CN213046723U

CN213046723U - Intelligent stair sweeper

Info

Publication number: CN213046723U
Application number: CN202021161343.3U
Authority: CN
Inventors: 米承继; 邵攀峰; 银如平; 张小阳; 梁婵兰; 肖学文
Original assignee: Hunan University of Technology
Current assignee: Shenzhen Huabang Source Resource Management Co.,Ltd.
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-04-27
Anticipated expiration: 2030-06-22

Abstract

The utility model discloses an intelligent stair sweeper, which mainly comprises a sweeper shell (1), a lifting mechanism (2), a cleaning device (3), lifting wheels (4), a collecting box (5), driving wheels (6), universal wheels (7) and a hardware intelligent control system (8); the cleaning machine shell (1) plays a role in supporting and protecting; the lifting mechanism (2) can vertically lift and horizontally push, plays a role of climbing stairs, and can adjust the distance to adapt to different stairs; the cleaning device (3) plays a role in cleaning; the lifting wheel (4) assists in climbing the stairs and plays a supporting role during climbing the stairs; the collecting box (5) plays a role in containing garbage; the driving wheel (6) plays a role in moving and cleaning; the direction of the universal wheel (7) can be adjusted; the hardware intelligent control system (8) plays a role in automatic control. The utility model discloses collect ground and stair clean in an organic whole, small, can walk up and down stairs automatically, simple structure, the practicality is strong.

Description

Intelligent stair sweeper

Technical Field

The invention relates to the technical field of intelligent furniture equipment, in particular to an intelligent stair sweeper integrating floor and stair sweeping.

Background

In the last two decades, people are pursuing more and more material enjoyment along with the improvement of living standard, and many families in high buildings and towns in cities choose to cover multi-storey buildings to meet the requirement of having larger living space. The high building has large living area and more stairs, and is cleaned by manpower, thus wasting time and labor. Researchers try to clean the ground and stairs through machines, for example, an intelligent sweeper (publication number: CN108125627A) is invented by Wanli in Zhejiang province, automatic obstacle avoidance cleaning can be realized by arranging a sensor, but the sweeping rolling brush is only 1, the number of side brushes is only 2, the single sweeping area is small, the sweeping efficiency is low, and the sweeping can be only carried out on flat ground. The Xuzhou Wilte intelligent science and technology group, Inc. of Jiangsu province invents an intelligent sweeper (publication number: CN109602342A) which can realize intelligent sweeping of planes, but the sweeper is difficult to sweep garbage at corners and has dead corners. The building climbing device (publication number: CN108742328A) of the sweeping robot is invented by Suzhou hong vast intelligent science and technology limited company in Jiangsu province, and the device adopts a telescopic supporting rod to drive a traveling wheel so as to realize continuous building climbing.

In summary, most of the existing household sweeping robots can only sweep the ground, and dead corners exist in the sweeping process; the cleaning machine with the stair climbing mechanism has a large body size and a heavy weight. Therefore, in response to the above problems, it is necessary to develop a smart device having ground and stair sweeping functions.

Disclosure of Invention

An object of the utility model is to overcome the above problem that prior art exists, provide an intelligence stair scavenging machine, designed elevating system ingeniously and be used for climbing the building automatically, collect ground, stair clean, small, light in weight cleans efficiency and cleans the quality and effectively improves.

In order to solve the technical problem, the invention provides an intelligent stair sweeper, which mainly comprises a sweeper shell (1), a lifting mechanism (2), a cleaning device (3), lifting wheels (4), a collecting box (5), driving wheels (6), universal wheels (7) and an intelligent hardware control system (8); the cleaning machine shell (1) plays a role in supporting and protecting; the lifting mechanism (2) can vertically lift and horizontally push, plays a role of climbing stairs, and has adjustable lifting and pushing distances so as to adapt to stairs with different heights and widths; the cleaning roller device (3) plays a role in cleaning; the lifting wheel (4) assists in climbing the building in the process of climbing the building, and plays a supporting role; the collecting box (5) plays a role in collecting garbage; the driving wheel (6) plays a role in driving the cleaning machine shell (1) to move for cleaning; the direction of the universal wheel (7) can be adjusted; the hardware intelligent control system (8) plays a role in automatic control.

Furthermore, a third guide rail is arranged in the cleaning machine shell; the third guide rail is symmetrically distributed in the sweeping machine shell.

Furthermore, the lifting mechanisms are symmetrically distributed in the sweeping machine shell in the left-right direction and comprise fixing rods, pins, a first guide rail, a sliding block, a first crank, a second guide rail, a limiting baffle, a rack, a first gear, a linear motor push rod, a roller sliding block, a connecting rod sliding block, an anti-slip sheet and a second motor; the fixed rod can fix the lifting mechanisms at the left side and the right side to keep parallel; the pins are distributed on the lifting mechanism and used for connecting all the components; the first guide rail is connected with the third guide rail in a matching way; the linear motor push rod, the roller slide block and the connecting rod slide block are connected through a connecting rod pin; the two sliding blocks can horizontally move on the first guide rail and the third guide rail; two roller sliding blocks are distributed on the second guide rail to realize horizontal movement; one end of the second guide rail is provided with a limit baffle, and a rack is arranged above the second guide rail; the rack is matched with the first gear; the first crank is fixed on the first guide rail through a pin, the second crank is fixed on the connecting rod sliding block through a pin, and an anti-slip sheet is arranged below the second crank and used for increasing friction with the ground; the first crank and the second crank are connected through a pin; the connecting rod is fixed on the connecting rod sliding block through a pin.

Furthermore, the cleaning device consists of a sweeping mechanism and a rotary brush; the two cleaning mechanisms are symmetrically distributed on the two sides of the collecting box in the left-right direction, have opposite rotating directions and consist of cleaning roller shell, a gear II, a gear III, a cleaning mechanism motor, a base and cleaning rollers; the cleaning roller shell is arc-shaped, an arc-shaped opening is arranged above the cleaning roller shell and is arranged on the cleaning machine shell through a screw; the arc-shaped opening is contacted with the opening at the side of the collecting box; the cleaning roller is arranged below the cleaning roller shell, is splayed, slightly concaves inwards and has a radian, and is driven by a motor of the cleaning mechanism, a gear II and a gear III; the second gear is meshed with the third gear; the cleaning mechanism motor is arranged above the base; the base is fixed above the two ends of the cleaning roller shell through screws; the rotating brushes are 4, are symmetrically arranged at four corners of the bottom of the cleaning machine shell and are driven by a fifth motor, so that garbage at corners can be cleaned.

Furthermore, the lifting wheel is arranged at the bottom of the cleaning machine shell and is driven by a linear motor IV.

Furthermore, the collecting box is provided with a sliding cover and a side opening; the sliding cover is arranged below the collecting box and is connected with the collecting box through a stop block and can be opened and closed; two stop blocks are arranged; the side opening contacts the arcuate opening.

Furthermore, two driving wheels are arranged and symmetrically arranged at the bottom of the cleaning machine shell and driven by a driving wheel motor and a gear four; the speed of the driving wheel motor can be adjusted; a fixing belt is arranged between the driving wheel motor and the gear IV.

Furthermore, the universal wheel is fixed on the support through a screw rod; the support is arranged at the bottom of the cleaning machine shell.

Furthermore, the hardware intelligent control system is installed at the bottom of the cleaning machine shell and consists of a microcontroller, an ultrasonic sensor, an infrared sensor, a first driver, a second driver and a third driver. The number of the infrared sensors is 2, and the infrared sensors are distributed at the bottom of the cleaning machine shell in a bilateral symmetry mode and have the obstacle avoidance function; the number of the ultrasonic sensors is 2, and the ultrasonic sensors are symmetrically distributed at the bottom of the cleaning machine shell (1) from left to right and have the distance measuring function; the first driver controls the driving wheel motor, the second driver controls the cleaning mechanism motor and the fifth control motor, and the third driver linear motor and the second motor.

Further, adopt above-mentioned technical scheme's intelligent stair scavenging machine, mainly include 8 component parts, be respectively for cleaning casing, elevating system, cleaning device, lifting wheel, collection box, drive wheel, universal wheel, hardware intelligence control system. The lifting mechanism adopts a mechanism with a double-crank sliding block mechanism for vertical lifting, and a gear rack mechanism is adopted in the horizontal direction for moving. The linear motor drives the double-crank sliding block mechanism to move to be in an upright state to support the sweeper body, and the height of the sweeper body is adjustable to adapt to stairs with different heights; the first motor driving gear is meshed with the rack to drive the cleaning machine main body to be pushed to the stair surface, and the lifting wheel is driven by the motor to descend to the stair surface to play a supporting role when the stair climbing cleaning machine main body is just pushed to the stair surface; the pushing distance of the cleaning box body can be adjusted by the rack so as to be suitable for stairs with different widths; when the machine body to be cleaned is completely pushed to the stair surface, the linear motor drives the double-crank sliding block mechanism to be retracted and is driven by the motor II to drive the gear rack to retract the double-crank sliding block mechanism to the machine body to be cleaned, then the lifting wheel is lifted to the interior of the cleaning machine shell to finish stair climbing, and the stair surface cleaning is finished under the intelligent control system. The cleaning device consists of a sweeping mechanism and a rotary brush; the two cleaning mechanisms are symmetrically distributed on the two sides of the collecting box in the left-right direction, and the rotating directions are opposite, so that the cleaning efficiency can be effectively improved; the motor of the cleaning mechanism drives the gear II to rotate, and the gear II drives the gear III to rotate, so that the cleaning mechanism is driven to operate to complete cleaning; the number of the rotary brushes is four, the rotary brushes are driven by the five motors, the garbage at corners can be cleaned, and the cleaning quality is greatly improved. The collecting box is provided with a sliding cover for collecting the cleaned garbage, and the garbage can be slid out after cleaning. The driving wheels are two, the driving wheel motor drives the gear four to rotate, the gear four drives the driving wheels to move on a plane, the direction of the driving wheels can be adjusted by the universal wheels, the driving wheels and the universal wheels are arranged in a triangular shape, and the walking stability can be guaranteed during cleaning. The hardware intelligent control system plays a role in automatic control.

In conclusion, the stair cleaning machine integrates the ground and stair cleaning, is small in size, capable of automatically going up and down stairs, simple in structure and high in practicability.

Drawings

FIG. 1 is a schematic view of the overall effect of the intelligent stair sweeper

FIG. 2 is a schematic top view of the intelligent stair sweeper

FIG. 3 is a schematic view of the intelligent stair sweeper

FIG. 4 is a schematic view of the leg type climbing mechanism when climbing up

FIG. 5 is a schematic view of the leg type climbing elevator mechanism being retracted into the main body of the cleaning machine

FIG. 6 is a schematic view of a cleaning roller housing

FIG. 7 is a schematic view of a collection box

FIG. 8 is a schematic diagram of a hardware intelligent control system

FIG. 9 is a schematic diagram of the software intelligent control system during climbing stairs

Detailed Description

The invention is further described with reference to the following figures and detailed description.

Referring to fig. 1 and 8, the cleaning mechanism (30) is driven by a cleaning mechanism motor (303), the rotating brush (31) is driven by a motor five, the microcontroller (81) outputs a control level signal to control the on-off of the driver two (85) to control the on-off of the cleaning mechanism motor (303) and the motor five (310), and the speed of the cleaning mechanism can be regulated by the microcontroller (81) outputting PWM.

Referring to fig. 1, 2, 3, 6, 7 and 8, in the flat surface cleaning, the cleaning mechanism motor (303) and the motor five (310) are simultaneously started. A second gear (301) is driven by a motor (303) of the cleaning mechanism to rotate, a third gear (302) is driven by the second gear (301) to rotate, the third gear (302) drives the cleaning rollers (305) to rotate, the two cleaning rollers (305) with opposite rotating directions are splayed and slightly arc inwards, and can roll away garbage, and a cleaning roller shell (300) which is arranged on the cleaning machine shell (1) through a screw (3002) is arranged above the cleaning rollers (305), so that the cleaned garbage can be prevented from entering the cleaning machine shell (1); an arc-shaped opening (3001) is formed in the upper portion of the cleaning roller shell (300), the arc-shaped opening (3001) is in contact with a side opening (53) of the collecting box (5), and cleaned garbage can enter the collecting box (5) through the side opening (53) of the collecting box (5) under the action of centrifugal force; a sliding cover (51) connected through a stop block (52) is arranged below the collecting box (5), the sliding cover (51) is covered during cleaning, and the sliding cover (51) can be slid after the work is finished, so that the garbage in the collecting box (5) can be cleaned out conveniently. The motor five (310) drives 4 rotating brushes (31) to work, and garbage at corners is collected to the middle and cleaned by the cleaning mechanism (30). The microcontroller (81) controls the two driving wheel motors (61) through a control driver I (84), the two driving wheel motors (61) drive a driving wheel IV (63) to rotate, and the driving wheel IV (63) is driven by the driving wheel IV (63) to move, so that moving cleaning is realized; the universal wheel (7) is fixed on the support (72) through a screw (71) and can be used for adjusting the direction. The obstacle avoidance function mainly comprises that an infrared sensor (83) recognizes an obstacle feedback signal to trigger interruption, a microcontroller (81) processes the signal of the infrared sensor (83) in an interruption service function, and outputs a control level and PWM to control a driving wheel motor (61) through a control driver I (84), so that the obstacle avoidance is completed by advancing, retreating, differential turning and the like, and the intelligent plane cleaning is completed.

Referring to fig. 1-9, the automatic cleaning of stairs. The automatic cleaning of stairs needs to realize automatic stair climbing and stair surface cleaning. Going upstairs and cleaning: before climbing stairs, the positions of the machine and the stair steps need to be adjusted. Microcontroller (81) control cleans mechanism motor (303) and motor five (310), and microcontroller (81) is through reading the numerical value of two ultrasonic sensor (82) calculation machine and the distance and the declination of stair, specifically are: the microcontroller (81) firstly obtains the distance value of an ultrasonic sensor (82) to realize closed-loop control on the driving wheel (6) and adjust the distance between the machine and the stairs. When the distance meets the requirement, the microcontroller (81) reads the numerical values of the two ultrasonic sensors (82) to calculate the deflection angle, and outputs PWM to control the speed of the driving wheel (6) through a PID algorithm, so that differential speed is realized, the deflection angle between the machine and the stair step is adjusted, and the parallel state is achieved. After the machine position is adjusted, the microcontroller (81) executes an automatic stair climbing program: the microcontroller (81) outputs a level signal to control the linear motor (29) to start through controlling the driver III (86), the linear motor push rod (291) retracts, and the linear motor push rod (291) drives the roller slide block (210) and the connecting rod slide block (212) to move to the rear limit baffle (26) on the guide rail II (25); the connecting rod sliding block (212) is connected with the connecting rod (211) and the crank II (241) through a pin (21), and the crank II (241) is connected with the crank I (240) through the pin (21); the connecting rod sliding block (212) moves to drive the connecting rod (211) to move outwards, the crank II (241) and the crank I (240) rotate by a certain angle to be in an upright state, the lifting mechanism (2) is lifted, the cleaning machine body is lifted to the height of a step, the anti-skidding piece (213) below the crank II (241) can increase the friction with the ground, and the lifting mechanism (2) is prevented from sliding; the microcontroller (81) outputs a level signal to control the motor II (28) to start by controlling the driver III (86), so that the driving gear I (28) rotates to drive the rack (27) to move forwards, the cleaning machine body is pushed to the step surface, and the pushing distance can be adjusted by changing the moving distance of the rack (27) by changing the number of the rotating cycles of the gear I (28) so as to adapt to stairs with different widths; meanwhile, the linear motor four (40) drives the lifting wheel (4) to descend to the step surface to play a supporting role. When the machine body to be cleaned is pushed to a proper position of the step surface; microcontroller (81) output level signal controls linear electric motor (29) extension through control driver three (86), linear electric motor push rod (291) drives gyro wheel slider (210), connecting rod slider (212) move on guide rail two (25), connecting rod slider (212) remove drive connecting rod (211) and move outward, crank two (241), crank one (240) and then turned angle to the horizontality, microcontroller (81) output level signal drives motor two (28) through control driver three (86) and rotates, motor two (28) drive gear one (28) drive rack (27) and move and retrieve elevating system (2) in clear sweeping machine shell (1), climb the building and accomplish. Cleaning the floor: the action is opposite to the action of climbing stairs when cleaning downstairs: the microcontroller (81) outputs a level signal to drive the motor II (28) to rotate by controlling the driver III (86), and the motor II (28) drives the gear I (28) to drive the rack (27) to move so as to extend the lifting mechanism (2) out of the cleaning machine shell (1); the microcontroller (81) outputs a level signal to control the linear motor (29) to contract by controlling the driver III (86), a linear motor push rod (291) drives the roller sliding block (210) and the connecting rod sliding block (212) to move to the rear limiting baffle (26) on the guide rail II (25), the connecting rod sliding block (212) moves to drive the connecting rod (211) to move outwards, and the crank II (241) and the crank I (240) rotate by an angle to be in an upright state, so that the lifting mechanism (2) is upright on the next step surface; then the microcontroller (81) outputs a level signal to start the second motor (28) by controlling the third driver (86), the second motor (28) drives the first gear (28) to drive the rack (27) to move outwards, and the cleaning machine main body is pushed out from the step surface to be supported by the lifting mechanism (2); the microcontroller (81) outputs a level signal to control the driver III (86) to start the linear motor (29) to extend, and the linear motor push rod (291) drives the roller sliding block (210) and the connecting rod sliding block (212) to move on the guide rail II (25); the connecting rod sliding block (212) moves to drive the connecting rod (211) to move outwards, and the crank II (241) and the crank I (240) rotate to a horizontal state along with the rotating angle, so that the lifting mechanism (2) descends, and the cleaning machine main body is lowered to the next step surface; the microcontroller (81) outputs a level signal to control the linear motor (29) to extend by controlling the driver III (86), so that the lifting mechanism (2) is recovered into the cleaning machine shell (1) to finish going downstairs. And (3) executing a stair step cleaning program after climbing or going downstairs: the microcontroller (81) outputs a control level signal to control the driver II (85) to start the left cleaning mechanism (30), meanwhile, the microcontroller (81) outputs a control signal to control the driver I (84) to drive the two driving wheel motors (61) to move leftwards, when the machine reaches the left edge of a step, a feedback signal of an infrared sensor (83) on the left side of the machine is changed, interruption is triggered, and an interruption service function is executed to return to a mark bit; and simultaneously, the microcontroller (81) starts a right cleaning mechanism to drive the two driving wheel motors (61) to move rightwards, when the robot reaches the right edge of the step, the robot triggers interruption again, an interruption service function is executed to return to the flag bit, and when the two flag bits are set, the step cleaning is finished. When the user goes up or down the stairs to clean, the user repeats the climbing or descending cleaning action.

Claims

1. An intelligent stair sweeper mainly comprises a sweeper shell (1), a lifting mechanism (2), a cleaning device (3), lifting wheels (4), a collecting box (5), a driving wheel (6), universal wheels (7) and an intelligent hardware control system (8); the cleaning machine shell (1) plays a role in supporting and protecting; the lifting mechanism (2) can vertically lift and horizontally push, plays a role of climbing stairs, and has adjustable lifting and pushing distances so as to adapt to stairs with different heights and widths; the cleaning device (3) plays a role in cleaning; the lifting wheel (4) assists in climbing the building in the process of climbing the building, and plays a supporting role; the collecting box (5) plays a role in collecting garbage; the driving wheel (6) plays a role in driving the cleaning machine shell (1) to move for cleaning; the direction of the universal wheel (7) can be adjusted; the hardware intelligent control system (8) plays a role in automatic control.

2. An intelligent stair cleaning machine as claimed in claim 1, wherein: a third guide rail (10) is arranged in the cleaning machine shell (1); the guide rails III (10) are symmetrically distributed in the sweeping machine shell (1) from left to right.

3. An intelligent stair cleaning machine as claimed in claim 1, wherein: the lifting mechanisms (2) are symmetrically distributed in the sweeping machine shell (1) from left to right and are composed of fixing rods (20), pins (21), a first guide rail (22), a sliding block (23), a first crank (240), a second crank (241), a second guide rail (25), a limiting baffle (26), a rack (27), a first gear (28), a linear motor (29), a linear motor push rod (291), a roller sliding block (210), a connecting rod (211), a connecting rod sliding block (212), an anti-skidding piece (213) and a second motor (214); the fixed rod (20) can fix the lifting mechanisms (2) at the left side and the right side to keep parallel; the pins (21) are distributed on the lifting mechanism (2) and are used for connecting all the components; the first guide rail (22) is connected with the third guide rail (10) in a matching way; the linear motor push rod (291), the roller slide block (210) and the connecting rod slide block (212) are connected through a connecting rod pin (21); the number of the sliding blocks (23) is two, and the sliding blocks can horizontally move on the first guide rail (22) and the third guide rail (10); two roller sliding blocks (210) are distributed on the second guide rail (25) to realize horizontal movement; one end of the second guide rail (25) is provided with a limit baffle (26), and a rack (27) is arranged above the second guide rail (25); the rack (27) is matched with the first gear (28); the first crank (240) is fixed on the first guide rail (22) through a pin (21), the second crank (241) is fixed on the connecting rod sliding block (212) through the pin (21), and an anti-slip sheet (213) is arranged below the second crank (241) and used for increasing friction with the ground; the first crank (240) and the second crank (241) are connected through a pin (21); the connecting rod (211) is fixed on the connecting rod sliding block (212) through a pin (21).

4. An intelligent stair cleaning machine as claimed in claim 1, wherein: the cleaning device (3) consists of a sweeping mechanism (30) and a rotary brush (31); the two sweeping mechanisms (30) are symmetrically distributed on the two sides of the collecting box (5) in the left-right direction, have opposite rotating directions and comprise cleaning roller shell (300), gear II (301), gear III (302), a sweeping mechanism motor (303), a base (304) and cleaning rollers (305); the cleaning roller shell (300) is arc-shaped, an arc-shaped opening (3001) is arranged above the cleaning roller shell (300), and the cleaning roller shell is arranged on the cleaning machine shell (1) through a screw (3002); the arc-shaped opening (3001) is contacted with the side opening (53) of the collecting box; the cleaning roller (305) is arranged below the cleaning roller shell (300), is splayed, is inwards concave with a slight radian, and is driven by a cleaning mechanism motor (303), a gear II (301) and a gear III (302); the gear II (301) is meshed with the gear III (302); the cleaning mechanism motor (303) is arranged above the base (304); the base (304) is fixed above the two ends of the cleaning roller shell (300) through screws (3002); the number of the rotating brushes (31) is 4, the rotating brushes are symmetrically arranged at four corners of the bottom of the cleaning machine shell (1), and the rotating brushes are driven by a motor five (310) and can clean garbage at corners.

5. An intelligent stair cleaning machine as claimed in claim 1, wherein: the lifting wheel (4) is arranged at the bottom of the cleaning machine shell (1) and is driven by a linear motor IV (40).

6. An intelligent stair cleaning machine as claimed in claim 1, wherein: the collecting box (5) is provided with a sliding cover (51) and a side opening (53); the sliding cover (51) is arranged below the collecting box and is connected through a stop block (52) and can be opened and closed; two stoppers (52) are arranged; the side opening (53) is in contact with the arc-shaped opening (3001).

7. An intelligent stair cleaning machine as claimed in claim 1, wherein: the two driving wheels (6) are symmetrically arranged at the bottom of the cleaning machine shell (1) and driven by a driving wheel motor (61) and a gear four (63); the driving wheel motor (61) can regulate the speed; a fixing belt (62) is arranged between the driving wheel motor (61) and the gear four (63).

8. An intelligent stair cleaning machine as claimed in claim 1, wherein: the universal wheel (7) is fixed on the support (72) through a screw rod (71); the support (72) is arranged at the bottom of the cleaning machine shell (1).

9. An intelligent stair cleaning machine as claimed in claim 1, wherein: the hardware intelligent control system (8) is arranged at the bottom of the cleaning machine shell (1) and consists of a microcontroller (81), an ultrasonic sensor (82), an infrared sensor (83), a first driver (84), a second driver (85) and a third driver (86); the number of the infrared sensors (83) is 2, and the infrared sensors are symmetrically distributed at the bottom of the sweeping machine shell (1) in the left-right direction and play a role in avoiding obstacles; 2 ultrasonic sensors (82) are symmetrically distributed at the bottom of the sweeping machine shell (1) from left to right and have the distance measuring function; the first driver (84) controls the driving wheel motor (61), the second driver (85) controls the cleaning mechanism motor (303), the fifth driver (310), the third driver (86) controls the linear motor (29) and the second driver (214).