An adaptive stair cleaning robot

Abstract

At present, the robots on the market have a single function and cannot meet various operational requirements. They cannot work adaptively according to the width of the stairs. The present invention can solve this problem. This invention aims to design an adaptive stair cleaning robot. The width of the stairs can be adaptively controlled. At the same time, the adaptive stair cleaning robot can climb the stairs and clean according to the road conditions of the stairs. The invention is divided into three parts. Among them, the front fuselage is a block slide rail cleaning device. The middle fuselage is the main body of the fuselage. The rear fuselage is a telescopic scrubbing device. The front fuselage can perform adaptive cleaning of the width of the stairs. The middle fuselage is responsible for supporting the front fuselage and the rear fuselage and providing an installation position for the power device. The rear fuselage is responsible for scrubbing.

Description

Technical Field

[0001] The invention relates to a sweeping robot, and in particular to a sweeping robot capable of adaptively sweeping stairs. Background Art

[0002] With the advancement of science and technology, the rapid development of computer technology and artificial intelligence science, intelligent robot technology has become a new research hotspot, and service robots have opened up a new field of robot application. Sweeping robots have become an indispensable part of smart homes. Sweeping robots do not require human control during the entire cleaning process, which reduces the burden of human operation. They have the characteristics of saving time, saving labor, high work efficiency, high energy utilization, and are light and compact. However, the sweeping robots available on the market today can only clean on flat surfaces and cannot clean stairs. Summary of the invention

[0003] The purpose of the present invention is to provide a cleaning robot that can adapt to the width of stairs, so as to solve the problem that the existing cleaning robots can only clean within a plane and cannot climb over stairs.

[0004] The present invention includes an adaptive stair cleaning robot, whose body is divided into three parts: front, middle and rear. The middle body is the main body, the front body is a block slide cleaning device, the rear body is a telescopic scrubbing device, and the front body and the rear body are respectively connected to the middle body through two sets of lifting arms.

[0005] The two sides of the middle fuselage are equipped with four three-star gear trains and twelve connected driving wheels, and the three-star gear trains are driven by four DC motors of the rear fuselage, and the DC motors are controlled by a single-chip microcomputer. The interior of the middle fuselage is equipped with a dust bag for collecting dust, a small water tank for supplying water, and a lithium battery for power supply.

[0006] The rear fuselage is a three-layer structure of upper, middle and lower layers, wherein the upper layer component (1) is provided with a primary rack (4) and a primary slide rail (3), and the middle layer component (5) is provided with a plurality of primary gears, a secondary rack (8), a secondary slide rail (11), a belt (6), a pulley (7) and a plurality of protruding columns; wherein the primary gears, the secondary rack (8), the belt (6) and the pulley (7) are responsible for transmission, the secondary slide rail (11) is responsible for guidance, and the plurality of protruding columns are responsible for blocking the left baffle (16) and the right baffle of the lower layer component (18) (17) moves to complete further functions; the lower layer component (18) is provided with a reversing mechanism driven by a coupling (13) connected to a DC motor (12), a plurality of secondary gears and a tertiary rack (27), and the DC motor (12) is controlled by a single chip microcomputer; the reversing mechanism includes a long guide rod (14), a left baffle (16) and a right baffle (17) connected to the two ends of the long guide rod (14), a combination of a plurality of reversing gears, a micro slider (26), a small slide rail (28) and a rotating micro slide rail (15) and other devices. A cleaning cotton block (29) is connected to the lower surface of the lower layer component (18), which can realize the final scrubbing and cleaning of the staircase platform.

[0007] Preferably, the two sets of gear rack mechanisms of the rear fuselage and the two sets of slide rails attached to the upper component (1), the middle component (5) and the lower component (18) can realize the three-level lateral translation of the rear fuselage.

[0008] Preferably, the left baffle (16) and the right baffle (17) of the rear fuselage extend out of the fuselage and retract when colliding with a wall, thereby driving the long guide rod (14) to translate left and right relative to the lower component (18), and finally changing the working direction of the reversing mechanism.

[0009] Preferably, if the left baffle (16) and the right baffle (17) have not collided with the wall when the slide rail reaches its maximum travel, they will collide with multiple columns of the middle layer component (5) of the fuselage and also retract, completing the above-mentioned function of changing the working direction of the reversing mechanism.

[0010] The present invention can realize cleaning of stairs with steps, and can realize self-adaptation to the width of the stairs through a mechanical structure according to different stair width specifications, thereby reducing the number of sensors and improving work efficiency.

[0011] The front cleaning mechanism is mainly composed of a gear rack main body and a cleaning terminal mechanism. The main mechanism is mainly composed of a row of mutually meshing gear transmission groups, which are meshed with the rack (59) inserted in the slide groove of the main slide rail. An electric motor is placed at the top of the main slide rail, which drives the central gear shaft (58) to drive other gears at various levels, and then drives the rack (59). The rack (59) is connected to the cleaning terminal mechanism, and is driven by the gear set to achieve cleaning. The cleaning terminal is mainly a vacuum cleaner head (51) with a brush, and the end of the vacuum cleaner head has a dust suction pipe that can lead to the inside of the robot. In addition, in order to adapt to stairs of different sizes, the main slide rail is designed as a detachable structure, and the working size of the mechanism is changed by splitting or adding block slide rails. Finally, the cleaning mechanism can adapt to various working conditions and complete the cleaning work.

[0012] Preferably, the cleaning mechanism is divided into a main slide rail, a left slider, a left end slider, a right slider, and a right end slider. There may be multiple left sliders and multiple right sliders.

[0013] Preferably, the cleaning mechanism is provided with buffer spring devices at the positions of the two end sliders, so as to reduce the rigid impact caused by hitting obstacles.

[0014] Preferably, the cleaning mechanism has pressure sensor springs placed in both ends. When the rack reaches the maximum stroke and starts to compress the spring, the sensor is stressed and sends a reversing signal to reverse the motor to achieve reversal.

[0015] The invention mainly realizes that the mechanism can be simply adjusted according to different specifications of stairs so as to adapt to the environment and work normally, and the mechanism is simple and reliable, operates stably and saves energy.

[0016] The middle body is mainly composed of a box and a planetary gear mechanism. The planetary gear mechanism has clutches (65), (66) and a three-star gear system. Considering the actual size of the stairs, three idler wheels are designed in the middle of each branch of the planetary gear. The DC motor II (62) is connected to the coupling to drive the intermediate input shaft. After the gears rotate, the torque is finally output to the drive wheel (68) through the output shaft (80). The DC motor II (62) is controlled by a single-chip microcomputer. The tooth clutches (65) and (66) are controlled by a reciprocating linear motor (64), and the reciprocating linear motor (64) is controlled by a single-chip microcomputer. When walking on a straight line on the ground, the four clutches are not engaged, and the drive wheel travels normally by friction; when turning, the DC motor II (62) is adjusted to rotate forward and reverse according to the needs; when climbing stairs, the four clutches are locked, and the entire planetary gear rotates around the intermediate output shaft as a whole to achieve stair climbing.

[0017] Preferably, the transmission of the middle planetary gear mechanism is stable, an idler wheel is added to meet the size of the stairs, and the planetary wheel branches are longer and can cross ordinary household stairs.

[0018] Preferably, the tooth clutches (65) and (66) are easy to control and can meet various motion requirements such as walking on flat ground, climbing stairs, turning, and turning while climbing stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A top view of the upper components of the rear fuselage of an adaptive stair cleaning robot.

[0021] Figure 2 The upper components of the rear fuselage of an adaptive stair cleaning robot are projected in a certain way to obtain a sectional view of the main view.

[0022] Figure 3 A top view of the middle layer component of the rear fuselage of an adaptive stair cleaning robot.

[0023] Figure 4 The middle layer component of the rear fuselage of an adaptive stair cleaning robot is projected in a certain way to obtain a sectional view of the main view.

[0024] Figure 5 The figure is a top view of the lower structure of the rear fuselage of an adaptive stair cleaning robot.

[0025] Figure 6 The lower layer components of the rear fuselage of an adaptive stair cleaning robot are projected in a certain way to obtain a stepped sectional view of the main view.

[0026] Figure 7 It is a cross-sectional view of a staircase in which the rear body of an adaptive stair cleaning robot moves in opposite directions, causing a collision.

[0027] Figure 8 It is the maximum limit of the left translation of the rear body of an adaptive stair cleaning robot.

[0028] Fig. 9 This is a left view of an adaptive stair cleaning robot when the rear body is translated to the left to the maximum extent.

[0029] Fig.10 It is a stepped cross-sectional view of a top view when the rear body of an adaptive stair cleaning robot is translated to the left to the maximum extent.

[0030] Fig.11It is the maximum limit of the rightward translation of the rear body of an adaptive stair cleaning robot.

[0031] Fig.12 This is a left view of an adaptive stair cleaning robot when the rear body is translated to the right to the maximum extent.

[0032] Fig.13 It is a stepped cross-sectional view of a top view when the rear body of an adaptive stair cleaning robot is translated to the right to the maximum extent.

[0033] Fig.14 A top view of the cleaning mechanism of an adaptive stair cleaning robot (without the top cover).

[0034] Fig.15 The figure is a front view of a cleaning mechanism of an adaptive stair cleaning robot.

[0035] Fig.16 A side view of the cleaning mechanism of an adaptive stair cleaning robot.

[0036] Fig.17 It is a front view of the cleaning mechanism of an adaptive stair cleaning robot in a disassembled state.

[0037] Fig.18 The figure is a top view of the cleaning mechanism of an adaptive stair cleaning robot (without the top cover) in a disassembled state.

[0038] Fig.19 A side view of the cleaning mechanism of an adaptive stair cleaning robot.

[0039] Fig. 20 The figure is a front view (overall) of the cleaning mechanism of an adaptive stair cleaning robot.

[0040] Fig.21 A side view (overall) of the cleaning mechanism of an adaptive stair cleaning robot.

[0041] Fig. 22 A top view of the middle body of an adaptive stair cleaning robot.

[0042] Fig.23 The figure is a side view of the planetary gear mechanism in the middle of an adaptive stair cleaning robot projected in a certain way.

[0043] Fig.24 This is a front view of the planetary gear set in the middle of an adaptive stair cleaning robot.

[0044] Fig.25 This is a top view of the planetary gear clutch in the middle of an adaptive stair cleaning robot.

[0045] Fig.26 This is the left view of the central planetary gear input shaft parts assembly of an adaptive stair cleaning robot.

[0046] Fig. 27 This is a left view of the central planetary gear output shaft parts assembly of an adaptive stair cleaning robot.

[0047] Fig.28 This is a left view of the intermediate bearing parts assembly of the central planetary gear output shaft of an adaptive stair cleaning robot.

[0048] Fig.29 This is the front view of the central planetary wheel of an adaptive stair cleaning robot.

[0049] Fig.30 A side view of the lifting mechanism of an adaptive stair cleaning robot.

[0050] Fig.31 A top view of the lifting mechanism of an adaptive stair cleaning robot.

[0051] Fig.32 The figure is an overall side view of an adaptive stair cleaning robot.

[0052] Reference numerals

[0053] 1-upper component, 2-cylinder, 3-primary slide rail, 4-primary rack, 5-middle component, 6-belt, 7-pulley, 8-secondary rack, 9-primary gear 1, 10-primary gear 2, 11-secondary slide rail, 12-DC motor, 13-coupling, 14-long guide rod, 15-rotating micro slide rail, 16-left baffle, 17-right baffle, 18-lower component, 19-secondary gear 1, 20-secondary gear 2, 21-secondary gear 3, 22- Reversing gear 1, 23-reversing gear 2, 24-reversing gear 3, 25-reversing gear 4, 26-micro slider, 27-three-stage rack, 28-small slide rail, 29-cleaning cotton block, 30-protrusion 1, 31-protrusion 2, 32-protrusion 3, 33-column 1, 34-column 2, 35-column 3, 36-protrusion 4, 37-protrusion 5, 38-column 4, 39-column 5, 40-left end top cover, 41-top cover, 42-top cover, 43-motor support Frame, 44-right top cover, 45-right end top cover, 46-left end bottom cover, 47-left bottom cover, 48-bottom cover, 49-blocking plate, 50-slip ring, 51-vacuum cleaner head, 52-sliding shaft, 53-right bottom cover, 54-right end bottom cover, 55-main transmission gear, 56-secondary transmission gear, 57-spring, 58-central gear shaft, 59-rack, 60-blocking ring, 61-box, 62-DC motor II, 63-clutch push rod, 64-reciprocating linear Motor, 65, 66-tooth clutch, 67-input shaft inner bearing cover, 68-driving wheel, 69-bearing cover, 70-outer planetary gear bracket, 71, 72, 73, 74 solid spur gears together form a gear transmission group, 76-input shaft, 77-idler shaft, 78-output shaft output end bearing cover, 79-bearing washer, 80-output shaft, 81-deep groove ball bearing, 82-lifting frame rear arm, 83-pin, 84-lifting frame front arm, 85-shaft, 86-key. DETAILED DESCRIPTION

[0054] The present invention will be described in detail below with reference to the figures. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and polish it without changing the spirit and content of the present invention.

[0055] Please refer to Figures 1 to 8 , describes the rear body of an adaptive stair cleaning robot.

[0056] The upper component (1) of the rear fuselage is a concave structure, with two cylinders (2) connected to the upper part, which is convenient for connection with the lifting arm, and a pair of primary slide rails (3) are connected to the lower side. The upper back plate is connected to a primary rack (4) at a specific position, which is convenient for meshing with the corresponding gears of the middle component (5). The middle component (5) of the rear fuselage is connected to a primary gear 1 (9) and a primary gear 2 (10). The two primary gears are connected through a pulley (7) and a belt (6), and are meshed with the primary rack (4) of the upper component (1). The middle component (5) is also connected to a secondary rack (8). The lower component (18) of the rear fuselage is connected to a plurality of cleaning cotton blocks (29) at the bottom, and is connected to a pair of secondary slide rails (11) on the side. A third rack (27) is connected, which is meshed with the primary gear 1 (9) and the primary gear 2 (10) of the middle component (5). At the same time, the secondary gear 1 (19), the secondary gear 2 (20), and the secondary gear 3 (21) are meshed with each other, and the secondary gear 3 (21) is meshed with the secondary rack (8). The reversing gear 2 (23) and the reversing gear 4 (24) are coaxial with the corresponding secondary gears. On the rotating micro-slide rail (15), the reversing gear 1 (22) and the reversing gear 4 (25) are meshed with each other, and at the same time, there is a micro-slider (26) on the rotating micro-slide rail (15) that can slide with it. The other end of the micro-slider (26) is hingedly connected to a side hole on the front of the small slide rail (28), and the other side hole on the front of the small slide rail (28) is fixed to the long guide rod (14), and the back of the small slide rail (28) is fixed to the lower component (18). In this way, the long guide rod (14), the small slide rail (28), the left baffle plate (16) and the right baffle plate (17) can be independently moved in the horizontal direction, and the movement can also drive the rotating micro slide rail (15), the reversing gear 1 (22) and the micro slider (26) to swing left and right, so as to achieve the purpose of switching the number of meshing gears of the reversing gear 1 (22). At the same time, the left side of the long guide rod (14) is connected to the left baffle plate (16), and the right side is connected to the right baffle plate (17).

[0057] When the whole mechanism moves, the DC motor (12) transmits power to the gear shaft where the reversing gear 4 (25) is located through the coupling (13), and the reversing gear 1 (22) rotates accordingly. When the reversing mechanism as a whole deflects to the left, the state of the lower component (18) is as follows: Figure 6As shown, the reversing gear 1 (22) meshes with the secondary gear 1 (19), transmitting the power to the secondary gear 3 (21) in sequence, and then to the secondary rack (8) of the middle layer component (5), so that the middle layer component (5) as a whole is horizontally shifted to the right. Then, the primary gear 1 (9) and the primary gear 2 (10) of the middle layer component (5) mesh with the tertiary rack (27) to rotate because of the horizontal right shift of the layer they are in. When one of the two primary gears is disengaged from the tertiary rack (27), the pulley (7) and the belt (6) of the middle layer component (5) will transmit the rotation of the other to the disengaged party, so as to achieve synchronous rotation of the two. The rotation of the two primary gears can drive the meshed primary rack (4) to move horizontally to the right, thereby involving the upper layer component (1) to move to the right as a whole. In this way, if the upper layer component (1) is fixed, it can be regarded as the middle layer component (5) and the lower layer component (18) are offset to the left as a whole. The entire rear fuselage completes the cleaning process to the left.

[0058] like Figure 7 As shown, when the left baffle (16) collides with the left wall of the stairs, the left baffle (16) and the upper reversing mechanism retract to the right, and the rotating micro slide rail (15) swings to the right as a whole, driving the reversing gear 1 (22) to move right and mesh with the secondary gear 2 (20). Since the secondary gear 2 (20) and the secondary gear 1 (19) rotate in opposite directions, the directions of all the upper mechanisms of the transmission chain are changed. If the upper component (1) is fixed, it can be regarded as the middle component (5) and the lower component (18) are offset to the right as a whole. The overall rear fuselage completes the rightward cleaning return stroke and the rightward cleaning outward stroke after passing the center line of the fuselage.

[0059] The above two steps are repeated alternately to complete the cleaning process that is adaptive to the width of the stairs.

[0060] When the rear fuselage moves to the left to the maximum extent, Figure 8 , and did not collide with the left wall. At this time, the fuselage is provided with multiple columns such as column 4 (38), column 5 (39), etc., and the corresponding left baffle also has multiple protrusions such as protrusion 4 (36), protrusion 5 (37). If the fuselage continues to move to the left, the column and the protrusion will contact, preventing the switching system from continuing to move to the left, pulling the left baffle (16) in the opposite direction, and also achieving the function of the rotating micro slide rail (15) swinging to the right as mentioned above. When the rear fuselage moves to the right to the maximum extent, as Fig.11 The situation is the same as moving to the left, except that pillars 1 (33), pillars 2 (34) and pillars 3 (35) collide with protrusions 1 (30), protrusions 2 (31) and protrusions 3 (32), and the effect is the same.

[0061] Please refer to Figures 14 to 21 , describes the rear body of an adaptive stair cleaning robot.

[0062] The main body of the cleaning mechanism is composed of a main slider, a left slider, a left end slider, a right slider, and a right end slider. The main slider includes a bottom cover (48), a top cover (42), a motor bracket (43), a central gear shaft (58), four main transmission gears (55), and four secondary transmission gears (56); the left slider is composed of a left bottom cover (8), a left top cover (2), a main transmission gear (55), and a secondary transmission gear (56); the left end slider is composed of a left end bottom cover (46), a left end top cover (40); the right slider is composed of a right bottom cover (53), a right top cover (44), a main transmission gear (55), and a secondary transmission gear (56); the right end slider is composed of a right end bottom cover (54), and a right end top cover (45). Each slider is connected by T-key plug-in, and the plug-in direction is from the front end to the rear, and multiple left sliders can be stacked between the left end slider and the main slider, and the right end is the same. After each different slider is connected, there is the same slide groove and they are interconnected after installation (see Figure 6 ) and the gears mesh with each other, paving the way for the rack transmission. The motor is placed in the motor frame (4), and the motor output shaft is directly connected to the central gear shaft (58), thereby driving all the gears and further transmitting the rack (59).

[0063] The rack (59) is connected to the cleaning end. Two baffles (49) are fixed to the lower sides of the two ends of the rack by screws. A sliding shaft (52) is inserted between the two baffles. Buffer springs are sleeved on the left and right ends of the shaft, and a sliding ring (50) is sleeved in the middle. The bottom end of the sliding ring is the vacuum cleaner head (51) (see Figure 7-8 ). When the rack is driven by the gear set, it slides in the chute and also drives the cleaning end at the bottom to move for cleaning.

[0064] Before starting work, you should first increase or decrease the sliders appropriately according to the size of the stairs, and adjust the entire slide rail to the appropriate working length. At the initial working position, the rack (59) is located in the center and meshes with the central gear shaft (58). When the motor starts to rotate, the central gear shaft (58) rotates and drives all the gears, the rack (59) starts to move, and the vacuum cleaner (51) at the end of the cleaning starts to work. When the rack (59) moves to one end in the slide rail, the rack (59) begins to squeeze the force transmission spring located in the slide groove of the end slider. A pressure sensor is attached between the end of the spring and the inner wall of the end of the slide groove. After being subjected to force, the pressure sensor generates an electrical signal that is transmitted to the transmitter in the adjacent chamber to generate an infrared signal that is transmitted to the motor, causing the motor to reverse and thus achieve reversal.

[0065] Please refer to Figure 22 to Figure 29 , describes a mid-body for an adaptive stair cleaning robot.

[0066] In the mechanism, (61) is a housing, (62) is a DC motor II, (63) is a clutch push rod, (64) is a reciprocating linear motor, (65) and (66) are tooth clutches, (67) is an input shaft inner bearing cover, (68) is a drive wheel, (69) is a bearing cover, (70) is an outer planetary gear bracket, (71), (72), (73) and (74) solid spur gears together form a gear transmission group, (76) is an input shaft, (77) is an idler shaft, (78) is an output shaft output end bearing cover, (79) is a bearing washer, (80) is an output shaft, and (81) is a deep groove ball bearing.

[0067] The bearing cover and the bracket in the planetary gear mechanism are connected by screws and nuts.

[0068] Another: Fig. 27 As shown, each gear is connected to the corresponding shaft by a flat key B type for force transmission, with bearing washers, bearings and corresponding bearing caps on both sides. The structure is relatively simple and classic, so I will not elaborate on it here.

[0069] When the whole mechanism moves in a plane, the reciprocating linear motor is in the shortest state, driving (63) and (65), so that (65) and (66) are in a non-engaged state. The single-chip microcomputer controls the DC motor II (62) to transmit power to the input shaft (76) through the coupling to drive the gear shaft of the internal gear set. The torque is finally transmitted to the output shaft (80) through (71), (72), (73) and (74), driving the driving wheel (68) to rotate so as to achieve friction advancement.

[0070] When the whole mechanism is climbing the stairs, the reciprocating linear motor is in the longest state, driving (63) and (65), so that (65) and (66) are in a meshing state, and the single-chip microcomputer controls the DC motor II (62) to transmit power to the input shaft (76) through the coupling, (65) and (76) are meshed at the end, and (66) and (67) are in a meshing state. At this time, the click directly drives the entire planetary gear as a whole to realize the rotation and climbing of the planetary gear mechanism.

[0071] When the whole mechanism needs to turn, the reciprocating linear motor is in the longest state, driving (63) and (65), so that (65) and (66) are in a non-engaged state. At this time, the single-chip microcomputers in different parts control the DC motor II (62) to transmit power to the input shaft (76) through the coupling to drive the gear shaft of the internal gear set. The torque is finally transmitted to the output shaft (80) through (71), (72), (73), and (74), driving the drive wheel (68) to rotate to achieve a change in direction.

[0072] Please refer to Figure 30 to Figure 31 , a lifting mechanism for an adaptive stair cleaning robot is described.

[0073] The lifting frame rear arm 82 of the lifting mechanism is hinged together with the lifting frame front arm 84 through the pin 83, and the power input by the power input shaft 85 is transmitted to the lifting frame front arm, thereby realizing the function of lifting the front and rear actuators.

Claims

1. An adaptive stair cleaning robot, characterized in that: The machine body is divided into three parts: front, middle and rear. The middle machine body is the main body. The front machine body is a block slide cleaning device. The rear machine body is a telescopic scrubbing device. The front machine body and the rear machine body are respectively connected to the middle machine body through two sets of lifting arms. The two sides of the middle machine body are equipped with a total of four three-star gear trains and a total of twelve connected driving wheels. The three-star gear trains are driven by four DC motors of the rear machine body, and the DC motors are controlled by a single-chip microcomputer. The interior of the middle machine body is equipped with a dust bag for collecting dust, a small water tank for supplying water and a lithium battery for power supply. The rear machine body is an upper, middle and lower three-layer structure. The upper component (1) is provided with a primary rack (4) and a primary slide rail (3). The middle component (5) is provided with a The invention discloses a plurality of first-stage gears, second-stage racks (8), second-stage slide rails (11), belts (6), pulleys (7) and five protruding columns; wherein the first-stage gears, second-stage racks (8), belts (6) and pulleys (7) are responsible for transmission, the second-stage slide rails (11) are responsible for guidance, and the five protruding columns are responsible for blocking the movement of the left baffle plate (16) and the right baffle plate (17) of the lower layer component (18); the lower layer component (18) is provided with a reversing mechanism driven by a coupling (13) connected to a DC motor (12), a second-stage gear and a third-stage rack (27), and the DC motor (12) is controlled by a single chip microcomputer; the reversing mechanism comprises a long guide rod (14) connected to both ends of the long guide rod (14) The invention relates to a combination of a left baffle plate (16) and a right baffle plate (17), eight reversing gears, a micro slider (26), a small slide rail (28) and a rotating micro slide rail (15); the rear fuselage is a three-layer lamellar structure, and its top view is rectangular, the plane where the long end of the rectangle is located is parallel to the stair step surface, and the plane where the short end of the rectangle is located is perpendicular to the stair step surface; the lower component (18) is active, and the upper component (1) is fixed; when working, the multiple secondary gears fixed to the lower component (18) rotate, driving the rack of the middle component (5) to translate left and right, and at the same time, the gear fixed to the middle component (5) is in contact with the gear of the lower component (18) because the rack of the middle component (5) translates. The gears of the middle layer member (5) are meshed with the gears of the upper layer member (1), so that the gears of the middle layer member (5) are rolled on the gears of the upper layer member (1) and the gears of the lower layer member (18); the gears fixed to the middle layer member (5) are meshed with the gears of the upper layer member (1), so that the gears fixed to the middle layer member (5) are rolled on the gears of the upper layer member (1) and the gears of the lower layer member (18) at the same time; there is a set of secondary slide rails (11) between the upper layer member (1) and the middle layer member (5), and between the middle layer member (5) and the lower layer member (18) respectively, which play a horizontal guiding and fixing role, allowing the three layers to slide left and right in the long end direction; therefore, the overall three-layer sheet structure presents a drawer-like pull-out state when the secondary gears of the lower layer member (18) rotate; when not working, the three layers are in an overlapping state;The reversing mechanism of the rear fuselage lower component (18) moves the long guide rod (14) through two triggering modes. One side of the long guide rod (14) is connected to the lower component (18) through a small slide rail (28) fixed to the lower component (18), so that the long guide rod (14) itself can be translated along the long end direction of the lower component (18); a fixed hole on the other side is equipped with a micro slider (26) that can rotate around the hole, and the micro slider (26) can slide on another group of rotating micro sliders (15) of the lower component (18); the other end of the rotating micro slider (15) rotates around the transmission shaft output by the DC motor (12), and the plane where the transmission shaft is located does not overlap with the plane where the long guide rod (14) is located; when the long guide rod (14) is translated due to external force, the installed micro slider (26) will push the rotating micro slider (15) while sliding along the rotating micro slider (15). 5) itself, and rotates around the transmission shaft as the axis; the rotating micro slide rail (15) is connected to the micro slider (26) on one side, and the other side is also fixed with a reversing gear IV (25) and a reversing gear I (22) along the length direction, the reversing gear IV (25) is connected to the transmission shaft, the reversing gear I (22) is meshed with the reversing gear IV (25), and the two reversing gears and the rotating micro slide rail (15) constitute a planetary gear system; the rear fuselage The left baffle (16) and the right baffle (17) can come into contact with the staircase side wall or the protruding columns of the middle layer component (5), and the staircase side wall or the plurality of protruding columns prevent the long guide rod (14) from moving forward along with the lower layer component (18), and pull the long guide rod (14) back, so that the long guide rod (14) and the lower layer component (18) slide relative to each other, thereby realizing the movement of the left baffle (16) and the right baffle (17) in the long end direction of the lower layer component (18).

2. An adaptive stair cleaning robot as claimed in claim 1, characterized in that: The lifting arm of the middle fuselage is divided into two sections. The part directly connected with the front and rear fuselages is a Y-shaped structure, and the part directly connected with the middle fuselage is a rod-shaped structure. The joints are connected by hinges.

3. The adaptive stair cleaning robot according to claim 1, characterized in that: When the left baffle plate (16) and the right baffle plate (17) of the rear body do not come into contact with the side wall of the stairs and the protruding columns in the middle layer component (5), the DC motor (12) can receive the signal of the single chip microcomputer and autonomously change the rotation direction, thereby realizing autonomous switching of the movement direction of the entire rear body.

Images