CN106343927B - Device for automatically climbing stairs and cleaning stairs steps - Google Patents
Device for automatically climbing stairs and cleaning stairs steps Download PDFInfo
- Publication number
- CN106343927B CN106343927B CN201610902617.1A CN201610902617A CN106343927B CN 106343927 B CN106343927 B CN 106343927B CN 201610902617 A CN201610902617 A CN 201610902617A CN 106343927 B CN106343927 B CN 106343927B
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- cleaning
- stairs
- connecting rod
- frame
- supporting
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- 238000004140 cleaning Methods 0.000 title claims abstract description 75
- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 24
- 239000000428 dust Substances 0.000 claims description 13
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 4
- 238000010408 sweeping Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002493 climbing effect Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a device for automatically climbing stairs and cleaning stair steps, which comprises a frame, a dustbin arranged above the frame, front and rear wheel traveling devices correspondingly arranged at the front and rear ends of the frame, a cleaning device arranged at the front part of the frame and used for cleaning stairs, a cam connecting rod device and a supporting mechanism, wherein the cam connecting rod device is arranged on the frame, is connected with the front wheel traveling device and is coordinated and matched with the front wheel traveling device to realize the action of climbing stairs; the supporting mechanism is connected with the frame and is coordinated and matched with the front wheel traveling device to work, so that the effect of temporarily supporting the whole device can be achieved; the coordination of actions of climbing stairs and cleaning stairs and the turning at the stair platform are transmitted by the collected information, and the PLC controller gives commands to automatically complete all the actions. The stair climbing cleaning machine realizes automatic stair climbing cleaning work, solves the problem of difficulty in manually cleaning stairs, and is simple in operation, convenient to assemble and disassemble, safe and reliable.
Description
Technical Field
The invention relates to a stair cleaning device, in particular to a device for automatically climbing stairs and cleaning stair steps, and belongs to the technical field of stair step cleaning devices.
Background
With the development of socio-economy and the improvement of the technological level, the number of high-rise buildings in China is increasing day by day, and although most buildings are provided with elevators, stairs are indispensable for preventing power failure and emergency. At present, most of stairs are cleaned manually, but the cleaning of the stairs of high-rise buildings not only has large workload and causes great waste of human resources, but also has lower efficiency. At present, the domestic market in the field is still blank, so an efficient intelligent stair sweeper capable of automatically sweeping stairs needs to be designed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the device for automatically climbing stairs and cleaning the steps of the stairs, which has the characteristics of simple operation, convenient assembly and disassembly, safety and reliability, and can solve the problem of difficulty in manually cleaning the stairs.
In order to achieve the purpose, the device for automatically climbing stairs and cleaning stairs comprises a frame, a dustbin arranged above the frame, a rear wheel traveling device arranged at the rear end of the frame, a front wheel traveling device arranged at the front end of the frame, a cleaning device arranged at the front part of the frame and used for stair cleaning, a cam connecting rod device and a supporting mechanism, wherein the rear wheel traveling device can travel under the driving of a driving motor I; the cam connecting rod device is arranged on the frame, is connected with the front wheel walking device and is coordinated and matched with the front wheel walking device to realize the action of climbing stairs; the supporting mechanism is connected with the frame and is coordinated and matched with the front wheel traveling device to work, so that the effect of temporarily supporting the whole device can be achieved; the coordination of actions of climbing stairs and cleaning stairs and the turning at a stair platform are transmitted to the PLC by information collected by each sensor on the cleaning device, and the PLC gives commands to automatically complete each action.
Preferably, the rear wheel traveling device comprises a rear axle, a rear axle cover and two rear wheels mounted at the left end and the right end of the rear axle, the rear axle comprises a belt pulley II, a driving shaft, a main reducer, a differential, a shaft I and a shaft II, the belt pulley II is connected with one end of the driving shaft, and the other end of the driving shaft is connected with one ends of the shaft I and the shaft II through the main reducer and the differential; the other end of the shaft I is connected with the bearing I, and the other end of the shaft II is connected with the bearing II; the bearing I and the bearing II are correspondingly arranged on the two rear wheels; the shaft I and the shaft II are correspondingly provided with a ratchet I and a ratchet II with stopping function, and the ratchet I and the ratchet II are matched with an elastic element to prevent the whole device from sliding backwards when going upstairs for cleaning; the driving motor I drives the belt pulley II to rotate, the belt pulley II drives the driving shaft to rotate, and the driving shaft drives two shafts to rotate through the main speed reducer, so that two rear wheels are driven to rotate.
Preferably, the front wheel traveling device comprises a driving motor II, a speed reducer II, a gear III, a front axle bracket and a rack connecting rod which are arranged in parallel, two steering knuckles connected to two ends of the front axle bracket and the rack connecting rod, and two front wheels correspondingly connected to the two steering knuckles, wherein the driving motor II and the speed reducer II are fixedly mounted on the front axle bracket, and the gear III is connected to an output shaft of the speed reducer II. When the sensor judges that the steering is needed, the sensor transmits a signal to the PLC controller, the PLC controller controls the driving motor II, the driving motor II drives the gear III to rotate through the speed reducer II, and the gear III rotates to enable the rack connecting rod to do linear reciprocating motion, so that the steering knuckles at two ends are driven to rotate, and the steering of the front wheel is realized.
Preferably, the cam link device comprises a cam, a connecting rod, a driving motor III, a speed reducer I, a gear I and a gear II which are meshed with each other, the gear I is coaxially connected with the cam, the gear II is installed at the output end of the speed reducer I, and the input end of the speed reducer I is connected with the driving motor III; the cam is connected with the rear end of the connecting rod, and the connecting rod moves along with the rotation of the cam; the connecting rod is provided with a fixed shaft and can swing up and down around the fixed shaft; the front end of the connecting rod is connected with the front wheel walking device; a hydraulic supporting device capable of moving up and down along the front wheel traveling device is arranged at the joint of the front wheel traveling device and the frame, the hydraulic supporting device comprises a supporting frame I, a guide frame and a spring playing supporting and damping roles, the movement track of the front end of the connecting rod is matched with the track of the guide frame to enable the front wheel traveling device to move up and down along a fixed track, the front wheel traveling device is lifted up when the whole device climbs stairs, and the front wheel traveling device climbs the stairs of the next step; the driving motor III is controlled by a PLC controller to work.
Preferably, the cam is provided with a groove, and a pin shaft is arranged in the groove and is connected with the rear end of the connecting rod through the pin shaft; when the cam rotates, the pin shaft moves along the groove track to drive the connecting rod to move regularly along the groove track.
Preferably, the two groups of supporting mechanisms are symmetrically arranged on two sides of the frame; each group of supporting mechanisms comprises a supporting frame II, a supporting connecting rod I, a supporting connecting rod II and a hydraulic telescopic tappet which are sequentially connected, and supporting wheels are arranged on the supporting frame II; the hydraulic telescopic tappet is driven by the hydraulic pump to do stretching motion to drive the support connecting rod II, the support connecting rod I, the support frame II and the support wheels to move, so that the support wheels are put down to play a role of temporarily supporting the whole device; meanwhile, the cam connecting rod device enables the front wheel walking device to be lifted upwards, when the front wheel walking device is lifted upwards to the next stair step, the hydraulic telescopic tappet is driven by the hydraulic pump to do telescopic motion to drive the support connecting rod II, the support connecting rod I, the support frame II and the support wheels to move, and the support wheels are enabled to be contracted upwards; in the period, the PLC controller controls the rear wheel traveling device to move to the next step of stairs.
Preferably, the cleaning device comprises a cleaning device, a connecting block, a hydraulic tappet I, a hydraulic tappet II, a hydraulic tappet III, a fixed flat plate and a horizontal moving flat plate, the cleaning device is connected with the front side of the connecting block through the hydraulic tappet II and the hydraulic tappet III, and the upper side of the connecting block is connected with the horizontal moving flat plate of the hydraulic tappet I; the horizontal moving flat plate is arranged above the fixed flat plate and can move left and right along a horizontal moving guide rail on the fixed flat plate; whole cleaning device passes through fixed flat board to be fixed at the frame front portion, drives connecting block and cleaning device and reciprocates when hydraulic tappet I stretches out and draws back from top to bottom, and telescopic motion around hydraulic tappet II, hydraulic tappet III realize and the rotatory swing around the fixed point.
Preferably, the cleaning device comprises a dust collection box and a driving motor box, a garbage outlet pipeline is arranged on the dust collection box, a plurality of rotatable broom heads which are uniformly distributed are arranged in the dust collection box, and each broom head is driven by a driving motor in the driving motor box to rotate and clean.
Preferably, the end of each broom head is provided with a belt pulley I, and all the belt pulleys I are connected with a driving motor in a driving motor box through a belt.
Compared with the prior art, the invention mainly comprises a frame, a dustbin arranged above the frame, a rear wheel walking device arranged at the rear end of the frame, a front wheel walking device arranged at the front end of the frame, a cleaning device arranged at the front part of the frame and used for cleaning stairs, a cam connecting rod device and a supporting mechanism. When the front wheel walking device reaches a first-order stair step, the sensor on the vehicle senses a signal and transmits the signal to the PLC, and the middle supporting mechanism is driven by the hydraulic pump to do telescopic motion and put down to play a role in temporarily supporting the whole device. Meanwhile, the cam link device can enable the whole front wheel walking device to be lifted upwards, the frame is kept still in the period, and the front wheel walking device is lifted upwards. When the front wheel walking device is lifted to the next stair step, the middle supporting mechanism is driven by the hydraulic pump to do telescopic motion and upwards contract, and during the telescopic motion, the PLC controller controls the driving motor I to work to drive the rear wheel walking device to walk and move to the next stair step, so that the stair climbing action of the whole device is realized. At this time, the whole device is stopped, and the PLC controls the front cleaning device to clean. Wherein, front wheel running gear can realize turning to, when needs turn to, sensor transmission signal gives the PLC controller, and the PLC controller controls it and turns to. Finally, can realize intelligent stair cleaning work, solve the problem of artifical clean stair difficulty, its easy operation, easy dismounting, safe and reliable.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the rear wheel traveling device according to the present invention;
FIG. 3 is a partial schematic view of the rear axle of the present invention;
FIG. 4 is a schematic structural view of the front wheel traveling device and the cam link device according to the present invention;
FIG. 5 is a partial schematic view of the present invention at the front axle;
FIG. 6 is another schematic view of FIG. 5;
FIG. 7 is a schematic structural view of a guide frame according to the present invention;
FIG. 8 is a right side view of FIG. 7;
fig. 9 is a schematic structural view of the support frame I of the present invention.
FIG. 10 is a schematic view of the cam gear of the present invention;
FIG. 11 is a schematic structural view of the support mechanism of the present invention;
FIG. 12 is a schematic view of the cleaning device of the present invention;
fig. 13 is a schematic structural view of the cleaning device of the present invention.
In the figure: 1. rear wheels I, 2, ratchet I, 3, elastic element, 4, waste bin, 5, support mechanism, 6, front axle, 7, connection block, 8, hydraulic tappet I, 9, hydraulic tappet II, 10, belt pulley I, 11, belt, 12, sweeping device, 13, waste outlet pipe, 14, hydraulic tappet III, 15, horizontal moving device, 16, front wheel I, 17, waste inlet pipe, 18, frame, 19, driving motor I, 20, rear axle, 21, rear axle cover, 22, belt pulley II, 23, rear wheel II, 24, fastening nut I, 25, fastening bolt I, 26, ratchet II, 27, bearing I, 28, retaining ring, 29, bearing II, 30, shaft II, 31, main reducer, 32, shaft I, 33, differential, 34, reducer I, 35, cam, 36, connecting rod, 37, guide frame, 38, support frame I, 39, reducer II, 40. the device comprises a driving motor II, 41, a supporting plate I, 42, a shaft IV, 43, a front axle bracket, 44, a steering knuckle I, 45, a front wheel II, 46, a gear I, 47, a gear II, 48, a connecting pin, 49, a steering knuckle II, 50, a gear III, 51, a rack connecting rod, 52, a driving motor III, 53, a supporting wheel, 54, a supporting frame II, 55, a supporting connecting rod I, 56, a supporting connecting rod II, 57, a hydraulic telescopic tappet, 58, a horizontal moving guide rail, 59, a fixed flat plate, 60, a horizontal moving flat plate, 61, a broom head, 62, a dust suction box, 63, a driving motor box, 64 and a driving shaft.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 13, a device for automatically climbing stairs to clean stairs comprises a frame 18, a dustbin 4 mounted above the frame 18, a rear wheel traveling device mounted at the rear end of the frame 18, a front wheel traveling device arranged at the front end of the frame 18, a cleaning device mounted at the front of the frame 18 for stair cleaning, a cam link device and a support mechanism 5, wherein the rear wheel traveling device can travel under the driving of a driving motor I19; the cam connecting rod device is arranged on the frame 18, is connected with the front wheel walking device and is coordinated and matched with the front wheel walking device to realize the action of climbing stairs; the supporting mechanism 5 is connected with the frame 18 and is matched with the front wheel walking device to work, so that the effect of temporarily supporting the whole device can be achieved; the coordination of actions of climbing stairs and cleaning stairs and the turning at a stair platform are transmitted to the PLC by information collected by each sensor on the cleaning device, and the PLC gives commands to automatically complete each action.
The working process is as follows:
when the front wheel walking device reaches a first-order stair step, the sensor on the vehicle senses a signal and transmits the signal to the PLC, and the middle supporting mechanism 5 is driven by the hydraulic pump to do telescopic motion and put down to play a role in temporarily supporting the whole device. At the same time, the cam linkage can lift the entire front wheel running gear upward, while the frame 16 remains stationary and the front wheel running gear is lifted upward. When the front wheel walking device is lifted to the next stair step, the middle supporting mechanism 5 is driven by the hydraulic pump to do telescopic motion and contract upwards, and during the telescopic motion, the PLC controller controls the driving motor I19 to work to drive the rear wheel walking device to walk and move to the next stair step, so that the stair climbing action of the whole device is realized. At this time, the whole device is stopped, and the PLC controls the front cleaning device to clean. Wherein, front wheel running gear can realize turning to, when needs turn to, sensor transmission signal gives the PLC controller, and the PLC controller controls it and turns to. Finally, can realize intelligent stair cleaning work, solve the problem of artifical clean stair difficulty, its easy operation, easy dismounting, safe and reliable.
As shown in fig. 2 and 3, the rear wheel traveling device may include a rear axle 20, a rear axle cover 21, and two rear wheels (i.e., a rear wheel I1 and a rear wheel II23) mounted at left and right ends of the rear axle 20, the rear axle 20 including a pulley II22, a drive shaft 64, a final drive 31, a differential 33, a shaft I32, and a shaft II30, the pulley II22 being connected to one end of the drive shaft 64, the other end of the drive shaft 64 being connected to one ends of a shaft I32 and a shaft II30 through the final drive 31 and the differential 33; the other end of the shaft I32 is connected with a bearing I27, and the other end of the shaft II30 is connected with a bearing II 29; the bearing I27 and the bearing II29 are correspondingly arranged on the two rear wheels; the shaft I32 and the shaft II30 are correspondingly provided with a ratchet I2 and a ratchet II26 which have stopping function, and the ratchet I2 and the ratchet II26 are matched with an elastic element to prevent the whole device from sliding backwards when the whole device is used for cleaning stairs. The rear PLC controller controls the driving motor I19 to work, and can accurately control the rotating speed and the rotating number of turns of the driving motor I19. The driving motor I19 drives the belt pulley II22 to rotate under the control of the PLC, the belt pulley II22 drives the driving shaft 64 to rotate, and the driving shaft 64 drives the shaft I32 and the shaft II30 to rotate through the main speed reducer 31 and the differential 33, so that the two rear wheels (namely the rear wheel I1 and the rear wheel II23) are driven to rotate, and the whole rear wheel traveling device travels. The provision of the differential 33 ensures smooth steering of the entire apparatus. The matching of the ratchet I2 and the ratchet II26 arranged on the shaft I32 and the shaft II30 and the corresponding elastic elements can prevent the whole device from sliding backwards when going upstairs for cleaning, and play a good role in stopping.
As shown in fig. 4 to 9, the front wheel traveling device may include a driving motor II40, a speed reducer II39, a gear III50, a front axle bracket 43 and a rack link 51 arranged in parallel, two steering knuckles (i.e., a knuckle I44 and a knuckle II49) connected to both ends of the front axle bracket 43 and the rack link 51, and two front wheels (i.e., a front wheel I16 and a front wheel II45) connected to the two steering knuckles, the driving motor II40 and the speed reducer II39 are fixedly mounted on the front axle bracket 43, and the gear III50 is connected to an output shaft of the speed reducer II 39. When the sensor judges that steering is needed, the sensor transmits a signal to the PLC, the PLC controls the driving motor II40, the driving motor II40 drives the gear III50 to rotate through the speed reducer II39, the gear III50 rotates to enable the rack connecting rod 51 to do linear reciprocating motion, so that the steering knuckles I44 and II49 at two ends are driven to rotate, the front wheels I16 and II45 are driven to steer, and steering of the two front wheels is achieved.
As shown in fig. 4 and 10, the cam link device may include a cam 35, a link 36, a driving motor III52, a speed reducer I34, and a gear I46 and a gear II47 engaged with each other, the gear I46 is coaxially connected with the cam 35, the gear II47 is mounted at an output end of the speed reducer I34, and an input end of the speed reducer I34 is connected with the driving motor III 52; the cam 35 is connected with the rear end of the connecting rod 36, and the connecting rod 36 moves along with the rotation of the cam 35; the connecting rod 36 is provided with a fixed shaft 48 and can swing up and down around the fixed shaft 48; the front end of the connecting rod 36 is connected with a front axle bracket 43 in the front wheel walking device; in order to match with the complex movement of the connecting rod 36, a hydraulic supporting device capable of moving up and down along the connecting part of the front axle bracket 43 and the frame 18 is arranged, the hydraulic supporting device comprises a supporting frame I38, a guide frame 37 and a spring with supporting and damping effects, the movement track of the front end of the connecting rod 36 is matched with the track of the guide frame 37, so that the front axle bracket 43 moves up and down along a fixed track, and the front wheel walking device is lifted up when the whole device climbs stairs, and climbs the stairs of the next step. The driving motor III52 is controlled by the PLC controller to work, namely the driving motor III52 drives the cam 35 to rotate under the control of the PLC controller, so that the rotating speed and the number of turns can be effectively controlled. Specifically, the driving motor III52 drives the speed reducer I34 to engage with the gear I46 via the gear II47 with high precision, so as to transmit power to the cam 35 and drive the cam 35 to rotate. A groove can be formed in the cam 35, a pin shaft is arranged in the groove, and the groove is connected with the rear end of the connecting rod 36 through the pin shaft; when the cam 35 rotates, the pin shaft moves along the groove track, and drives the connecting rod 36 to move regularly along the groove track. Meanwhile, the connecting rod 36 can swing up and down around the fixed shaft 48, and the movement track of the front end of the connecting rod 36 is matched with the track of the guide frame 37, so that the front axle bracket 43 moves up and down along the fixed track, and therefore, when the whole device climbs stairs, the front axle bracket 43 and the whole front wheel walking device are lifted up, and two front wheels climb up to the next stair. In the period, the spring in the hydraulic supporting device can play a supporting role and can also achieve a damping effect.
As shown in fig. 11, the two sets of support mechanisms 5 are symmetrically arranged on two sides of the frame 18; each group of supporting mechanisms 5 can comprise a supporting frame II54, a supporting connecting rod I55, a supporting connecting rod II56 and a hydraulic telescopic tappet 57 which are sequentially connected, and supporting wheels 53 are arranged on the supporting frame II 54; the hydraulic telescopic tappet 57 is driven by the hydraulic pump to extend and move to drive the support connecting rod II56, the support connecting rod I55, the support frame II54 and the support wheel 53 to move, so that the support wheel 53 is put down to play a role in temporarily supporting the whole device (when the cleaning vehicle does not climb stairs, the support wheel is folded, when the cleaning vehicle climbs stairs, the front wheel is lifted by the cam mechanism, and the support wheel plays a role in auxiliary support); meanwhile, the cam link device can lift the front wheel traveling device upwards, namely the front axle bracket 43 can be lifted upwards along the track of the guide frame 37, the frame 16 is kept still, the spring is compressed, and the two front wheels are lifted upwards; when the two front wheels are lifted upwards to the next stair step, the hydraulic telescopic tappet 57 is driven by the hydraulic pump to do telescopic motion to drive the support connecting rod II56, the support connecting rod I55, the support frame II54 and the support wheels 53 to move, so that the support wheels 53 are contracted upwards; in the period, the PLC controller controls the driving motor I19 to work, drives the two rear wheels to rotate and moves to the next stair. At this time, the whole device is stopped, and the PLC controls the cleaning device to clean.
As shown in fig. 12 and 13, the cleaning device may include a sweeping device 12, a connecting block 7, a hydraulic tappet I8, a hydraulic tappet II9, a hydraulic tappet III 14, a fixed plate 59, and a horizontal moving plate 60, wherein the sweeping device 12 is connected to the front side of the connecting block 7 through the hydraulic tappet II9 and the hydraulic tappet III 14, and the upper side of the connecting block 7 is connected to the horizontal moving plate 60 of the hydraulic tappet I8; the horizontal moving plate 60 is installed above the fixed plate 59 and can move left and right along the horizontal moving guide rail 58 on the fixed plate 59; the whole cleaning device is fixed on the front portion of the frame 18 through the fixing flat plate 59, the hydraulic tappet I8 drives the connecting block 7 and the cleaning device 12 to move up and down when stretching up and down, the hydraulic tappet II9 and the hydraulic tappet III 14 achieve front and back stretching movement and rotary swing around a fixed point, and cleaning of stairs is achieved through control of the hydraulic tappets and the cleaning device.
Preferably, the cleaning device 12 includes a dust collection box 62 and a driving motor box 63, the dust collection box 62 is provided with a garbage outlet pipe 13, the dust collection box 62 is provided with a plurality of rotatable broom heads 61 which are uniformly distributed, and each broom head 61 is driven by a driving motor in the driving motor box 63 to perform rotary cleaning. A dust suction pipeline can be connected between the garbage outlet pipeline 13 and the garbage inlet pipeline 17 on the garbage can 4, and dust in the dust suction box 62 can be cleaned in time to prevent air pollution.
Preferably, a pulley I10 is mounted at the end of each broom head 61, and all the pulleys I10 are connected with a driving motor in a driving motor box 63 through a belt 11.
The structure shows that the invention mainly comprises a frame, a dustbin arranged above the frame, a rear wheel walking device arranged at the rear end of the frame, a front wheel walking device arranged at the front end of the frame, a cleaning device arranged at the front part of the frame and used for cleaning stairs, a cam connecting rod device and a supporting mechanism. When the front wheel walking device reaches a first-order stair step, the sensor on the vehicle senses a signal and transmits the signal to the PLC, and the middle supporting mechanism is driven by the hydraulic pump to do telescopic motion and put down to play a role in temporarily supporting the whole device. Meanwhile, the cam link device can enable the whole front wheel walking device to be lifted upwards, the frame is kept still in the period, and the front wheel walking device is lifted upwards. When the front wheel walking device is lifted to the next stair step, the middle supporting mechanism is driven by the hydraulic pump to do telescopic motion and upwards contract, and during the telescopic motion, the PLC controller controls the driving motor I to work to drive the rear wheel walking device to walk and move to the next stair step, so that the stair climbing action of the whole device is realized. At this time, the whole device is stopped, and the PLC controls the front cleaning device to clean. Wherein, front wheel running gear can realize turning to, when needs turn to, sensor transmission signal gives the PLC controller, and the PLC controller controls it and turns to. Finally, can realize intelligent stair cleaning work, solve the problem of artifical clean stair difficulty, its easy operation, easy dismounting, safe and reliable.
Claims (8)
1. The device for automatically climbing stairs and cleaning stairs is characterized by comprising a frame (18), a dustbin (4) arranged above the frame (18), a rear wheel travelling device arranged at the rear end of the frame (18), a front wheel travelling device arranged at the front end of the frame (18), a cleaning device arranged at the front part of the frame (18) and used for cleaning stairs, a cam connecting rod device and a supporting mechanism (5), wherein the rear wheel travelling device can travel under the driving of a driving motor I (19); the cam connecting rod device is arranged on the frame (18), is connected with the front wheel walking device and is coordinated and matched with the front wheel walking device to realize the action of climbing stairs; the supporting mechanism (5) is connected with the frame (18) and is coordinated and matched with the front wheel walking device to work, so that the effect of temporarily supporting the whole device can be achieved; the coordination of actions of climbing stairs and cleaning stairs and the turning at a stair platform of the whole device are transmitted to the PLC controller by information collected by each sensor on the cleaning device, and the PLC controller issues commands to automatically complete each action;
the cam link device comprises a cam (35), a connecting rod (36), a driving motor III (52), a speed reducer I (34), a gear I (46) and a gear II (47) which are meshed with each other, the gear I (46) is coaxially connected with the cam (35), the gear II (47) is installed at the output end of the speed reducer I (34), and the input end of the speed reducer I (34) is connected with the driving motor III (52); the cam (35) is connected with the rear end of the connecting rod (36), and the connecting rod (36) rotates along with the cam (35); the connecting rod (36) is provided with a fixed shaft (48) and can swing up and down around the fixed shaft (48); the front end of the connecting rod (36) is connected with the front wheel traveling device; a hydraulic supporting device capable of moving up and down along the front wheel traveling device is arranged at the joint of the front wheel traveling device and the frame (18), the hydraulic supporting device comprises a supporting frame I (38), a guide frame (37) and a spring with supporting and damping effects, the moving track of the front end of the connecting rod (36) is matched with the track of the guide frame (37) to enable the front wheel traveling device to move up and down along a fixed track, so that the front wheel traveling device is lifted up when the whole device climbs stairs, and the front wheel traveling device climbs the next stair; the driving motor III (52) is controlled by the PLC controller to work.
2. The device for automatically climbing stairs and cleaning stairs steps according to claim 1, wherein the rear wheel walking device comprises a rear axle (20), a rear axle cover (21) and two rear wheels arranged at the left end and the right end of the rear axle (20), the rear axle (20) comprises a belt pulley II (22), a driving shaft (64), a main speed reducer (31), a differential (33), a shaft I (32) and a shaft II (30), the belt pulley II (22) is connected with one end of the driving shaft (64), and the other end of the driving shaft (64) is connected with one ends of the shaft I (32) and the shaft II (30) through the main speed reducer (31) and the differential (33); the other end of the shaft I (32) is connected with the bearing I (27), and the other end of the shaft II (30) is connected with the bearing II (29); the bearing I (27) and the bearing II (29) are correspondingly arranged on the two rear wheels; the shaft I (32) and the shaft II (30) are correspondingly provided with a ratchet I (2) and a ratchet II (26) with stopping functions, and the ratchet I (2) and the ratchet II (26) are matched with an elastic element to prevent the whole device from sliding backwards when the whole device is used for cleaning stairs; the driving motor I (19) drives the belt pulley II (22) to rotate, the belt pulley II (22) drives the driving shaft (64) to rotate, and the driving shaft (64) drives the two shafts to rotate through the main speed reducer (31), so that the two rear wheels are driven to rotate.
3. The device for automatically climbing stairs and cleaning stairs steps according to claim 1, wherein the front wheel walking device comprises a driving motor II (40), a speed reducer II (39), a gear III (50), a front axle bracket (43) and a rack connecting rod (51) which are arranged in parallel, two steering knuckles connected at two ends of the front axle bracket (43) and the rack connecting rod (51) and two front wheels correspondingly connected with the two steering knuckles, the driving motor II (40) and the speed reducer II (39) are fixedly arranged on the front axle bracket (43), the gear III (50) is connected with an output shaft of the speed reducer II (39),
when the sensor judges that the steering is needed, the sensor transmits a signal to the PLC, the PLC controls the driving motor II (40), the driving motor II (40) drives the gear III (50) to rotate through the speed reducer II (39), and the gear III (50) rotates to enable the rack connecting rod (51) to do linear reciprocating motion, so that steering knuckles at two ends are driven to rotate, and the steering of the front wheel is realized.
4. The device for automatically climbing stairs and cleaning stairs steps as claimed in claim 1, wherein the cam (35) is provided with a groove, a pin shaft is arranged in the groove, and the groove is connected with the rear end of the connecting rod (36) through the pin shaft; when the cam (35) rotates, the pin shaft moves along the groove track to drive the connecting rod (36) to move regularly along the groove track.
5. A device for automatically climbing stairs and cleaning stairs steps as claimed in claim 1, wherein, the supporting mechanisms (5) are arranged in two groups, symmetrically arranged at two sides of the vehicle frame (18); each group of supporting mechanisms (5) comprises a supporting frame II (54), a supporting connecting rod I (55), a supporting connecting rod II (56) and a hydraulic telescopic tappet (57) which are sequentially connected, and supporting wheels (53) are arranged on the supporting frame II (54); the hydraulic telescopic tappet (57) is driven by the hydraulic pump to do stretching motion to drive the support connecting rod II (56), the support connecting rod I (55), the support frame II (54) and the support wheel (53) to move, so that the support wheel (53) is put down to play a role in temporarily supporting the whole device; meanwhile, the cam connecting rod device enables the front wheel walking device to be lifted upwards, when the front wheel walking device is lifted upwards to the next stair step, the hydraulic telescopic tappet (57) is driven by the hydraulic pump to do telescopic motion to drive the supporting connecting rod II (56), the supporting connecting rod I (55), the supporting frame II (54) and the supporting wheel (53) to move, and the supporting wheel (53) is enabled to be contracted upwards; in the period, the PLC controller controls the rear wheel traveling device to move to the next step of stairs.
6. The device for automatically climbing stairs and cleaning stairs according to claim 1, wherein the cleaning device comprises a cleaning device (12), a connecting block (7), a hydraulic tappet I (8), a hydraulic tappet II (9), a hydraulic tappet III (14), a fixed flat plate (59) and a horizontal moving flat plate (60), the cleaning device (12) is connected with the front side of the connecting block (7) through the hydraulic tappet II (9) and the hydraulic tappet III (14), and the upper side of the connecting block (7) is connected with the horizontal moving flat plate (60) of the hydraulic tappet I (8); the horizontal moving flat plate (60) is arranged above the fixed flat plate (59) and can move left and right along a horizontal moving guide rail (58) on the fixed flat plate (59); whole cleaning device passes through fixed flat board (59) to be fixed in frame (18) front portion, drives connecting block (7) and cleaning device (12) and reciprocates when hydraulic tappet I (8) are flexible from top to bottom, and telescopic motion around and the rotatory swing around the fixed point are realized to hydraulic tappet II (9), hydraulic tappet III (14).
7. The device for automatically climbing stairs and cleaning stairs according to claim 6, wherein the cleaning device (12) comprises a dust collection box (62) and a driving motor box (63), a garbage outlet pipeline (13) is arranged on the dust collection box (62), a plurality of rotatable broom heads (61) are uniformly distributed in the dust collection box (62), and each broom head (61) is driven by a driving motor in the driving motor box (63) to perform rotary cleaning.
8. A device for automatically climbing stairs and cleaning stairs steps as claimed in claim 7, wherein the end of each broom head (61) is provided with a belt pulley I (10), and all the belt pulleys I (10) are connected with a driving motor in a driving motor box (63) through a belt (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610902617.1A CN106343927B (en) | 2016-10-18 | 2016-10-18 | Device for automatically climbing stairs and cleaning stairs steps |
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| CN201610902617.1A CN106343927B (en) | 2016-10-18 | 2016-10-18 | Device for automatically climbing stairs and cleaning stairs steps |
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| CN106343927B true CN106343927B (en) | 2021-11-23 |
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| CN107913032B (en) * | 2017-12-29 | 2023-03-14 | 洛阳理工学院 | Full-automatic cleaning floor mopping machine for stairs |
| CN108814414A (en) * | 2018-05-21 | 2018-11-16 | 西安工业大学 | A kind of dust collection equipment that can be walked on ladder |
| CN108951518B (en) * | 2018-09-11 | 2024-01-02 | 哈尔滨哈锅锅炉容器工程有限责任公司 | Automatic snow removing device for outdoor stairs |
| CN109431390A (en) * | 2018-12-20 | 2019-03-08 | 哈尔滨理工大学 | A kind of Multi-freedom-degreemanipulator manipulator climbs building clearing apparatus |
| CN109620068B (en) * | 2018-12-21 | 2021-02-19 | 安徽信息工程学院 | Chassis assembly and floor washing machine with same |
| CN110238859A (en) * | 2019-05-10 | 2019-09-17 | 长沙学院 | A kind of stair climbing clean robot |
| CN112842160A (en) * | 2020-12-31 | 2021-05-28 | 科沃斯商用机器人有限公司 | Cleaning equipment and self-moving cleaning robot |
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