CN114767006B - Stair climbing mechanism applied to sweeping robot - Google Patents
Stair climbing mechanism applied to sweeping robot Download PDFInfo
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- CN114767006B CN114767006B CN202210357302.9A CN202210357302A CN114767006B CN 114767006 B CN114767006 B CN 114767006B CN 202210357302 A CN202210357302 A CN 202210357302A CN 114767006 B CN114767006 B CN 114767006B
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- 230000009194 climbing Effects 0.000 title claims abstract description 138
- 238000010408 sweeping Methods 0.000 title claims abstract description 85
- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 238000013461 design Methods 0.000 abstract description 10
- 230000002493 climbing effect Effects 0.000 description 8
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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
- A47L11/40—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stair climbing mechanism applied to a sweeping robot, which comprises an outer frame main body, front climbing feet and rear supporting feet; the front climbing foot and the rear supporting foot are respectively fixed on the front side and the rear side of the outer frame main body; the front climbing foot comprises at least two front climbing foot rods, and the front climbing foot rods are connected end to end sequentially through a revolute pair and are fixed on the outer frame main body through the revolute pair; the casing both sides of frame main part are opened there is the back supporting foot spout of arranging along frame main part length direction, and the back supporting foot includes the back supporting foot festival that the multisection cup jointed in proper order, is fixed with the back supporting foot slider that matches with back supporting foot spout on the outer wall of the back supporting foot festival of the outermost, and the back supporting foot is fixed in back supporting foot spout through back supporting foot slider. The mechanism is fixed with the sweeping robot through the outer frame main body, can be adapted to all types of sweeping robots, and has good applicability; the structural design is reasonable, the cost is low, and the normal work of the sweeping robot can not be influenced when climbing stairs.
Description
Technical Field
The invention relates to the technical field of intelligent robots, relates to a stair climbing mechanism applied to a sweeping robot, and in particular relates to a stair climbing device which is reasonable in structural design, low in cost and good in operation stability, and can be matched with a shell of the sweeping robot with a certain size to realize stair climbing.
Background
In recent years, sweeping robots are spreading at a remarkable speed, and the market is rapidly developing. In the early development stage, the sweeping robot mainly aims at improving the sweeping efficiency. At present, after the sweeping robot is ensured to provide a better cleaning effect, intelligent technologies such as multi-sensor fusion, navigation, path planning and the like are integrated. Because the basic functions of the floor sweeping robot which are intuitively visible to the user are cleaning, dust collection, floor mopping and the like, related enterprises are mainly focused on optimizing the cleaning function and improving user experience at present, the moving working space of the existing floor sweeping robot is generally limited to two dimensions, and the third-dimensional movement of going up and down stairs is difficult to realize. For multi-floor households, the sweeping robot has an autonomous stair climbing function, so that the user experience is improved clearly. The existing obstacle surmounting robot generally has a complex structure, is difficult to shrink, and is difficult to realize stair climbing action under the condition that normal work of the robot is not influenced.
Therefore, the stair climbing mechanism applied to the sweeping robot has the advantages of reasonable structural design, low cost and good running stability (the normal work of the sweeping robot can not be influenced when the stair climbing is performed).
Disclosure of Invention
Because the prior art has the defects, the stair climbing mechanism applied to the sweeping robot is reasonable in structural design, low in cost and good in operation stability (the normal operation of the sweeping robot can not be influenced when the stair climbing is performed), and the defects that the stair climbing mechanism for the robot is complex in structure, high in cost and incapable of ensuring the normal operation of the sweeping robot when the stair climbing is performed are overcome.
In order to achieve the above object, the present invention provides the following technical solutions:
a stair climbing mechanism applied to a sweeping robot comprises an outer frame main body (which can be semi-covered), at least two front climbing feet and at least two rear supporting feet;
the front climbing foot and the rear supporting foot are respectively fixed on the front side and the rear side of the outer frame main body;
The front climbing foot comprises at least two front climbing foot rods, and the front climbing foot rods are connected end to end sequentially through a revolute pair and are fixed on the outer frame main body through the revolute pair;
The casing both sides of frame main part are opened there is the back supporting foot spout of arranging along frame main part length direction, back supporting foot includes the back supporting foot festival that the multisection cup jointed in proper order, the flexible direction of back supporting foot is not parallel with the direction of arranging of back supporting foot spout, is fixed with the back supporting foot slider that matches with back supporting foot spout on the outer wall of the back supporting foot festival of the outermost, and the back supporting foot is fixed in back supporting foot spout through back supporting foot slider.
The stair climbing mechanism applied to the sweeping robot is reasonable in structural design, can be fixed with the sweeping robot through the outer frame main body, can realize stair climbing without excessively increasing the occupied space of the sweeping robot, effectively improves the sweeping area of a single sweeping robot, is good in applicability, can adapt to various types of sweeping robots, is simple in structure and low in cost, can prevent users on multiple floors from buying one robot or manually moving the robot to a floor to be cleaned, effectively saves cost and time, and has application prospects.
As a preferable technical scheme:
The stair climbing mechanism applied to the sweeping robot is characterized in that the extending and contracting direction of the rear supporting foot is perpendicular to the arrangement direction of the rear supporting foot sliding groove.
The stair climbing mechanism for the sweeping robot is characterized in that the sweeping robot is arranged in the outer frame body, the sweeping robot is fixed in the outer frame body through the flexible buckle, the flexible buckle mainly provides clamping force by the spring, when the sweeping robot is clamped and clamped, the outer frame part of the sweeping robot is clamped by a larger angle, the flexible structure ensures that the sweeping robot is not destructive, the stair climbing mechanism is suitable for the size of the sweeping robot in most markets, namely, the outer frame body is matched with the outer frame body of the sweeping robot, the stair climbing function of the sweeping robot can be realized through the stair climbing mechanism so as to break the working space limitation of the sweeping robot, and the indoor sweeping problem of the multi-storey house and the complex indoor environment is solved.
The stair climbing mechanism for the sweeping robot is characterized in that the front climbing foot and the rear supporting foot are two, and the front climbing foot and the rear supporting foot are respectively arranged at four corners of the outer frame body.
The stair climbing mechanism applied to the floor sweeping robot comprises the front climbing foot first rod and the front climbing foot second rod, wherein the front climbing foot first rod is connected with the front climbing foot second rod through the second revolute pair, and the front climbing foot first rod is fixed on the outer frame main body through the first revolute pair;
the first revolute pair and the second revolute pair are respectively provided with a front climbing foot first rod rotating device and a front climbing foot second rod rotating device (driving steering engine).
The stair climbing mechanism applied to the sweeping robot comprises the rear supporting foot first section, the rear supporting foot second section and the rear supporting foot third section which are sleeved in sequence, wherein the bottom of the rear supporting foot third section is flat;
The first section of the rear supporting foot, the second section of the rear supporting foot and the third section of the rear supporting foot are of cylindrical structures matched with each other, the second section of the rear supporting foot is sleeved outside the third section of the supporting foot, and the first section of the rear supporting foot is sleeved outside the second section of the supporting foot;
the rear support foot sliding block is fixed on the first section of the rear support foot. Of course, the number of the joints of the rear support foot is not only 3, but also can be selected according to the requirement.
The stair climbing mechanism applied to the sweeping robot is characterized in that the rear supporting foot sliding block is T-shaped.
The stair climbing mechanism applied to the floor sweeping robot is characterized in that a rear supporting foot telescopic power device is arranged between adjacent sections of the rear supporting foot, the rear supporting foot telescopic power device between the first section of the rear supporting foot and the second section of the rear supporting foot and the rear supporting foot telescopic power device between the second section of the rear supporting foot and the third section of the rear supporting foot are respectively arranged at different positions in the rear supporting foot, and the rear supporting foot telescopic power devices of the upper section and the lower section can be prevented from interfering with each other;
The rear support foot telescopic power device comprises a rear support foot section rack and a rear support foot telescopic gear, wherein the rear support foot telescopic gear is matched with the rear support foot section rack and sleeved on a driving shaft of a rear support foot telescopic motor.
The stair climbing mechanism applied to the sweeping robot is characterized in that the two sides of the rear supporting foot sliding block are fixedly provided with the sliding block driving rollers, the roller surfaces of the sliding block driving rollers are in contact with the inner wall of the rear supporting foot sliding groove, and the sliding block driving rollers are fixedly connected with the driving shaft of the sliding block driving motor;
The slide block driving roller is fixed on the rear supporting foot slide block through slide block driving roller fixing pieces positioned on two sides of the slide block driving roller.
The stair climbing mechanism applied to the sweeping robot further comprises a control unit and a sensor module fixed on the outer frame main body (the sensor module comprises an infrared ranging sensing unit arranged at the front end of the outer frame main body, the infrared ranging sensing unit feeds back the acquired distance information to the control unit and determines whether the stair climbing mechanism starts working or not through the control unit, and for the distinction between stairs and general obstacles, the stair climbing mechanism can be judged by combining two infrared ranging sensors with a certain vertical distance); the control unit is respectively connected with the sensor module, the front climbing foot first rod rotating device, the front climbing foot second rod rotating device, all rear supporting foot telescopic motors and all sliding block driving motors electrically, can acquire state information of a stair climbing mechanism applied to the sweeping robot through the sensor module, and further controls the stair climbing mechanism to climb stairs through controlling the device.
When the robot cleans the plane, the stair climbing mechanism is in a stop state (when the robot is in a non-working state, the front climbing foot and the rear supporting foot of the stair climbing mechanism are in initial states, namely, all the movement mechanisms have no protruding quantity at the front edge and the rear edge of the robot body) and do not work. When the sweeping robot detects that a step capable of climbing is arranged in front of the sweeping robot through the sensor, the sweeping robot moves to a proper position for climbing stairs, and is ready for climbing stairs. When climbing stairs, the movable part of the sweeping robot except the stair climbing structure does not act, and only the stair climbing structure acts. The stair climbing structure performs stair climbing through horizontal movement and vertical movement under the constraint of the T-shaped groove, is controlled by the control unit, is driven by the motor, and is powered by a robot-mounted power supply.
The invention realizes the stair climbing function in the specific scene through innovation of the mechanical design structure. The horizontal moving mechanism is a pair of T-shaped sliding blocks with one limited freedom degree, and the horizontal moving mechanism reciprocates in the horizontal direction during operation. The vertical moving mechanism is a pair of T-shaped sliding blocks with a limited degree of freedom and is connected with the foot, and the vertical moving mechanism reciprocates in the vertical direction during operation. Through the cooperation of the horizontal direction, the vertical direction moving mechanism and the front foot, the robot can vertically ascend and horizontally advance in the stair climbing process. After the robot moves to the new step surface, the stair climbing structure is recovered to the original initial position. The other moving bodies of the sweeping robot start to work, and the sweeping operation is performed on a new plane.
The stair climbing structure integrates the advantages of the mechanical foot structure and the lifting structure, fully utilizes the main body space of the machine body, and realizes the lifting of the vertical direction and the movement of the horizontal direction of the robot in a lifting and translation combined mode. The stair climbing function is realized on the premise of not changing the original function of the sweeping robot.
The above technical solution is only one possible technical solution of the present invention, the protection scope of the present invention is not limited thereto, and a person skilled in the art can reasonably adjust the specific design according to the actual requirements.
Said invention has the following advantages or beneficial effects:
(1) The stair climbing mechanism applied to the sweeping robot can be fixed with the sweeping robot through the outer frame main body, can be suitable for various types of sweeping robots, and has good applicability;
(2) The stair climbing mechanism applied to the sweeping robot has reasonable structural design, simpler structure and lower cost, can not influence the normal work of the sweeping robot when climbing stairs, and has good running stability;
(3) The stair climbing mechanism applied to the sweeping robot can greatly improve the sweeping area of a single sweeping robot, can effectively save the use cost of the sweeping robot, and has great application prospects.
Drawings
The invention and its features, aspects and advantages will become more apparent from the detailed description of non-limiting embodiments with reference to the following drawings. Like numbers refer to like parts throughout. The drawings are not drawn to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a front view of a stair climbing mechanism of the present invention applied to a sweeping robot;
FIG. 2 is a three-dimensional schematic view of the stair climbing mechanism of the present invention for use with a sweeping robot;
FIG. 3 is a schematic perspective view of a front climbing foot;
FIG. 4 is a schematic perspective view of a rear support foot;
FIG. 5 is a front perspective view of the rear support foot;
FIG. 6 is a perspective view of the rear support foot slide position;
FIG. 7 is an exploded view of FIG. 6;
FIGS. 8 to 13 are schematic views of steps 1 to 6 of the stair climbing motion performed by the stair climbing mechanism applied to the sweeping robot;
The novel multifunctional foot-climbing device comprises a 1-outer frame main body, a 2-rear supporting foot first section, a 3-rear supporting foot second section, a 4-rear supporting foot third section, a 5-front climbing foot second rod rotating device, a 6-front climbing foot first rod rotating device, a 7-front climbing foot first rod, an 8-front climbing foot second rod, a 9-sweeping robot, a 10-rear supporting foot sliding block, an 11-rear supporting foot, a 12-rear supporting foot telescopic power device, a 13-rear supporting foot sliding groove, a 14-rear supporting foot section rack, a 15-rear supporting foot telescopic gear, a 16-sliding block driving roller and a 17-sliding block driving roller fixing piece.
Detailed Description
The structure of the present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to limit the invention.
Example 1
The stair climbing mechanism for the sweeping robot comprises an outer frame main body 1, two front climbing feet, two rear supporting feet 11, a control unit and a sensor module fixed on the outer frame main body 1, wherein the sweeping robot 9 is arranged in the outer frame main body 1, and the sweeping robot 9 is fixed in the outer frame main body 1 through a flexible buckle;
The front climbing foot and the rear supporting foot 11 are respectively fixed on the front side and the rear side of the outer frame main body 1 and are respectively arranged at four corners of the outer frame main body 1;
The front climbing foot comprises a front climbing foot first rod 7 and a front climbing foot second rod 8, the front climbing foot first rod 7 is connected with the front climbing foot second rod 8 through a second revolute pair, the front climbing foot first rod 7 is fixed on the outer frame main body 1 through a first revolute pair, and the first revolute pair and the second revolute pair are respectively provided with a front climbing foot first rod rotating device 6 and a front climbing foot second rod rotating device 5;
The two sides of the shell of the outer frame main body 1 are provided with rear supporting foot sliding grooves 13 which are arranged along the length direction of the outer frame main body 1, each rear supporting foot 11 comprises a rear supporting foot first section 2, a rear supporting foot second section 3 and a rear supporting foot third section 4 which are sleeved in sequence, the telescopic direction of each rear supporting foot 11 is perpendicular to the arrangement direction of each rear supporting foot sliding groove 13, each rear supporting foot first section 2, each rear supporting foot second section 3 and each rear supporting foot third section 4 are of a mutually matched tubular structure, each rear supporting foot second section 3 is sleeved outside each supporting foot third section 4, each rear supporting foot first section 2 is sleeved outside each supporting foot second section 3, a rear supporting foot sliding block 10 which is in a T shape is fixed on the outer wall of each rear supporting foot first section 2, each rear supporting foot 11 is fixed in each rear supporting foot sliding groove 13 through a rear supporting foot sliding block 10, two sides of each rear supporting foot sliding block 10 are fixedly provided with a sliding block driving roller 16, each sliding block driving roller 16 is in contact with the inner wall of each rear supporting foot sliding groove 13, each sliding block driving roller 16 is fixedly connected with a driving shaft of a sliding block driving motor, each sliding block driving roller 16 is fixedly connected with a sliding block driving roller 17 positioned at two sides of the sliding block driving roller 17;
A rear supporting foot telescopic power device 12 is arranged between adjacent sections of the rear supporting foot, a rear supporting foot telescopic power device between a rear supporting foot first section and a rear supporting foot second section and a rear supporting foot telescopic power device between a rear supporting foot second section and a rear supporting foot third section are respectively arranged at different positions in the rear supporting foot, the rear supporting foot telescopic power device 12 comprises a rear supporting foot section rack 14 and a rear supporting foot telescopic gear 15, the rear supporting foot telescopic gear 15 is matched with the rear supporting foot section rack 14, and the rear supporting foot telescopic gear 15 is sleeved on a driving shaft of a rear supporting foot telescopic motor;
The control unit is respectively connected with the sensor module, the front climbing foot first rod rotating device 6, the front climbing foot second rod rotating device 5, all rear supporting foot telescopic motors and all sliding block driving motors electrically.
The state of the stair climbing mechanism for performing the stair climbing operation is shown in fig. 8 to 13, and specifically, the following steps are performed:
When the step 1 of the stair climbing action is performed, the robot moves to a proper position to prepare for the stair climbing action. The distance from the robot to the next step is not too far, and the horizontal translation amount of the subsequent robot is insufficient due to the too far distance, so that most of the robot main body is moved to the next step, and the stair climbing is failed. The distance is not too close, which can lead to failure of climbing stairs due to contact between the front climbing foot and the step wall. The front space is reserved moderately. The measurement of this distance is measured by a distance sensor of the robot.
When the step 2 is performed in the stair climbing action, the front climbing foot of the robot extends out, and the tail end of the front climbing foot is contacted with the next step. The contact point of the tail end of the front climbing foot and the next step is used as a fulcrum in the process of climbing stairs, and the balance of the ascending process is ensured by the movement of the rear supporting foot of the robot to the front end.
When climbing stairs action 3 rd step, the robot front climbing foot keeps former motion state to continue the motion, and front climbing foot terminal has great friction force with the step face in order to guarantee that front climbing foot and step face contact point do not change, and the front climbing foot motion simultaneously, the back supporting foot of robot begins the action, contacts with former step ground, rises to the height of next stage step. The elevation of the robot body in the vertical direction is achieved. If the sensor detects that the single-step stairs are too high and exceed the design height, the stair climbing action cannot be completed. The robot returns according to the original action.
When the step 4 is performed in the stair climbing action, the front climbing foot and the rear supporting foot of the robot continue to move. At the moment, the front climbing foot provides forward power for the robot in the horizontal direction, and meanwhile, the rear supporting foot inner slide block also provides moving power for the robot in the horizontal direction through reacting force. The two are cooperated to realize the translation of the robot main body in the horizontal direction until the robot main body enters the step surface.
When the step 5 is performed in the stair climbing action, the front climbing foot of the robot continues to move, and the robot performs body posture fine adjustment, so that most of the robot main body stably falls on the second-stage step.
When the step 6 of stair climbing action, the robot plane movement part works, the robot continuously moves forwards until all parts of the robot body move to the position within the edge of the step of the higher level, and the front climbing foot and the rear supporting foot of the robot continuously move and are recovered to the original positions. Thus, the stair climbing unit is completed.
Through verification, the stair climbing mechanism applied to the sweeping robot can be fixed with the sweeping robot through the outer frame main body, can be adapted to various types of sweeping robots, and has good applicability; the structure design is reasonable, the structure is simpler, the cost is lower, the normal work of the sweeping robot is not influenced when the robot climbs a building, and the running stability is good; the cleaning area of a single sweeping robot can be greatly improved, the use cost of the sweeping robot can be effectively saved, and the sweeping robot has a great application prospect.
Those skilled in the art will understand that the skilled person can implement the modification in combination with the prior art and the above embodiments, and this will not be repeated here. Such modifications do not affect the essence of the present invention, and are not described herein.
The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, wherein devices and structures not described in detail are to be understood as being implemented in a manner common in the art; any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or modifications to equivalent embodiments without departing from the scope of the technical solution of the present invention, using the methods and technical contents disclosed above, without affecting the essential content of the present invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (6)
1. Be applied to stair climbing mechanism of robot of sweeping floor, its characterized in that: comprises an outer frame main body, at least two front climbing feet and at least two rear supporting feet;
the front climbing foot and the rear supporting foot are respectively fixed on the front side and the rear side of the outer frame main body;
The front climbing foot comprises at least two front climbing foot rods, and the front climbing foot rods are connected end to end sequentially through a revolute pair and are fixed on the outer frame main body through the revolute pair;
The two sides of the shell of the outer frame main body are provided with rear supporting foot sliding grooves which are arranged along the length direction of the outer frame main body, the rear supporting foot comprises a plurality of rear supporting foot sections which are sleeved in sequence, the extending and contracting direction of the rear supporting foot is perpendicular to the arrangement direction of the rear supporting foot sliding grooves, the outer wall of the outermost rear supporting foot section is fixedly provided with a rear supporting foot sliding block which is matched with the rear supporting foot sliding grooves, and the rear supporting foot is fixed in the rear supporting foot sliding grooves through the rear supporting foot sliding blocks;
The front climbing foot comprises a front climbing foot first rod and a front climbing foot second rod, the front climbing foot first rod is connected with the front climbing foot second rod through a second revolute pair, and the front climbing foot first rod is fixed on the outer frame main body through a first revolute pair;
The first revolute pair and the second revolute pair are respectively provided with a front climbing foot first rod rotating device and a front climbing foot second rod rotating device;
The rear supporting foot comprises a rear supporting foot first section, a rear supporting foot second section and a rear supporting foot third section which are sleeved in sequence;
The first section of the rear supporting foot, the second section of the rear supporting foot and the third section of the rear supporting foot are of cylindrical structures matched with each other, the second section of the rear supporting foot is sleeved outside the third section of the supporting foot, and the first section of the rear supporting foot is sleeved outside the second section of the supporting foot;
the rear supporting foot sliding block is fixed on the first section of the rear supporting foot;
The rear supporting foot sliding block is T-shaped.
2. The stair climbing mechanism for a sweeping robot according to claim 1, wherein the sweeping robot is arranged in the outer frame body, and the sweeping robot is fixed in the outer frame body through a flexible buckle.
3. The stair climbing mechanism for a sweeping robot according to claim 1, wherein the front climbing foot and the rear supporting foot are two, and are respectively arranged at four corners of the outer frame body.
4. The stair climbing mechanism for a sweeping robot according to claim 1, wherein a rear support foot telescopic power device is arranged between adjacent sections of the rear support foot, and the rear support foot telescopic power device between a first section of the rear support foot and a second section of the rear support foot and the rear support foot telescopic power device between the second section of the rear support foot and a third section of the rear support foot are respectively arranged at different positions in the rear support foot;
The rear support foot telescopic power device comprises a rear support foot section rack and a rear support foot telescopic gear, wherein the rear support foot telescopic gear is matched with the rear support foot section rack and sleeved on a driving shaft of a rear support foot telescopic motor.
5. The stair climbing mechanism for the sweeping robot according to claim 4, wherein the two sides of the rear supporting foot sliding block are fixedly provided with sliding block driving rollers, the roller surfaces of the sliding block driving rollers are in contact with the inner wall of the rear supporting foot sliding groove, and the sliding block driving rollers are fixedly connected with the driving shaft of the sliding block driving motor;
The slide block driving roller is fixed on the rear supporting foot slide block through slide block driving roller fixing pieces positioned on two sides of the slide block driving roller.
6. The stair climbing mechanism for a sweeping robot according to claim 5, further comprising a control unit and a sensor module fixed to the frame body; the control unit is respectively connected with the sensor module, the front climbing foot first rod rotating device, the front climbing foot second rod rotating device, all rear supporting foot telescopic motors and all sliding block driving motors electrically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210357302.9A CN114767006B (en) | 2022-04-06 | 2022-04-06 | Stair climbing mechanism applied to sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210357302.9A CN114767006B (en) | 2022-04-06 | 2022-04-06 | Stair climbing mechanism applied to sweeping robot |
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| CN114767006A CN114767006A (en) | 2022-07-22 |
| CN114767006B true CN114767006B (en) | 2024-06-04 |
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| CN116649839B (en) * | 2023-07-28 | 2023-09-29 | 深圳聚腾智能机器人有限公司 | Robot chassis structure and robot of sweeping floor |
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| CN204341241U (en) * | 2014-11-24 | 2015-05-20 | 陈开轮 | A kind of robot base can climbing step |
| KR20160089997A (en) * | 2015-01-21 | 2016-07-29 | 한화테크윈 주식회사 | Robot for cleaning stair |
| DE102016111819A1 (en) * | 2015-07-21 | 2017-01-26 | Miele & Cie. Kg | Self-propelled staircase floor cleaning device |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN106798528A (en) * | 2017-02-14 | 2017-06-06 | 上海电机学院 | Domestic stair all-around mobile clean robot |
| CN207804203U (en) * | 2017-11-21 | 2018-09-04 | 苏州瀚博精密模塑科技有限公司 | A kind of mating drive component upstairs of sweeping robot |
| CN110063691A (en) * | 2019-04-29 | 2019-07-30 | 温州大学 | A kind of sweeping robot gone up downstairs and its application method |
| CN210757730U (en) * | 2019-08-23 | 2020-06-16 | 山东锘博特智能科技有限公司 | Teaching type large-scale modular robot |
| CN112606922A (en) * | 2020-12-12 | 2021-04-06 | 郑涛 | Stair climbing device and method for climbing stairs by using same |
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