Stair sweeping robot capable of moving based on Mecanum wheels

Abstract

The invention provides a stair sweeping robot capable of moving based on Mecanum wheels. The robot is mainly composed of a driving device, lifting devices, a whole support, a sweeping device, a distance sensor and an upper computer system, wherein the lifting device comprises a lifting motor, a lifting motor fixing frame, a coupler, a lead screw, a lifting supporting frame and a bearing, the driving device drives the four Mecanum wheels through four motors independently, the four lifting devices are installed in four lifting guide wheel gaps respectively, the sweeping device is installed on aMecanum wheel supporting frame, and the driving device, the lifting devices, the sweeping device and the distance sensor are all connected to the upper computer system. Flexible movements including advancing, retreating, transverse moving, rotating and other movements in any direction can be completed when the Mecanum wheels do not rotate; through the distance sensor, the environment is sensed, the lifting height and the advancing distance are adjusted, and the sweeping work of stairs of various different sizes can be completed; the robot can also be used for sweeping the ordinary ground.

Description

technical field [0001] The invention relates to the field of sweeping robots, in particular to a stair cleaning robot based on the movement of Mecanum wheels. Background technique [0002] With the development of robot technology, more and more robots appear in people's lives. At present, the sweeping robot that cleans the ground is relatively popular in cleaning robots. Stair cleaning is mainly by manual cleaning. In order to reduce people's workload and save time and physical strength, it is very necessary to design a stair cleaning robot with strong autonomy and stable movement. [0003] After searching, it is found that there are patent documents with application number 201610737541.1 and application publication number CN106175608A. The moving mechanism includes wheels, steering gear, driving motor, steering gear fixing frame, driving motor fixing angle iron, and the steering of each wheel requires Driven by a steering gear, after the robot completes the straight-ahead ...

AI Technical Summary

Problems solved by technology

[0003] After searching, it is found that there are patent documents with application number 201610737541.1 and application publication number CN106175608A. The moving mechanism includes wheels, steering gear, driving motor, steering gear fixing frame, driving motor fixing angle iron, and the steering of each wheel needs A steering gear is used to drive the robot. After the robot completes the straight-line process, it needs to use the steering gear to turn the wheels of the robot to move laterally, so as to complete the cleaning of the stairs, and the steering gear runs slowly, resulting in low cleaning efficiency.

Each additional servo will make the structure more complex and also increase the difficulty of the control program

This patent document can complete a certain cleaning work, but there are deficiencies such as complex structure and inflexible movement.

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