CN206995188U - The device upstairs of sweeping robot - Google Patents
The device upstairs of sweeping robot Download PDFInfo
- Publication number
- CN206995188U CN206995188U CN201621388650.9U CN201621388650U CN206995188U CN 206995188 U CN206995188 U CN 206995188U CN 201621388650 U CN201621388650 U CN 201621388650U CN 206995188 U CN206995188 U CN 206995188U
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- upstairs
- robot
- foot stool
- sweeping robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The device upstairs of sweeping robot, including frame, bottom plate, running gear, wrap-up, control system.Frame includes upper framework, foot stool, railing, pin.Four foot stools are fixed on four angles of framework.Railing and pin are provided with foot stool.Two, front is hinged with bottom plate between foot stool lower end.Running gear is installed below foot stool.Running gear includes driving motor, main driving wheel, auxiliary driving wheel, transmission belt, support arm, road wheel.Upper frame sides are provided with winding motor and reel.There is drawstring connection between reel and bottom plate side.When robot wants upper and lower building, robot and upstairs device are in stair top or following congregation.Position is gone under bottom plate, robot swashes onto bottom plate from floor, and reel drawstring draws base plate rear end rise, and robot is blocked by pin.Upstairs after the upper and lower building of device carrying robot, lower turn of bottom plate is landed, and robot is crawled on floor through bottom plate rear.Solve sweeping robot can not upper and lower stair problem.
Description
Technical field
The utility model belongs to the device upstairs of environmental protection machinery, particularly sweeping robot.
Background technology
Existing sweeping robot small volume, huge numbers of families can be entered and clean floor, because it is highly short, small volume,
It can enter under cabinet, sofa goes to clean rubbish below.But it can not all go upstairs, go downstairs.Present duplex type, splitlevel suite are all
There is terraced step.One sweeping robot upstairs, or can only can only clean downstairs in several room cleaning works of same aspect,
Whole rooms under upstairs house can not be cleaned.
The content of the invention
The purpose of this utility model is to overcome the shortcomings of existing sweeping robot, enables sweeping robot upper and lower
Stair, can be to each room all cleans upstairs, downstairs.
What the utility model was realized in：The device upstairs of sweeping robot, be it is a kind of match somebody with somebody with sweeping robot apply mechanically
In the device of upper and lower stair.Device includes frame, bottom plate, running gear, wrap-up, control system upstairs.Frame includes upper
Framework, foot stool, railing, pin.Four foot stools are fixed on four angles of framework.Railing and pin are provided with foot stool.Front
Bottom plate is hinged between two foot stool lower ends.Running gear is installed below foot stool.Upper frame sides are provided with winding motor, receive
Reel is installed on volume motor.Drawstring one end is connected with reel, and the other end is connected with bottom plate side.Device and machine of sweeping the floor upstairs
Contact between people is wireless signal contact.The control system of device has navigation feature upstairs.Running gear include driving motor,
Main driving wheel, auxiliary driving wheel, transmission belt, support arm, road wheel.Two driving motors are installed on each foot stool, each transmission electricity
One main driving wheel is installed on the axle of machine.The auxiliary driving wheel connected on road wheel, support arm, support arm and road wheel is arranged on foot stool
On fixed pivot pin.Have in the control system of sweeping robot and climb up bottom plate automatically, climb down the function of bottom plate.Upper framework rear pin
Limited block is provided with frame.
The utility model is the one pair special upstairs device supporting to existing sweeping robot, hereinafter referred to as device upstairs.
Sweeping robot hereinafter referred to as robot.The frame of device is made up of upper framework, foot stool, railing, pin upstairs, and four foot stools are consolidated
It is scheduled on four angles of framework, railing is connected between front and two, both sides foot stool, gear is connected between the foot stool of two, rear
Bar.Bottom plate is hinged between the foot stool lower end of two, front, bottom plate can rotate upwardly and downwardly around its hinge.Upper frame sides are provided with receipts
Volume motor and reel, drawstring one end are connected with reel, and the other end is connected with the railing on bottom plate side.Winding motor forward and backward
I.e. drive reel drawstring make on bottom plate turn, lower turn.
Each foot stool lower end is provided with running gear.Running gear is prior art.Running gear is by driving motor, main biography
Driving wheel, auxiliary driving wheel, transmission belt, support arm, road wheel composition.Two driving motors are installed on each foot stool.Support arm is vertical bar
The body of rod of shape.Road wheel and support arm are all each connected and fixed with an auxiliary driving wheel.Road wheel, support arm and respective
Auxiliary driving wheel is all arranged on pivot pin fixed on foot stool.Two driving motors mutually stagger installation on foot stool both sides.It is each to pass
A main driving wheel is all mounted with dynamic motor output shaft.Auxiliary driving wheel on road wheel and support arm respectively with respective master
Drive is driven with transmission band connection.Support arm is rotated and road wheel is rotated and do not interfered.Device is on floor when walking upstairs,
Rotated using road wheel, support arm keep level position.When device wants upper and lower stair upstairs, support arm just does corresponding rotation.
When robot wants upper and lower stair, winding motor drives reel reversion, puts down drawstring, bottom plate around front end hinge to
Lower rotation, bottom plate rear land, and distance increases between the pin and base plate rear end at frame rear, and robot behind bottom plate through climbing to
On bottom plate in place.Then winding motor is rotated forward, and drawstring, which undercuts, to be turned on plate.Pin diminishes with base plate rear end distance.Frame rear
Pin just blocks robot, robot is not fallen down when bottom plate tilts upstairs.The sweeping robot of device carrying upstairs
After the completion of upper and lower stair, bottom plate is put down, robot is climbed on ground from bottom plate.
Machine person to go upstairs process is：Road wheel stops before going to upper level stair, and support arm is in state obliquely, support arm
Leading portion has been reached above upper level stair.Then, support arm counterclockwise, the rise of center of rotation position, while before shaft core position
Incline, i.e., road wheel is raised, moved forward.Road wheel has been brought to above upper level stair.Then, another section support arm counterclockwise rotation
It is dynamic, said process is repeated, more upper level stair on road wheel band.
The utility model has the advantage of：1st, it is hinged at below bottom plate front end below the foot stool of frame front end two, bottom plate can
Rotated up and down with around hinge.When the reel drawstring on bottom plate loosens, base plate rear end lands, and sweeping robot can be automatically from ground
Plate swashes onto bottom plate.After upper and lower building terminates, sweeping robot can be climbed on floor from bottom plate automatically again.Reel drawstring
High being lifted on base plate rear end, frame can be with the upper and lower building of running gear.2nd, pin is provided with above the rear end of frame, works as bottom
Plate is fallen when landing, and distance increases between base plate rear end and pin, and sweeping robot can climb up bottom plate from the following space of pin,
And creep in place.When base plate rear end is rotated up raising, distance reduces pin between base plate rear end below, and pin is just blocked and swept
Floor-washing robot, it will not slide during upstairs and.3rd, sweeping robot Stair climbing device is in light weight, small volume, to take room space small,
Manufacturing cost is low.4th, after the supporting device upstairs of sweeping robot, can clean upstairs, downstairs room ground, solve in the past
Sweeping robot can not upper and lower stair problem.
Brief description of the drawings
Fig. 1 is the overall structure figure of the special device upstairs of robot.
Fig. 2 is that robot is crawling into device situation map upstairs.
Fig. 3 is that device is gone upstairs procedure chart upstairs.
In accompanying drawing：Pivot pin 1, support arm 2, gum cover 3, transmission belt 4, main driving wheel 5, driving motor 6, foot stool 7, railing 8, upper ledge
Frame 9, robot 10, winding motor 11, reel 12, pin 13, limited block 14, road wheel 15, bottom plate 16, auxiliary driving wheel 17, drawing
Rope 18, stair 19.
Embodiment
It is the overall structure figure of the special device upstairs of robot in Fig. 1, and robot crawls into situation map after bottom plate.
Here using the left side in Fig. 1 as front.Device is mainly made up of frame, bottom plate, running gear, wrap-up, control system upstairs.
Frame is made up of upper framework 9, foot stool 7, railing 8, pin 13.It is connected with foot stool 7 on upper 9 four angles of framework, front and both sides
Railing 8 is connected with foot stool, pin 13 is connected with the foot stool of back.Bottom plate 16 be hinged at two foot stools 7 in front of frame it
Between, it can be rotated up and down with around hinge.Running gear is by driving motor 6, main driving wheel 5, auxiliary driving wheel 17, transmission belt 4, support arm
2nd, road wheel 15 forms.Mutually stagger on each foot stool and two driving motors 6 are installed, one is provided with each driving motor 6
Individual main driving wheel 5.For support arm 2 into straight-bar shape, both ends are provided with gum cover 3.Road wheel 15, support arm 2 all respectively with an auxiliary driving
Wheel 17 is connected and fixed.Support arm 2 and road wheel 15 and connected auxiliary driving wheel 17 are all arranged on the pivot pin 1 on foot stool.
Transmission belt 4 is installed between main driving wheel and auxiliary driving wheel.The rotation of support arm and the rotation of road wheel do not interfere.Upper framework
9 sides are provided with winding motor 11 and reel 12, and drawstring 18 is connected between reel 12 and the side of bottom plate 16.Winding motor rotates
Drive reel to rotate, drawstring is wound or is loosened, even if turning on bottom plate, lower turn.Limited location is set on the foot stool at frame rear
Block 14, it is spacing that the bottom plate turned can be blocked.In Fig. 1, robot 10 is on bottom plate 16, and rear is blocked by pin 13, machine
Device people both sides and front are also blocked by railing 8.
It is that robot is going into device situation map upstairs in Fig. 2.When robot 10 will enter device upstairs, winding electricity
Machine 11 drives reel 12 to invert, and drawstring 18 loosens, and bottom plate 16, which rotates down, to land.At this moment, base plate rear end and the gear at frame rear
Distance increase below bar, robot top is less than below pin.As shown in Figure 2.Robot climbs up bottom plate by bottom plate rear and arrived
Behind position, winding motor is rotated forward, and reel, which rotates tension drawstring, to be made to turn on bottom plate.At this moment, subtract the distance between below bottom plate and pin
It is small, blocked above robot back by pin.At this moment, limit is blocked in bottom plate side by the limited block 14 on the foot stool at frame rear
Position.As shown in Figure 1.
It is that device is gone upstairs procedure chart upstairs in Fig. 3.Robot to go upstairs 19 when, first send one to device upstairs
Signal, upstairs device all merged after receiving signal with robot below stair.Then, as described in Figure 2, lower turn of bottom plate, sweeps
Floor-washing robot enters on bottom plate, and position is gone on bottom plate.Robot rear is blocked.Road wheel and support arm cooperate building of climbing
Terraced process is：Road wheel 15 stops before going to upper level stair 19, and support arm 2 is in state, the leading portion of support arm 2 have reached obliquely
Above one-level stair.Then, support arm presses counterclockwise in Fig. 3, the rise of center of rotation position, while shaft core position leans forward, i.e.,
Road wheel is raised, moved forward.Road wheel has been brought to above upper level stair.Then, another section support arm counterclockwise, weight
Multiple said process, more upper level stair on road wheel band.It is prior art that support arm, which coordinates road wheel to climb building structure, can conveniently be climbed
Go upstairs.After stairs, lower turn of bottom plate, robot is climbed on floor from bottom plate, you can is cleaned.When going downstairs, machine
People enters device upstairs, and device climbs down stair with robot upstairs.
There is the function of radio contact between device and robot upstairs.Device has self-navigation function upstairs, i.e., from stair
To the identification function of route between specified park a little.There is the function of climbing up, climb down bottom plate automatically in robot.
Claims (6)
1. the device upstairs of sweeping robot is a kind of and the supporting device for upper and lower stair of sweeping robot, its feature exist
In：Device includes frame, bottom plate, running gear, wrap-up, control system upstairs；
Frame includes upper framework, foot stool, railing, pin；
Four foot stools are fixed on four angles of framework；
Railing and pin are provided with foot stool；
Two, front is hinged with bottom plate between foot stool lower end；
Running gear is installed below foot stool；
Upper frame sides are provided with winding motor, and reel is provided with winding motor；
Drawstring one end is connected with reel, and the other end is connected with bottom plate side；
Contacting between device and sweeping robot is that wireless signal contacts upstairs；
The control system of device has navigation feature upstairs.
2. the device upstairs of sweeping robot according to claim 1, it is characterised in that：Running gear includes transmission electricity
Machine, main driving wheel, auxiliary driving wheel, transmission belt, support arm, road wheel.
3. the device upstairs of sweeping robot according to claim 1 or 2, it is characterised in that：It is provided with each foot stool
Two driving motors, a main driving wheel is installed on the axle of each driving motor.
4. the device upstairs of sweeping robot according to claim 1 or 2, it is characterised in that：Road wheel, support arm, support arm
It is arranged on the auxiliary driving wheel connected on road wheel on pivot pin fixed on foot stool.
5. the device upstairs of sweeping robot according to claim 1, it is characterised in that：The control system of sweeping robot
In have and climb up bottom plate automatically, climb down the function of bottom plate.
6. the device upstairs of sweeping robot according to claim 1, it is characterised in that：Set on the foot stool of upper framework rear
Limited location block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388650.9U CN206995188U (en) | 2016-12-18 | 2016-12-18 | The device upstairs of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621388650.9U CN206995188U (en) | 2016-12-18 | 2016-12-18 | The device upstairs of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206995188U true CN206995188U (en) | 2018-02-13 |
Family
ID=61428070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621388650.9U Expired - Fee Related CN206995188U (en) | 2016-12-18 | 2016-12-18 | The device upstairs of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206995188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112869641A (en) * | 2021-02-26 | 2021-06-01 | 深圳市卡乐尔贸易有限公司 | Automatic floor sweeping equipment for going upstairs and downstairs |
-
2016
- 2016-12-18 CN CN201621388650.9U patent/CN206995188U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112869641A (en) * | 2021-02-26 | 2021-06-01 | 深圳市卡乐尔贸易有限公司 | Automatic floor sweeping equipment for going upstairs and downstairs |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 Termination date: 20191218 |