CN113995350A

CN113995350A - Cleaning robot with stair climbing function

Info

Publication number: CN113995350A
Application number: CN202111371153.3A
Authority: CN
Inventors: 吴琳波
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-02-01

Abstract

The invention discloses a cleaning robot with a stair climbing function, which comprises: the shell, be equipped with in the middle part of shell and place the attachment strap, the both sides bottom of shell is equipped with the dust absorption district respectively, places one of attachment strap and serves and be equipped with the dust absorption recess, and the dust absorption recess communicates with the dust absorption district through the dust absorption connecting pipe, is equipped with counter weight moving mechanism on the top of shell, places and slides respectively on the attachment strap both sides and is equipped with horizontal sliding component, and every horizontal sliding component endotheca is equipped with a elevating gear, and two elevating gear's bottom is connected with a universal drive arrangement jointly. Design more than adopting, through setting up the removal that universal drive arrangement realized the shell, realize that the shell rises through setting up elevating gear, through setting up horizontal slip part, realize universal drive arrangement's translation, through setting up the balancing weight, the focus position when the adjustment climbed, four combine to realize cleaning robot function of climbing, simple structure, reasonable in design can multidirectional removal, and the design cost is low, has great application and promotion value.

Description

Cleaning robot with stair climbing function

Technical Field

The invention relates to the technical field of robots, in particular to a cleaning robot with a stair climbing function.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.

The body of the sweeping robot is a wireless machine, mainly in a disc shape. The rechargeable battery is used for operation, and the operation mode is a remote controller or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The front is provided with a sensor which can detect obstacles, such as touching a wall or other obstacles, can turn by itself, and can walk different routes according to different manufacturers, thereby planning cleaning areas. (some of the models of the older generations may lack some functions), because of the simple operation function and convenience, they are now becoming popular and common home appliances for office workers and modern homes.

The existing sweeping robot can only work on a flat ground generally, but for houses constructed by skip floors, villas and the like, the sweeping robot cannot operate on stairs and can only operate manually.

Therefore, there is a need to design a cleaning robot which can transport the sweeping robot to different floors and clean the stairs by using the dust collection function of the sweeping robot during the transportation process.

Disclosure of Invention

The technical scheme adopted by the invention to achieve the technical purpose is as follows: a cleaning robot having a stair climbing function, comprising: the shell, follow in the middle part of shell the length direction of shell is equipped with places the attachment strap, the both sides bottom of shell is equipped with the dust absorption district respectively, it serves the dust absorption recess to place the attachment strap, the both ends of dust absorption recess respectively through the dust absorption even pipe with dust absorption district intercommunication, be equipped with counter weight moving mechanism on the top of shell, it slides respectively on the attachment strap both sides and is equipped with horizontal slip part, every horizontal slip part endotheca is equipped with a elevating gear, two elevating gear's bottom is connected with a universal drive arrangement jointly.

In a preferred embodiment, an end face of the housing is open, the end of the placement strap away from the dust suction groove extends obliquely to the bottom of the open end face of the housing, a cleaning sheet is arranged on the end face of the housing adjacent to the dust suction groove, and the cleaning sheet is arranged on the dust suction area on the bottom face of the housing.

In a preferred embodiment, a dust suction groove is arranged on the dust suction area, and the dust suction connecting pipe is communicated with the dust suction groove.

In a preferred embodiment, a dust suction groove is arranged on the dust suction area, the dust suction groove is in an L shape, one end of the dust suction groove extends from the dust suction area to one end face of the shell, and the dust suction groove is communicated with the dust suction connecting pipe.

In a preferred embodiment, a sliding plate is arranged on the dust collection area corresponding to one end of the dust collection groove, the sliding plate can slide into the dust collection groove, one end of the sliding plate is connected with a spring, and one end of the sliding plate, which is adjacent to the dust collection groove, protrudes out of the bottom plane of the shell.

In a preferred embodiment, the counterweight moving mechanism includes: balancing weight, moving motor, guide rod and belt; the belt with the output of moving motor is connected, in the middle of the bottom of balancing weight with belt fixed connection, the guide arm set up in on the both sides of belt, the bottom both ends of balancing weight with guide arm sliding connection.

In a preferred embodiment, each of the horizontal sliding members includes: the sliding piece, the translation motor, the sliding rail and the rack; the translation motor is fixed on the sliding piece, the number of the sliding rails is two, the two sliding rails are arranged at intervals, the sliding piece is arranged between the two sliding rails in a sliding mode, the output end of the translation motor is in transmission connection with the rack, and the sliding piece is sleeved outside the lifting device.

In a preferred embodiment, each of the lifting devices comprises: the lifting motor, the threaded rod, the connecting column and the connecting cross rod are arranged on the base; the output end of the lifting motor is connected with the threaded rod, one end, far away from the lifting motor, of the threaded rod is in threaded connection with the connecting column, the horizontal sliding component is sleeved on the outer side of the connecting column, the connecting column is in a regular polygon shape, the bottom of the connecting column is fixedly connected with the connecting cross rods, the two lifting devices are fixedly connected through the connecting cross rods, and the universal driving device is movably connected with the middle parts between the two connecting cross rods.

In a preferred embodiment, the universal drive device comprises: the crawler belt comprises a crawler belt bracket, crawler wheels, a driving motor and a sleeve; the crawler wheel is provided with two crawler wheels, the two crawler wheels are respectively arranged on two sides of the crawler support, the number of the driving motors is two, the driving motors are arranged on one end of the crawler support and are respectively connected with the corresponding crawler wheels, the sleeve is fixedly arranged between two sides of the crawler support, and the sleeve is movably connected with the bottom of the lifting device.

In a preferred embodiment, a universal wheel is fixedly connected to one end of the bottom of the shell.

The invention has the beneficial effects that: the universal driving device is arranged in the shell to move the shell, the lifting device is arranged to lift the shell and the universal driving device, the horizontal sliding component is arranged to translate the universal driving device, the balancing weight is arranged to prevent the stair climbing device from rolling and falling off due to gravity center offset during climbing, the climbing function of the stair climbing device is realized by combining the four components, the structure is simple, the design is reasonable, the stair climbing device can move in multiple directions, the design cost is low, and the application and popularization values are high.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the housing of the present invention;

FIG. 3 is a schematic structural view of a counterweight moving mechanism according to the present invention;

FIG. 4 is a schematic structural view of the horizontal sliding member, the lifting device and the universal driving device of the present invention;

FIG. 5 is a schematic view of the bottom view of the present invention;

FIG. 6 is a schematic cross-sectional view of the present invention;

FIG. 7 is a view illustrating a state of use of the present invention in FIG. 1;

FIG. 8 is a view illustrating a state of use of the present invention in FIG. 2;

fig. 9 is a view showing a state of use of the present invention in fig. 3.

In the figure:

10. a housing; 11. a counterweight moving mechanism; 111. a balancing weight; 112. a moving motor; 113. a guide bar; 114. a belt; 12. a horizontal sliding member; 121. a slider; 122. a translation motor; 123. a slide rail; 124. a rack; 125. a chute; 126. a slider; 13. a lifting device; 131. a lifting motor; 132. a threaded rod; 133. connecting columns; 134. connecting the cross bars; 14. a universal drive device; 141. a track frame; 142. a crawler wheel; 143. a drive motor; 144. a sleeve; 15. a universal wheel; 16. placing a butt strap; 161. a dust collection groove; 17. a dust collection connecting pipe; 18. a dust suction area; 181. a dust collection groove; 182. a slide plate; 183. a cleaning sheet; 184. a spring;

20. a sweeping robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

As shown in fig. 1 to 6, the present invention provides a cleaning robot having a stair climbing function, comprising: a placing butt strap 16 is arranged in the middle of the shell 10 along the length direction of the shell, dust suction areas 18 are respectively arranged at the bottom of two sides of the shell 10, a dust suction groove 161 is arranged at one end of the placing butt strap 16, two ends of the dust suction groove 161 are respectively communicated with the dust suction areas 18 through a dust suction connecting pipe 17, a counterweight moving mechanism 11 is arranged at the top of the shell 10, and the counterweight moving mechanism 11 is used for adjusting the gravity center of the shell 10 in the climbing process; horizontal sliding parts 12 are respectively arranged on two sides of the placing butt strap 16 in a sliding mode, the horizontal sliding parts 12 are used for driving the shell 10 to move, a lifting device 13 is sleeved in each horizontal sliding part 12, the lifting device 13 is used for driving the shell 10 to lift, the bottoms of the two lifting devices 13 are jointly connected with a universal driving device 14, and the universal driving device 14 is used for driving the shell 10 to move.

Further, in this embodiment, an end surface of the housing 10 is open, and an end of the placing strap 16, which is away from the dust suction groove 161, extends to the bottom of the open end surface of the housing 10 in an inclined manner, so that an end of the placing strap 16, which is close to the open end surface of the housing 10, is in a slope shape, which is convenient for the cleaning robot to climb up the placing strap 16 by itself, the placing butt strap 16 is used for placing the sweeping robot, the dust suction groove 161 is used for butting with a dust suction port of the sweeping robot, so that the stair can be conveniently subjected to dust suction operation by utilizing the self-carried dust suction function of the carried sweeping robot, the housing 10 is provided with a cleaning sheet 183 on one end surface adjacent to the dust suction groove 161, the bottom surface of the shell 10 is arranged on the dust collection area 18 and is also provided with the cleaning sheet 183, and the cleaning sheet 183 is arranged so that the shell 10 can clean the ground or the vertical wall surface through the cleaning sheet 183.

Further, in this embodiment, the dust suction area 18 is provided with a dust suction groove 181, and the dust suction groove 181 has two embodiments, namely, the dust suction groove 181 is only arranged on the dust suction area 18, and the dust suction groove 181 is connected to the dust suction connecting pipe 17, so that the suction force of the dust suction device acts on the ground through the dust suction groove 181, and dust and impurities on the ground are sucked into the dust suction device; secondly, the dust suction groove 181 is set to be "L" shape, that is, the dust suction groove 181 extends from the dust suction area 18 to an end surface of the housing adjacent to the dust suction groove 161, so that the housing 10 can perform dust suction operation on the ground and can also perform dust suction operation on the wall, thereby improving the practicability of the housing 10.

Further, in this embodiment, a sliding plate 182 is disposed on the dust collection area 18 corresponding to one end of the dust collection groove 181, the sliding plate 182 is slidable into the dust collection groove 181, a spring 184 is connected to one end of the sliding plate 182, and one end of the sliding plate 182 adjacent to the dust collection groove 181 protrudes out of the bottom plane of the housing 10; specifically, in order to adapt the dust suction groove 181 to most of the terrain width and prevent the suction force from decreasing due to the phenomenon of void leakage when sucking dust in a special terrain, such as stairs, etc., due to the fact that the part of the dust suction groove 181 is not opposite to the bottom surface due to the overlong dust suction groove 181, a sliding plate 182 is arranged on the dust suction area 18 corresponding to one end of the dust suction groove 181, one end of the sliding plate 182 far away from the dust suction groove 181 is provided with a spring 184, the sliding plate 182 can slide from the dust suction area 18 to the dust suction groove 181 through the spring 184, so as to shorten the length of the dust suction groove 181 to enable the dust suction groove 181 to be attached to stairs of different sizes to be cleaned and avoid the phenomenon of void leakage, wherein in order to facilitate the spring 184 to push the sliding plate 182 into the dust suction groove 181 by itself, one end of the sliding plate 182 near the dust suction groove 181 protrudes out of the bottom plane of the housing 10, and when the sliding plate 182 is not blocked by the outside, the spring pushes the sliding plate 182 out, until the dust suction groove 181 abuts against the external wall surface, similarly, when the length of the dust suction groove 181 is insufficient due to the sliding plate 182, the end of the sliding plate 182 protruding out of the bottom plane of the housing 10 abuts against the external wall surface and is compressed, thereby extending the length of the dust suction groove 181.

Further, in the present embodiment, the counterweight moving mechanism 11 includes: a balancing weight 111, a moving motor 112, a guide rod 113 and a belt 114; the belt 114 is connected with the output end of the movable motor 112, the middle of the bottom of the balancing weight 111 is fixedly connected with the belt 114, the guide rods 113 are respectively arranged on two sides of the belt 114, two ends of the bottom of the balancing weight 111 are connected with the guide rods 113 in a sliding manner, the movable motor 112 rotates to drive the belt 114 to rotate, and therefore the balancing weight 111 fixedly connected with the belt 114 is driven to move along the guide rods 113 to adjust the position of the center of gravity.

Further, in the present embodiment, each of the horizontal sliding members 12 includes: a slide 121, a translation motor 122, a slide rail 123 and a rack 124; the translation motor 122 is fixed on the slider 121, two slide rails 123 are provided, the two slide rails 123 are arranged at intervals, the slider 121 is slidably arranged between the two slide rails 123, the rack 124 is arranged above one of the slide rails 123, the output end of the translation motor 122 is in transmission connection with the rack 124, the slider 121 is sleeved outside the lifting device 13, and the translation motor 122 is in transmission connection with the rack 124, so that the translation motor 122 drives the slider 121 to move along the slide rails 123 when in a working state, and drives the lifting device 13 sleeved in the slider 121 and the universal driving device 14 connected with the bottom of the lifting device 13 to synchronously move.

Further, in this embodiment, two slide rails 123 of each horizontal sliding component 12 are respectively provided with a T-shaped sliding slot 125, and two sides of the sliding component 121 are respectively provided with a sliding block 126 adapted to the sliding slot 125, so that the sliding block 126 is embedded in the sliding slot 125, and the height of the sliding component 121 in the two slide rails 123 is fixed.

Further, in the present embodiment, two lifting devices 13 are provided, the two lifting devices 13 are symmetrically arranged, and the bottoms of the two lifting devices 13 are fixedly connected together and are driven synchronously; each of the lifting devices 13 includes: a lifting motor 131, a threaded rod 132, a connecting column 133 and a connecting cross rod 134; the output of elevator motor 131 with threaded rod 132 is connected, threaded rod 132 keeps away from elevator motor 131's one end with spliced pole 133 threaded connection, slider 121 cover in the horizontal sliding part 12 is located spliced pole 133's the outside, and slider 121 and elevator motor fixed connection, spliced pole 133's bottom and connected horizontal pole 134 fixed connection, two among two elevating gear fixed connection between the connected horizontal pole 134, the middle part of two connected horizontal poles 134 with universal drive device 14 swing joint, elevator motor 131 during operation drive threaded rod 132 and rotate, make its spliced pole 133 that makes threaded connection with it rise or descend along with its pivoted direction, drive and connect the ascending or descending of universal drive device 14 that horizontal pole 134 is connected.

Further, in this embodiment, the universal driving apparatus 14 is provided as one, and the universal driving apparatus 14 includes: a track support 141, a track wheel 142, a driving motor 143, a sleeve 144; two crawler wheels 142 are provided, the two crawler wheels 142 are respectively provided on both sides of the crawler frame 141, two driving motors 143 are provided, the driving motors 143 are provided at one end of the track frame 141, the two driving motors 143 are respectively connected to the corresponding track wheels 142, the sleeve 144 is fixedly arranged between two sides of the track frame 141, the sleeve 144 is movably connected with the bottom of the lifting device 13, the two driving motors 143 can synchronously run in the same direction, so that the two track wheels 142 are driven to synchronously rotate in the same direction by the driving motors 143, thereby driving the housing 10 to move, the two driving motors 143 can also synchronously operate in different directions, so that the two driving motors drive the two track wheels 142 to synchronously rotate in different directions, and is movably connected with the middle part of the connecting cross bar 134 through a sleeve 144, so that the track wheels 142 horizontally rotate when synchronously and reversely rotating, and the advancing direction is adjusted.

The working principle is that when the stair climbing device is in an initial state, the universal driving device 14 is located in the middle of the housing 10, the counterweight 111 is located above the universal driving device 14, when climbing, the lifting motor 131 operates in the forward direction to drive the connecting column 133 to move towards the ground, at this time, because the crawler wheel 142 is in a contact state with the ground, the connecting column 133 cannot sink, so that when the lifting motor 131 operates in the forward direction, a reaction force is generated to move the lifting motor 131 upwards, the lifting motor 131 and the slider 121 are connected together through a fixedly connected structure (not shown in the figure), when the lifting motor 131 moves upwards, the slider 121 is driven to synchronously ascend under the fixedly connected structure, meanwhile, because the slider 121 and the sliding rail 123 are connected in the horizontal direction, the slider 121 and the sliding rail 123 move synchronously in the vertical direction, so that when the slider 121 ascends, the housing 10 is driven to synchronously ascend until being flush with the plane of the second step, due to the structures of the T-shaped sliding groove 125 and the sliding rail 123, when the shell 10 is lifted, the situation of side inclination does not occur, then the driving motor 143 operates to drive the track wheel 142 to rotate, so that the shell 10 is driven to move forwards, the bottom of the front end of the shell 10 is made to be lapped on a second step, and the front end of the shell 10 is made to be abutted against the wall surface of a third step, when the universal driving device 14 operates, the translation motor 122 of the horizontal sliding part 12 does not operate, the sliding piece 121 cannot move under the engagement limitation of the translation motor 122 and the rack 124, and the situation that when the universal driving device 14 drives the shell 10 to move, the universal driving device 14 drives the horizontal sliding part 12 to move, and the shell 10 does not move is prevented; then the counterweight 111 moves forward to the front end of the housing 10, so that the center of gravity is located at the front end of the housing 10, at this time, the jacking motor runs reversely, the universal driving device 14 rises under the driving of the threaded rod 132, because the center of gravity is located at the front end of the housing 10, at this time, the universal driving device 14 rises, the housing 10 does not fall, until the housing is flush with the table top of the first step, the translation motor 122 of the horizontal sliding part 12 runs, the slider 121 is driven to move along the sliding rail 123, the universal driving device 14 is driven to move to the first step, at this time, if the housing is moved along the length direction of the step, the two driving motors 143 are controlled to synchronously run in different directions, so that the two crawler wheels 142 rotate transversely, the advancing direction of the two crawler wheels 142 is consistent with the length direction of the step, so as to realize the lateral movement of the stair climbing device, when the housing is lifted again, the counterweight 111 moves back to the climbing foot, and then carrying out the steps.

In conclusion, the universal driving device is arranged in the shell to move the shell, the lifting device is arranged to lift the shell and the universal driving device, the horizontal sliding part is arranged to translate the universal driving device, the balancing weight is arranged to prevent the stair climbing device from rolling and falling off due to gravity center offset during climbing, the climbing function of the stair climbing device is realized by combining the four parts, the structure is simple, the design is reasonable, the multidirectional movement can be realized, the design cost is low, and the application and popularization values are high.

The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims

1. A cleaning robot having a stair climbing function, comprising: the shell, follow in the middle part of shell the length direction of shell is equipped with places the attachment strap, the both sides bottom of shell is equipped with the dust absorption district respectively, it serves the dust absorption recess to place the attachment strap, the both ends of dust absorption recess respectively through the dust absorption even pipe with dust absorption district intercommunication, be equipped with counter weight moving mechanism on the top of shell, it slides respectively on the attachment strap both sides and is equipped with horizontal slip part, every horizontal slip part endotheca is equipped with a elevating gear, two elevating gear's bottom is connected with a universal drive arrangement jointly.

2. The cleaning robot with the stair climbing function according to claim 1, wherein an end face of the housing is open, an end of the placement strap away from the dust suction groove is inclined to extend to the bottom of the end face of the housing opening, a cleaning sheet is arranged on an end face of the housing adjacent to the dust suction groove, and the cleaning sheet is further arranged on the dust suction area on the bottom face of the housing.

3. The cleaning robot with the stair climbing function according to claim 1, wherein a dust suction groove is formed in the dust suction area, and the dust suction connecting pipe is communicated with the dust suction groove.

4. The cleaning robot for climbing stairs of claim 1, wherein a dust suction groove is formed on the dust suction area, the dust suction groove is L-shaped, one end of the dust suction groove extends from the dust suction area to an end surface of the housing, and the dust suction groove is communicated with the dust suction connecting pipe.

5. A cleaning robot with stair climbing function as claimed in claim 3 or 4, wherein a sliding plate is arranged on the dust collection area corresponding to one end of the dust collection groove, the sliding plate can slide into the dust collection groove, a spring is connected to one end of the sliding plate, and one end of the sliding plate adjacent to the dust collection groove protrudes out of the bottom plane of the housing.

6. The cleaning robot having a stair climbing function according to claim 1, wherein the weight moving mechanism comprises: balancing weight, moving motor, guide rod and belt; the belt with the output of moving motor is connected, in the middle of the bottom of balancing weight with belt fixed connection, the guide arm set up in on the both sides of belt, the bottom both ends of balancing weight with guide arm sliding connection.

7. A cleaning robot having a stair climbing function according to claim 1, wherein each of the horizontal sliding members comprises: the sliding piece, the translation motor, the sliding rail and the rack; the translation motor is fixed on the sliding piece, the number of the sliding rails is two, the two sliding rails are arranged at intervals, the sliding piece is arranged between the two sliding rails in a sliding mode, the output end of the translation motor is in transmission connection with the rack, and the sliding piece is sleeved outside the lifting device.

8. A cleaning robot having a stair climbing function according to claim 1, wherein each of the lifting devices comprises: the lifting motor, the threaded rod, the connecting column and the connecting cross rod are arranged on the base; the output end of the lifting motor is connected with the threaded rod, one end, far away from the lifting motor, of the threaded rod is in threaded connection with the connecting column, the horizontal sliding component is sleeved on the outer side of the connecting column, the connecting column is in a regular polygon shape, the bottom of the connecting column is fixedly connected with the connecting cross rods, the two lifting devices are fixedly connected through the connecting cross rods, and the universal driving device is movably connected with the middle parts between the two connecting cross rods.

9. A cleaning robot having a stair climbing function according to claim 1, wherein the universal driving means comprises: the crawler belt comprises a crawler belt bracket, crawler wheels, a driving motor and a sleeve; the crawler wheel is provided with two crawler wheels, the two crawler wheels are respectively arranged on two sides of the crawler support, the number of the driving motors is two, the driving motors are arranged on one end of the crawler support and are respectively connected with the corresponding crawler wheels, the sleeve is fixedly arranged between two sides of the crawler support, and the sleeve is movably connected with the bottom of the lifting device.

10. The cleaning robot for climbing stairs of claim 1, wherein a universal wheel is fixedly connected to one end of the bottom of the housing.