to " ten " font structure by this example.So that the rubbish swept into from front round brush
The rubbish that rubbish and roller brush at side are swept into can easily be inhaled into suction inlet.Such as Fig. 3.
In this example, the walking mechanism 6 includes movable motor (not shown), two driving wheel 6a and two driven wheels
6b.Two driving wheel 6a are sequentially connected with the movable motor, and two driving wheel 6a and two driven wheel 6b are set on institute
State the bottom of dust suction sweeper 1 and rectangular distribution.During work, the electronic driving wheel 6a rotations of movable motor, and it is clear to drag dust suction
It sweeps device 1 to walk, during dust suction sweeper 1 is walked, driven wheel 6b is acted on transfer by frictional force.
In order to enable the dust suction sweeper 1 has turning function, barrier can be got around in the process of walking.In this example
The driven wheel 6b using universal rolling wheel, the walking mechanism 6 further includes to be connected to the dust suction and cleans in which can horizontally rotate
Two turntable 6c of 1 bottom of device, described two driving wheel 6a are separately mounted on the two turntables 6c, with this steering work(
The walking mechanism 6 of energy is often employed on toy car.Certainly, we can also set the steering being connected with the turntable 6c
Driving equipment, with the steering of active control dust suction sweeper 1.
It is described move horizontally driving mechanism 3 include being connected to screw 6a between the dust suction sweeper 1 and mounting bracket 2,
Drive the lead screw motor (being not drawn into figure) of the screw rotation.During work, screw 6a rotations are driven by lead screw motor, and then
Dust suction sweeper 1 and mounting bracket 2 is driven to be relatively moved along screw axial direction, realizes dust suction sweeper 1 and mounting bracket 2 front and rear
Horizontal direction it is close to each other/be located remotely from each other.
The telescope support 4 includes being arranged in two semi-frames of 2 arranged on left and right sides of mounting bracket, described in each
It is in " X " that semi-frame, which includes a support baseboard 4a, two first strut 4b and two second connecting rods 4c, two first strut 4b,
It type arranged crosswise and is hinged, two second connecting rod 4c are in " X " type arranged crosswise and are hinged, described two first
One end of strut 4b is hinged on the support baseboard, and one end of two second connecting rod 4c is hinged on the mounting bracket,
The other end of the other end and two second connecting rod 4c of two first strut 4b is respectively articulated with.
The telescopic drive equipment 5 for one end is hinged on the support baseboard 4a and the other end with wherein described in one
Electric pushrod hinged second connecting rod 4c.
When electric pushrod extends, telescope support 4 makees upward elongation expansion action.When electric pushrod is shunk, telescope support 4
Make downward contraction closing action.
Certainly, the above embodiments merely illustrate the technical concept and features of the present invention, and its object is to make people much of that
Solution present disclosure is simultaneously implemented according to this, and it is not intended to limit the scope of the present invention.It is all according to major technique of the present invention
The equivalent transformation or modification that the Spirit Essence of scheme is done, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of domestic stair automatic cleaning machine people, including the dust suction sweeper (1) with walking mechanism (6), it is characterised in that
It further includes：
It is connected on the dust suction sweeper (1) and can be moved relative to the dust suction sweeper (1) in anterior-posterior horizontal direction
Mounting bracket (2)；
The dust suction sweeper (1) and mounting bracket (2) is driven to move horizontally driving mechanism what anterior-posterior horizontal direction relatively moved
(3)；
It is connected to the telescope support (4) that on the mounting bracket (2) and can be stretched/close up in vertical direction；
The telescopic drive equipment (5) that the telescope support (4) is driven to stretch/close up in vertical direction；
The walking mechanism (6) including movable motor, with the movable motor be sequentially connected two driving wheels (6a), two from
Driving wheel (6b), described two driving wheels (6a) and two driven wheels (6b) set on the dust suction sweeper (1) bottom and
Rectangular distribution；
The walking mechanism (6) further includes be connected to dust suction sweeper (1) bottom two turntables with can horizontally rotating
(6c), described two driving wheels (6a) are separately mounted on the two turntables (6c), and the driven wheel (6b) is universal rolling wheel.
2. domestic stair automatic cleaning machine people according to claim 1, it is characterised in that：The dust suction sweeper (1)
Including housing (1a), the dirt cup in the housing, it is opened in the housing bottom and the dust suction being connected with the dirt cup
Mouth (1b), the negative pressure air exhauster connected in the housing and with the suction inlet gas phase.
3. domestic stair automatic cleaning machine people according to claim 2, it is characterised in that：The top of the housing (1a)
It is provided with the dirt cup lid (1c) for being used to open/closing the dirt cup.
4. domestic stair automatic cleaning machine people according to claim 3, it is characterised in that：The bottom of the housing (1a)
Three round brush (1d) for being arranged in the suction inlet (1b) periphery are installed.
5. domestic stair automatic cleaning machine people according to claim 2, it is characterised in that：The suction inlet (1b) is in
" ten " font structure.
6. domestic stair automatic cleaning machine people according to claim 1, it is characterised in that：It is described to move horizontally driving machine
Structure (3) is rotated including screw (3a), the drive screw being connected between the dust suction sweeper (1) and mounting bracket (2)
Lead screw motor.
7. domestic stair automatic cleaning machine people according to claim 1, it is characterised in that：Telescope support (4) packet
Two semi-frames for being arranged in the mounting bracket (2) arranged on left and right sides are included, each described semi-frame includes a support baseboard
(4a), two first struts (4b) and two second connecting rods (4c), two first struts (4b) in " X " type arranged crosswise and
It is hinged, two second connecting rods (4c) are in " X " type arranged crosswise and are hinged, two first struts (4b)
One end is hinged on the support baseboard, and one end of two second connecting rods (4c) is hinged on the mounting bracket (2), described
The other end of two first struts (4b) and the other end of two second connecting rods (4c) are respectively articulated with.
8. domestic stair automatic cleaning machine people according to claim 7, it is characterised in that：The telescopic drive equipment
(5) for one end is hinged on the support baseboard (4a) and the other end and the hinged electricity of a wherein second connecting rod (4c)
Dynamic push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334684.8A CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334684.8A CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105996910A CN105996910A (en) | 2016-10-12 |
| CN105996910B true CN105996910B (en) | 2018-06-29 |
Family
ID=57095711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610334684.8A Expired - Fee Related CN105996910B (en) | 2016-05-19 | 2016-05-19 | Domestic stair automatic cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105996910B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3380387B1 (en) * | 2015-11-23 | 2021-04-28 | Quantum Robotic Systems Inc. | Stair traversing device |
| CN106798528B (en) * | 2017-02-14 | 2019-02-15 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| GB2592405B (en) | 2020-02-27 | 2022-08-31 | Dyson Technology Ltd | Robotic device with tri-star wheels and actuated arm |
| CN111297267B (en) * | 2020-03-09 | 2024-06-25 | 盐城工学院 | Cleaning device for automatically cleaning stairs and ground |
| CN111387882B (en) * | 2020-04-15 | 2021-10-29 | 蔚蓝计划(北京)科技有限公司 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| JP6955835B1 (en) * | 2021-03-20 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| JP6955836B1 (en) * | 2021-06-19 | 2021-10-27 | 裕司 志村 | Stair climbing work equipment |
| WO2023088397A1 (en) * | 2021-11-18 | 2023-05-25 | 高蔚智能机器人(深圳)有限公司 | Transporter |
| CN114767006B (en) * | 2022-04-06 | 2024-06-04 | 同济大学 | Stair climbing mechanism applied to sweeping robot |
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| CN203920967U (en) * | 2014-04-11 | 2014-11-05 | 南通大学 | A kind of corridor cleaning robot |
| CN204698459U (en) * | 2015-05-07 | 2015-10-14 | 临安一诺科技有限公司 | A kind of cleaning robot of stair cleaning of stair structure |
| CN104973151A (en) * | 2015-07-20 | 2015-10-14 | 北京理工大学 | Microminiature robot capable of walking up and down stairs automatically |
| CN105197123A (en) * | 2014-05-08 | 2015-12-30 | 南通大学 | Judgment method of walking up and down stairs of lifting telescopic corridor cleaning robot easy to operate |
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2016
- 2016-05-19 CN CN201610334684.8A patent/CN105996910B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102397037A (en) * | 2010-09-08 | 2012-04-04 | 燕成祥 | Cleaning equipment capable of climbing up and down stairs |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| CN103895728A (en) * | 2014-04-11 | 2014-07-02 | 南通大学 | Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105996910A (en) | 2016-10-12 |
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