CN220800899U - Stair climbing device of sweeping robot - Google Patents
Stair climbing device of sweeping robot Download PDFInfo
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- CN220800899U CN220800899U CN202322367824.XU CN202322367824U CN220800899U CN 220800899 U CN220800899 U CN 220800899U CN 202322367824 U CN202322367824 U CN 202322367824U CN 220800899 U CN220800899 U CN 220800899U
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- robot body
- servo motor
- stair climbing
- sweeping robot
- floor
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- 238000010408 sweeping Methods 0.000 title claims abstract description 62
- 230000009194 climbing Effects 0.000 title claims abstract description 52
- 238000009434 installation Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of floor sweeping robots, and discloses a stair climbing device of a floor sweeping robot, which solves the problem that the existing floor sweeping robot cannot perform stair climbing work and comprises a stair climbing mechanism, wherein the stair climbing mechanism is connected with a floor sweeping robot body; through this robot's climbing device sweeps floor can drive the robot of sweeping floor and go up and down stairs, can realize the cleaning to the stair simultaneously, improves the convenience of use.
Description
Technical Field
The utility model belongs to the technical field of sweeping robots, and particularly relates to a stair climbing device of a sweeping robot.
Background
The floor sweeping robot is an intelligent household appliance capable of cleaning the floor, can automatically finish floor cleaning work in a room, brings great convenience to daily life of people, and is a household appliance commonly used in office workers.
The existing floor sweeping robot has small volume, can enter into thousands of households to clean floors, can enter under a cabinet and under a sofa to clean garbage due to low height, but can not go upstairs and downstairs, and the existing jump-layer staggered-layer type suite has steps.
Disclosure of utility model
Aiming at the situation, in order to overcome the defects of the prior art, the utility model provides a stair climbing device of a sweeping robot, which effectively solves the problem that the existing sweeping robot cannot perform stair climbing work.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a sweep floor climbing device of robot, includes climbing building mechanism, climbing building mechanism and sweep floor robot body fixed connection, the intermediate position of sweeping floor robot body bottom is provided with cleans the mechanism, sweep floor robot body's both ends all fixedly provided with a plurality of obstacle avoidance sensor one, climbing building mechanism is by climbing building component one and climbing building component two and constitute, climbing building component one and climbing building component two are connected in sweeping floor robot body's both sides respectively, climbing building component one and climbing building component two constitute by removing the supporting seat, servo motor one, lift swing arm and servo motor two, servo motor one fixed connection is in the one end that removes the supporting seat inside, servo motor two fixed connection is in the one end of sweeping floor robot body inside side, the both ends of lift swing arm respectively with servo motor one and servo motor two's output shaft fixed connection, all reserve the clearance between lift swing arm and the removal supporting seat and the robot body that sweeps floor.
Preferably, a motor installation groove I matched with the servo motor I is formed in one side, close to the floor sweeping robot body, of the movable supporting seat, a motor installation groove II matched with the servo motor II is formed in two sides of the floor sweeping robot body, and the servo motor I and the servo motor II are fixedly connected to the inside of the motor installation groove I and the inside of the motor installation groove II respectively.
Preferably, the side of removing the supporting seat and keeping away from the robot body of sweeping the floor is fixed and is provided with a plurality of obstacle avoidance sensors two, and the both ends of removing the supporting seat bottom are provided with universal moving mechanism one and universal moving mechanism two respectively, and universal moving mechanism one and universal moving mechanism two are stand alone type structure, and the both ends of removing the supporting seat bottom are the fillet structure, and the height of removing the supporting seat is less than the height of robot body of sweeping the floor.
Preferably, the first universal moving mechanism and the second universal moving mechanism are composed of a Mecanum wheel, a driven sprocket, a driving motor, a driving sprocket and a chain, the driving motor is fixedly connected to the inside of the movable supporting seat, the driving sprocket is fixedly connected to an output shaft of the driving motor, the Mecanum wheel is movably connected to the inside of the movable supporting seat through a movable shaft, the driven sprocket is located at one end of the Mecanum wheel and fixedly sleeved on the movable shaft, and the chain is connected between the driving sprocket and the driven sprocket.
Compared with the prior art, the utility model has the beneficial effects that:
(1) In operation, the first stair climbing assembly and the second stair climbing assembly which are composed of the movable supporting seat, the first servo motor, the lifting swing arm and the second servo motor are arranged, so that the sweeping robot body can be driven to climb stairs, the sweeping operation of a multi-storey building can be met, and the convenience of use is improved;
(2) Through setting up by Mecanum wheel, driven sprocket, driving motor, driving sprocket and the first and the second universal moving mechanism of chain constitution, can drive the robot body of sweeping floor and remove, can drive the robot body lateral shifting of sweeping floor simultaneously at climbing stair in-process, and then can clean the operation to the tread of stair.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model.
In the drawings:
FIG. 1 is a schematic diagram of a connection structure between a stair climbing mechanism and a sweeping robot body according to the present utility model;
FIG. 2 is a second schematic view of the connection structure between the stair climbing mechanism and the sweeping robot body according to the present utility model;
FIG. 3 is a schematic view of the stair climbing mechanism and the sweeping robot body of the present utility model;
FIG. 4 is a schematic diagram of a stair climbing motion flow of a stair climbing device of the sweeping robot of the present utility model;
FIG. 5 is a schematic view of the internal structure of the movable support base of the present utility model;
In the figure: 1. a stair climbing mechanism; 2. a robot body for sweeping floor; 3. a cleaning mechanism; 4. a first obstacle avoidance sensor; 5. a first stair climbing assembly; 6. a second stair climbing component; 7. moving the supporting seat; 8. a servo motor I; 9. lifting swing arms; 10. a servo motor II; 11. a motor mounting groove I; 12. a second motor mounting groove; 13. a second obstacle avoidance sensor; 14. a universal moving mechanism I; 15. a universal moving mechanism II; 16. mecanum wheel; 17. a driven sprocket; 18. a driving motor; 19. a drive sprocket; 20. a chain; 21. a movable shaft.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model; all other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model provides a stair climbing device of a sweeping robot, which is shown in fig. 1 to 5, and comprises a stair climbing mechanism 1, wherein the stair climbing mechanism 1 is fixedly connected with a sweeping robot body 2, a sweeping mechanism 3 is arranged at the middle position of the bottom end of the sweeping robot body 2, a plurality of obstacle avoidance sensors 4 are fixedly arranged at the two ends of the sweeping robot body 2, the stair climbing mechanism 1 consists of a stair climbing component 5 and a stair climbing component 6, the stair climbing component 5 and the stair climbing component 6 are respectively connected to two sides of the sweeping robot body 2, the stair climbing component 5 and the stair climbing component 6 are respectively composed of a movable supporting seat 7, a servo motor 8, a lifting swing arm 9 and a servo motor 10, the servo motor 8 is fixedly connected to one end inside the movable supporting seat 7, the servo motor 10 is fixedly connected to one end of the inner side of the sweeping robot body 2, the two ends of the lifting swing arm 9 are respectively fixedly connected with output shafts of the servo motor 8 and the servo motor 10, gaps between the lifting swing arm 9 and the movable supporting seat 7 and the sweeping robot body 2 are respectively reserved, the first side of the sweeping motor 7 and the second side of the sweeping robot body 2 are respectively provided with a first servo motor 11 and a second servo motor 11 which is fixedly connected with a second servo motor 12 which is respectively arranged on one side of the sweeping motor 2 and a second side of the sweeping robot body, and a second servo motor 12 which is respectively matched with a first servo motor and a second servo motor 11 and a second servo motor 12 which is fixedly arranged on one side of the two sides of the sweeping motor 2;
When climbing stairs, the stair climbing mechanism 1 drives the sweeping robot body 2 to move to the bottommost end of the stairs, the first servo motor 8 is started, the lifting swing arm 9 is driven to rotate around the output shaft of the first servo motor 8 through the first servo motor 8, so that the sweeping robot body 2 can be driven to ascend, the second servo motor 10 is synchronously started in the ascending process of the sweeping robot body 2, and the second servo motor 10 is controlled to reversely rotate, because the movable supporting seat 7 and the lifting swing arm 9 are in a fixed state relative to the ground and are supported by the supporting force of the ground, the sweeping robot body 2 is in a relatively free state, the force generated by the reverse rotation of the second servo motor 10 can drive the sweeping robot body 2 to rotate around the output shaft of the second servo motor 10, and therefore the sweeping robot body 2 can be guaranteed to be in a parallel state;
As shown in fig. 1 to 5, a plurality of obstacle avoidance sensors 13 are fixedly arranged on one side, far away from the sweeping robot body 2, of the moving support seat 7, a first universal moving mechanism 14 and a second universal moving mechanism 15 are respectively arranged at two ends of the bottom of the moving support seat 7, the first universal moving mechanism 14 and the second universal moving mechanism 15 are of independent structures, the two ends of the bottom of the moving support seat 7 are of round-angle structures, the height of the moving support seat 7 is smaller than that of the sweeping robot body 2, the first universal moving mechanism 14 and the second universal moving mechanism 15 are respectively composed of a Mecanum wheel 16, a driven sprocket 17, a driving motor 18, a driving sprocket 19 and a chain 20, the driving motor 18 is fixedly connected in the moving support seat 7, the driving sprocket 19 is fixedly connected to an output shaft of the driving motor 18, the Mecanum wheel 16 is movably connected in the moving support seat 7 through a movable shaft 21, the driven sprocket 17 is positioned at one end of the Mecanum wheel 16 and is fixedly sleeved on the movable shaft 21, and the chain 20 is connected between the driving sprocket 19 and the driven sprocket 17;
In the stair climbing process, the driving chain wheel 19 is driven to rotate through the driving motor 18, the driving chain wheel 19 drives the chain 20 to rotate, the chain 20 drives the driven chain wheel 17 to rotate, and the driven chain wheel 17 drives the Mecanum wheel 16 to rotate, and as the first universal moving mechanism 14 and the second universal moving mechanism 15 are of independent structures, the four groups of moving structures can independently move, and the sweeping robot body 2 can be driven to transversely move on stair steps through controlling the difference of moving states, so that the sweeping operation on stairs can be realized.
In operation, the first stair climbing assembly and the second stair climbing assembly which are composed of the movable supporting seat, the first servo motor, the lifting swing arm and the second servo motor are arranged, so that the sweeping robot body can be driven to climb stairs, the sweeping operation of a multi-storey building can be met, and the convenience of use is improved; through setting up by Mecanum wheel, driven sprocket, driving motor, driving sprocket and the first and the second universal moving mechanism of chain constitution, can drive the robot body that sweeps, can drive the robot body lateral shifting that sweeps simultaneously at climbing stair in-process, and then can sweep the operation to the tread of stair.
Claims (4)
1. The utility model provides a robot's stair climbing device sweeps floor, includes stair climbing mechanism (1), its characterized in that: the utility model provides a building machine constructs (1) and sweeps floor robot body (2) fixed connection, the intermediate position of floor robot body (2) bottom is provided with cleans mechanism (3), the both ends of floor robot body (2) are all fixed and are provided with a plurality of obstacle avoidance sensor one (4), building machine constructs (1) by building component one (5) and building component two (6) are climbed, building component one (5) and building component two (6) are connected in the both sides of floor robot body (2) respectively, building component one (5) and building component two (6) are by removing supporting seat (7), servo motor one (8), lift swing arm (9) and servo motor two (10) constitute, servo motor one (8) fixed connection is in the one end of removing supporting seat (7) inside, servo motor two (10) fixed connection are in the one end of sweeping floor robot body (2) inside side, the both ends of lift swing arm (9) respectively with servo motor one (8) and servo motor two (10) output shaft fixed connection, lift swing arm (9) and floor robot body (7) and reservation gap between the robot body (2).
2. The stair climbing device of a sweeping robot of claim 1, wherein: one side of the movable supporting seat (7) close to the sweeping robot body (2) is provided with a first motor installation groove (11) matched with a first servo motor (8), two sides of the sweeping robot body (2) are provided with a second motor installation groove (12) matched with a second servo motor (10), and the first servo motor (8) and the second servo motor (10) are respectively and fixedly connected to the insides of the first motor installation groove (11) and the second motor installation groove (12).
3. The stair climbing device of a sweeping robot of claim 1, wherein: one side of the movable supporting seat (7) far away from the sweeping robot body (2) is fixedly provided with a plurality of obstacle avoidance sensors II (13), two ends of the bottom of the movable supporting seat (7) are respectively provided with a first universal moving mechanism (14) and a second universal moving mechanism (15), the first universal moving mechanism (14) and the second universal moving mechanism (15) are independent structures, two ends of the bottom of the movable supporting seat (7) are of round corner structures, and the height of the movable supporting seat (7) is smaller than that of the sweeping robot body (2).
4. A stair climbing device for a sweeping robot according to claim 3, wherein: the universal moving mechanism I (14) and the universal moving mechanism II (15) are composed of a Mecanum wheel (16), a driven sprocket wheel (17), a driving motor (18), a driving sprocket wheel (19) and a chain (20), wherein the driving motor (18) is fixedly connected to the inside of the moving support seat (7), the driving sprocket wheel (19) is fixedly connected to an output shaft of the driving motor (18), the Mecanum wheel (16) is movably connected to the inside of the moving support seat (7) through a movable shaft (21), the driven sprocket wheel (17) is located at one end of the Mecanum wheel (16) and fixedly sleeved on the movable shaft (21), and the chain (20) is connected between the driving sprocket wheel (19) and the driven sprocket wheel (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322367824.XU CN220800899U (en) | 2023-09-01 | 2023-09-01 | Stair climbing device of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322367824.XU CN220800899U (en) | 2023-09-01 | 2023-09-01 | Stair climbing device of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220800899U true CN220800899U (en) | 2024-04-19 |
Family
ID=90675260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322367824.XU Active CN220800899U (en) | 2023-09-01 | 2023-09-01 | Stair climbing device of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220800899U (en) |
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2023
- 2023-09-01 CN CN202322367824.XU patent/CN220800899U/en active Active
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