Wall climbing type automatic stair sweeping robot and sweeping method

Abstract

The wall climbing type automatic stair sweeping robot comprises a wall climbing device and a sweeping device, a first transverse supporting air cylinder and a second transverse supporting air cylinder of the wall climbing device are fixed to the lower portion of a vertical supporting air cylinder in a cross shape, a vertical moving suction cup is arranged at the outer end of a piston rod of the vertical supporting air cylinder, and a first transverse moving suction cup is arranged at the outer end of a piston rod of the first transverse supporting air cylinder; a transverse sucker B is arranged at the outer end of a piston rod of the transverse support cylinder B; a supporting plate is arranged between the first transverse supporting air cylinder and the second transverse supporting air cylinder, and a butt joint mechanism is arranged on the supporting plate. A main body of the cleaning device is a moving trolley, a cleaning mechanism is arranged in the moving trolley, and the end of the moving trolley is matched with the butt joint mechanism. The robot does not make contact with the stairs in the layer-by-layer stair climbing process, the problems that collision and abrasion are serious in the stair climbing process and the stability is poor in the climbing process are solved, the wall climbing device with the sweeping device for climbing is adsorbed and fixed to the wall face, the sweeping space of the stairs is not occupied, the sweeping device can thoroughly sweep the step surfaces of the stairs, and the cleaning efficiency is improved. And the stair cleaning quality is improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning robots, and particularly to a wall-climbing automatic stair-cleaning robot and a cleaning method. Background Art

[0002] Currently, the cleaning robots on the market mainly include floor-sweeping robots, vacuuming robots, window-cleaning robots, etc. Floor-sweeping robots dominate due to their simple operation and comprehensive functions. Floor-sweeping robots are mainly used for cleaning floors and can be applied in households or commercial places. Generally speaking, most of the research in the field of cleaning robots focuses on flat-floor cleaning robots, while there is less research on stair-cleaning robots. The invention patent with the publication number CN 118512123A proposes a stair-cleaning robot. This robot drives the guide rail sliders at all levels to slide through a first linear drive mechanism, and then drives the first cleaning device to slide left and right relative to the robot body. The first cleaning device that extends out relative to the robot body traverses on the tread of the stairs and cleans the step surface of the stairs. This cleaning method requires multiple drive mechanisms to cooperate to make the cleaning device extend step by step to clean the step surface, with a complex mechanism and many components. There is a problem of slow movement during the process of sending out or retracting the cleaning device, and the cleaning efficiency is low. In addition, this robot goes up or down the stairs through a ladder-climbing module, and the ladder-climbing module itself will occupy a large space for stair cleaning, resulting in incomplete cleaning of the step surface of the stairs. There are also problems of serious bumping and wear of the robot when climbing up and down the stairs and poor stability during the climbing process, which need to be improved. Summary of the Invention

[0003] In order to solve the above problems, the present invention proposes a wall-climbing automatic stair-cleaning robot and a cleaning method.

[0004] The technical solution of the present invention is: a wall-climbing automatic stair-cleaning robot, including a wall-climbing device and a cleaning device. The wall-climbing device includes a vertical support cylinder, a horizontal support cylinder A and a horizontal support cylinder B. The horizontal support cylinder A and the horizontal support cylinder B are fixed in a cross shape at the lower part of the vertical support cylinder. The outer end of the piston rod of the vertical support cylinder is provided with a vertical moving suction cup. The outer end of the piston rod of the horizontal support cylinder A is provided with a horizontal moving suction cup A. The outer end of the piston rod of the horizontal support cylinder B is provided with a horizontal moving suction cup B. A support plate is arranged between the horizontal support cylinder A and the horizontal support cylinder B, and a docking mechanism is arranged on the outer side surface of the support plate. The main body of the cleaning device is a mobile trolley. The width dimension of the mobile trolley matches the width dimension of the step surface of the stairs. A cleaning mechanism is arranged in the mobile trolley, and the end of the mobile trolley matches the docking mechanism.

[0005] Preferably, the cleaning mechanism includes a dust suction box body, a motor, and a suction fan blade disposed between the bottom plate and the top plate of the mobile trolley. The motor is installed on the end plate at one end of the dust suction box body, and the suction fan is disposed inside the dust suction box body and connected to the output shaft of the motor. A main dust suction pipe is provided on the end plate at the other end of the dust suction box body. An opening-downward main conical suction nozzle is provided at the outer end of the main dust suction pipe. A branch pipe is connected to the dust suction pipe, and an auxiliary suction nozzle is provided at the lower end of the branch pipe. A filter screen is provided in the dust suction box body between the suction fan and the inlet of the main dust suction pipe, and an exhaust port is provided on the end plate where the motor is installed.

[0006] Preferably, rolling brushes are installed on the side and end of the bottom plate. These rolling brushes surround the outside of the main conical suction nozzle and the auxiliary suction nozzle, and a driver for driving the rolling brushes to rotate is provided on the bottom plate.

[0007] Preferably, independently driven rollers are provided at the four corners of the bottom plate of the mobile trolley.

[0008] Preferably, the docking mechanism is an electromagnet, and a magnetic attraction end plate corresponding to the electromagnet is provided at the end of the mobile trolley.

[0009] Preferably, a solenoid valve is provided on the housing of the vertical support cylinder. Multiple air pipes are connected to the solenoid valve. The air pipes are respectively connected to the cylinder and the suction cup, and an air pump for providing compressed air to the solenoid valve is provided on the support plate.

[0010] A cleaning method for a wall-climbing automatic stair-sweeping robot is as follows:

[0011] ① Start the motor inside the mobile trolley. The motor drives the suction fan blade to rotate to generate negative pressure in the dust suction box body, and then generate suction force at the main conical suction nozzle through the main dust suction pipe. At the same time, start the driver of the rolling brush to drive the rolling brush to rotate for cleaning. ② The mobile trolley moves from one end to the other end on the step surface. During the movement, the main conical suction nozzle continuously sucks the dust and sundries on the step surface directly below it, and the surrounding rolling brushes continuously sweep the dust and sundries at the step edge to the periphery of the suction nozzle, performing a dead-angle-free cleaning and suction on the step surface. ③ The mobile trolley relies on the sensors at both ends to judge whether it has reached the end of the step, and reciprocally moves through the position signals emitted by the sensors to thoroughly clean the stair step surface.

[0012] ④ The wall-climbing device adsorbs and fixes on the wall on one side of the stairs through the horizontal moving suction cup A, the horizontal moving suction cup B, and the vertical moving suction cup. After cleaning the stair steps of one floor, start the solenoid valve at the lower part of the wall-climbing device to generate magnetic attraction. The mobile trolley moves towards the solenoid valve and makes its magnetic attraction end plate contact the solenoid valve, and the cleaning device is magnetically attracted to the lower part of the wall-climbing device.

[0013] ⑤Turn off the horizontal suction cups A and B. The horizontal suction cups A and B lose their adsorption force on the wall surface, and only the vertical suction cup maintains the adsorption force. Start the piston rod of the vertical support cylinder to contract and drive the entire wall-climbing device and cleaning device upward. ⑥After the cleaning device is higher than the upper step, reopen the horizontal suction cups A and B and close the vertical suction cup. Synchronously drive the piston rod of the horizontal support cylinder A to contract and the piston rod of the horizontal support cylinder B to extend, and drive the wall-climbing device and the cleaning device to move horizontally to directly above the upper step. ⑦Open the vertical suction cup to adsorb on the wall surface, close the horizontal suction cups A and B. The horizontal suction cups A and B lose their adsorption force on the wall surface. Start the piston rod of the vertical support cylinder to extend and drive the entire wall-climbing device and cleaning device to slowly descend. After the moving trolley touches the step surface, turn off the electromagnet, and the moving trolley is separated from the wall-climbing device. Then start the cylinder to drive the horizontal suction cups A and B to reset and adsorb on the wall surface. ⑧Perform the cleaning operation on all the steps of the stairs according to the above steps ① - ⑦.

[0014] The beneficial technical effects of the present invention are as follows: (1) The stair-cleaning robot of the present invention makes full use of the wall on one side of the stairs. By setting a wall-climbing device to drive the cleaning device to climb upward, and through an electromagnet docking mechanism arranged between the wall-climbing device and the cleaning device to achieve the docking and separation between the two. After the cleaning device climbs to the designated position layer by layer, it can be released and move independently for cleaning operations. The robot does not contact the stairs during the process of climbing the stairs layer by layer, avoiding the problems of serious bumping and wear during climbing the stairs and poor stability during the climbing process. Moreover, the wall-climbing device that drives the cleaning device to climb is adsorbed and fixed on the wall surface, without occupying the cleaning space of the stairs, which is conducive to the cleaning device to thoroughly clean the step surface of the stairs and improve the cleaning quality of the stairs.

[0015] (2) The combined structure of the wall-climbing device and the cleaning device of the present invention enables the moving trolley to move freely on the step surface of the stairs. During the moving process, the combination of the roller brush and the suction nozzle is used to ensure cleaning without dead corners. The mobile cleaning trolley has the characteristics of high mobility and flexibility. It not only ensures the cleaning quality through the cleaning method without dead corners, but also can effectively improve the cleaning efficiency. Description of the Drawings

[0016] Figure 1 is the structural schematic diagram of the present invention in the use state; Figure 2 is one of the three-dimensional structural schematic diagrams of the present invention; Figure 3 is the front view structural schematic diagram of the present invention; Figure 4 is the side view structural schematic diagram of the present invention; Figure 5 Yes Figure 4 Schematic cross-sectional structure diagram taken along the A-A direction; Figure 6 It is the second three-dimensional structure diagram of the present invention.

[0017] In the figure, 01. Wall-climbing device, 11. Vertical support cylinder, 12. Horizontal support cylinder A, 13. Horizontal support cylinder B, 14. Vertical moving suction cup, 15. Horizontal moving suction cup A, 16. Horizontal moving suction cup B, 17. Support plate, 18. Electromagnet, 02. Cleaning device, 21. Moving trolley, 211. Magnetic end plate, 212. Roller, 22. Dust suction box body, 23. Motor, 231. Exhaust fan blade, 24. Main dust suction pipe, 241. Main conical suction nozzle, 25. Branch pipe, 251. Auxiliary suction nozzle, 26. Filter screen, 27. Exhaust port, 28. Rotary brush, 29. Driver, 30. Stair step. Specific implementation mode

[0018] Example 1, see the appendix Figures 1-5 , A wall-climbing automatic stair-sweeping robot, including a wall-climbing device 01 and a cleaning device 02. The wall-climbing device 01 includes a vertical support cylinder 11, a horizontal support cylinder A 12 and a horizontal support cylinder B 13. The vertical support cylinder, the horizontal support cylinder A and the horizontal support cylinder B are all single-direction double-shaft cylinders. The horizontal support cylinder A 12 and the horizontal support cylinder B 13 are fixedly arranged in a cross shape at the lower part of the vertical support cylinder 11. The outer end of the piston rod of the vertical support cylinder 11 is provided with a vertical moving suction cup 14. The outer end of the piston rod of the horizontal support cylinder A 12 is provided with a horizontal moving suction cup A 15. The outer end of the piston rod of the horizontal support cylinder B 13 is provided with a horizontal moving suction cup B 16. The adsorption ports of the vertical moving suction cup 14, the horizontal moving suction cup A 15 and the horizontal moving suction cup B 16 are located in the same vertical plane. Since there may be some partial damage to the wall, flexible sealing materials can be attached to the edge of the suction cup to improve the vacuum degree of the suction cup and enhance its adsorption capacity for the damaged wall; a support plate 17 is arranged between the horizontal support cylinder A 12 and the horizontal support cylinder B 13. The support plate extends downward a certain length from the bottom surface of the horizontal support cylinder. The outer side surface of the support plate 17 is provided with a docking mechanism; the main body of the cleaning device 02 is a moving trolley 21. The width dimension of the moving trolley 21 matches the width dimension of the surface of the stair step. A cleaning mechanism is arranged in the moving trolley 21. The end of the moving trolley matches the docking mechanism.

[0019] The cleaning mechanism includes a dust suction box body 22, a motor 23 and a suction fan blade 231 disposed between the bottom plate and the top plate of the mobile trolley 21. The motor 23 is installed on the end plate at one end of the dust suction box body 22, and the suction fan is disposed inside the dust suction box body 22 and connected to the output shaft of the motor 23. The suction fan is close to the end plate of the dust suction box body 22. A main dust suction pipe 24 is provided on the end plate at the other end of the dust suction box body 22. The outer end of the main dust suction pipe 24 is provided with a main conical suction nozzle 241 arranged with the opening downward. The main conical suction nozzle 241 is arranged with the opening downward and close to the bottom side of the roller 212. A branch pipe 25 is connected to the dust suction pipe. The lower end of the branch pipe 25 is provided with an auxiliary suction nozzle 251 to increase the suction range at the bottom of the trolley through the auxiliary suction nozzle 251. A filter net 26 is provided inside the dust suction box body 22 between the suction fan and the inlet of the main dust suction pipe 24. An exhaust port 27 is provided on the end plate where the motor 23 is installed.

[0020] When the cleaning mechanism works, the motor 23 is started to drive the suction fan blade 231 to rotate at a high speed. The suction fan blade 231 sucks the air inside the dust suction box body 22 and discharges it from the exhaust port 27, causing a negative pressure inside the dust suction box body 22. Then, through the action of the pipeline, it acts on the suction nozzle, causing the suction nozzle to generate a suction force, sucking dust and sundries from the suction nozzle into the dust suction box body 22, and falling to the bottom of the box under the filtering action of the filter net 26 inside the dust suction box body 22.

[0021] Rotary brushes 28 are installed on both the side and end of the bottom plate. These rotary brushes 28 surround the outside of the main conical suction nozzle 241 and the auxiliary suction nozzle 251. A driver 29 for driving the rotary brushes 28 to rotate is provided on the bottom plate. By driving the rotary brushes to rotate through the driver, the dust and sundries at the edge of the step are continuously swept to the suction nozzle in the middle.

[0022] Independent driving rollers 212 are provided at the four corners of the bottom plate of the mobile trolley 21. A reduction motor 23 is provided inside the rollers 212. By driving the rollers 212 to rotate through the reduction motor 23, the trolley is driven to move.

[0023] The docking mechanism is an electromagnet 18. A magnetic suction end plate 211 corresponding to the electromagnet 18 is provided at the end of the mobile trolley 21. By energizing and de-energizing the electromagnet 18, the mobile trolley 21 can be quickly and fixedly docked with and separated from the wall-climbing device 01.

[0024] A solenoid valve is provided on the shell of the vertical support cylinder 11. Multiple air pipes are connected to the solenoid valve. The air pipes are respectively connected to the cylinder and the suction cup. An air pump for providing compressed gas to the solenoid valve is provided on the support plate 17. The compressed gas generated by the air pump is distributed to each air pipe through the solenoid valve and is transported to the cylinder and the suction cup through the air pipes.

[0025] Embodiment 2, see the appendix Figures 1-5 , A cleaning method for a wall-climbing automatic stair-sweeping robot in Embodiment 1, characterized by including the following steps:

[0026] ① Start the motor 23 inside the mobile trolley 21. The motor 23 drives the suction fan blade 231 to rotate, generating a negative pressure inside the dust collection box 22, and then generating a suction force at the main conical suction nozzle 241 through the main suction pipe 24. At the same time, start the driver 29 of the rotary brush 28 to drive the rotary brush 28 to rotate for cleaning; ② The mobile trolley 21 moves from one end to the other on the step surface. During the movement, the main conical suction nozzle 241 continuously sucks the dust and sundries on the step surface directly below it, and the surrounding rotary brush 28 continuously sweeps the dust and sundries at the edge of the step to the periphery of the suction nozzle, cleaning and sucking the step surface without dead angles; ③ The mobile trolley 21 relies on the sensors at both ends to determine whether it has reached the end of the step, and reciprocates through the position signals emitted by the sensors to thoroughly clean the surface of the staircase step 30;

[0027] ④ The wall-climbing device 01 is adsorbed and fixed on the wall on one side of the staircase through the horizontal moving suction cup A 15, the horizontal moving suction cup B 16 and the vertical moving suction cup 14. After the staircase steps 30 on one floor are cleaned, start the solenoid valve at the lower part of the wall-climbing device 01 to generate a magnetic suction force. The mobile trolley 21 moves towards the solenoid valve and makes its magnetic suction end plate 211 contact the solenoid valve, and the cleaning device 02 is magnetically adsorbed on the lower part of the wall-climbing device 01;

[0028] ⑤ Close the horizontal moving suction cup A 15 and the horizontal moving suction cup B 16. The horizontal moving suction cup A 15 and the horizontal moving suction cup B 16 lose their adsorption force on the wall, and only the vertical moving suction cup 14 maintains the adsorption force. Start the piston rod of the vertical support cylinder 11 to contract, driving the entire wall-climbing device 01 and the cleaning device 02 to move upward; ⑥ After the cleaning device 02 is higher than the upper step, reopen the horizontal moving suction cup A 15 and the horizontal moving suction cup B 16 and close the vertical moving suction cup 14. Synchronously drive the piston rod of the horizontal support cylinder A 12 to contract and the piston rod of the horizontal support cylinder B 13 to extend, driving the wall-climbing device 01 and the cleaning device 02 to move horizontally to directly above the upper step; ⑦ Open the vertical moving suction cup 14 to adsorb on the wall, close the horizontal moving suction cup A 15 and the horizontal moving suction cup B 16. The horizontal moving suction cup A 15 and the horizontal moving suction cup B 16 lose their adsorption force on the wall. Start the piston rod of the vertical support cylinder 11 to extend, driving the entire wall-climbing device 01 and the cleaning device 02 to slowly descend. After the mobile trolley 21 touches the step surface, turn off the electromagnet 18, and the mobile trolley 21 is separated from the wall-climbing device 01. Then start the cylinder to drive the horizontal moving suction cup A 15 and the horizontal moving suction cup B 16 to reset and adsorb on the wall; ⑧ Perform the cleaning operation on all the steps of the staircase according to the above steps ① - ⑦.

Claims

1. A wall-climbing automatic staircase-sweeping robot, characterized in that: It includes a wall - climbing device and a cleaning device. The wall - climbing device includes a vertical support cylinder, a horizontal support cylinder A and a horizontal support cylinder B. The horizontal support cylinder A and the horizontal support cylinder B are fixed in a cross - shape at the lower part of the vertical support cylinder. An upright moving suction cup is provided at the outer end of the piston rod of the vertical support cylinder. A horizontal moving suction cup A is provided at the outer end of the piston rod of the horizontal support cylinder A. A horizontal moving suction cup B is provided at the outer end of the piston rod of the horizontal support cylinder B. A support plate is provided between the horizontal support cylinder A and the horizontal support cylinder B, and a docking mechanism is provided on the outer side of the support plate. The main body of the cleaning device is a moving trolley. The width dimension of the moving trolley matches the width dimension of the step surface of the stairs. A cleaning mechanism is provided inside the moving trolley, and the end of the moving trolley matches the docking mechanism.

2. The wall-climbing automatic stair-sweeping robot according to claim 1, characterized in that: The cleaning mechanism includes a dust - suction box body, a motor and a suction fan blade arranged between the bottom plate and the top plate of the moving trolley. The motor is installed on the end plate at one end of the dust - suction box body. The suction fan is arranged inside the dust - suction box body and is connected to the output shaft of the motor. A main dust - suction pipe is provided on the end plate at the other end of the dust - suction box body. The outer end of the main dust - suction pipe is provided with a main conical suction nozzle arranged with the opening downward. A branch pipe is connected to the dust - suction pipe, and an auxiliary suction nozzle is provided at the lower end of the branch pipe. A filter screen is provided inside the dust - suction box body between the suction fan and the inlet of the main dust - suction pipe, and an exhaust port is provided on the end plate where the motor is installed.

3. The wall-climbing automatic staircase-sweeping robot according to claim 2, characterized in that: Brushes are installed on the side and end of the bottom plate. These brushes surround the outside of the main conical suction nozzle and the auxiliary suction nozzle. A driver for driving the brush to rotate is provided on the bottom plate.

4. The wall-climbing automatic staircase-sweeping robot according to claim 2, characterized in that: Independent - driven rollers are provided at the four corners of the bottom plate of the moving trolley.

5. The wall-climbing automatic stair-sweeping robot according to claim 1, characterized in that: The docking mechanism is an electromagnet, and a magnetic - adsorption end plate corresponding to the electromagnet is provided at the end of the moving trolley.

6. The wall-climbing automatic staircase-sweeping robot according to claim 1, characterized in that: A solenoid valve is provided on the shell of the vertical support cylinder. Multiple air pipes are connected to the solenoid valve. The air pipes are respectively connected to the cylinder and the suction cup, and an air pump for providing compressed air for the solenoid valve is provided on the support plate.

7. A cleaning method of a wall - climbing automatic stair - sweeping robot according to any one of claims 1 - 6, characterized by including the following steps: The cleaning device cleans the surface of the lower - layer stairs ① Start the motor inside the moving trolley. The motor drives the suction fan blade to rotate to generate negative pressure in the dust - suction box body, and then generates a suction force at the main conical suction nozzle through the main dust - suction pipe. At the same time, start the driver of the brush to drive the brush to rotate for cleaning. ② The moving trolley moves from one end to the other end on the step surface. During the moving process, the main conical suction nozzle continuously sucks the dust and sundries on the step surface directly below it, and the surrounding brushes continuously sweep the dust and sundries at the edge of the step to the periphery of the suction nozzle, performing a dead - angle - free cleaning and suction on the step surface. ③ The moving trolley relies on the sensors at its two ends to judge whether it has cleaned to the end of the step, and reciprocally moves through the position signal emitted by the sensors to completely clean the surface of the stair step. The cleaning device is docked with the wall - climbing device ④ The wall - climbing device is adsorbed and fixed on the wall on one side of the stairs through the horizontal moving suction cup A, the horizontal moving suction cup B and the upright moving suction cup. After cleaning the stairs of one floor, start the solenoid valve at the lower part of the wall - climbing device to generate magnetic suction. The moving trolley moves towards the solenoid valve and makes its magnetic - adsorption end plate contact with the solenoid valve, and the cleaning device is magnetically adsorbed at the lower part of the wall - climbing device. The wall - climbing device climbs upward with the cleaning device ⑤Turn off the horizontal transfer suction cups A and B. The horizontal transfer suction cups A and B lose their adsorption force on the wall surface, and only the vertical transfer suction cup maintains the adsorption force. Start the piston rod of the vertical support cylinder to contract and drive the entire wall-climbing device and cleaning device upward. ⑥After the cleaning device is higher than the upper step, reopen the horizontal transfer suction cups A and B and close the vertical transfer suction cup. Synchronously drive the piston rod of the horizontal support cylinder A to contract and the piston rod of the horizontal support cylinder B to extend, driving the wall-climbing device and cleaning device to move horizontally to directly above the upper step. ⑦Open the vertical transfer suction cup to adsorb on the wall surface, close the horizontal transfer suction cups A and B. The horizontal transfer suction cups A and B lose their adsorption force on the wall surface. Start the piston rod of the vertical support cylinder to extend and slowly lower the entire wall-climbing device and cleaning device. After the moving trolley touches the step surface, turn off the electromagnet, separate the moving trolley from the wall-climbing device, and then start the cylinder to drive the horizontal transfer suction cups A and B to reset and adsorb on the wall surface. ⑧Perform the cleaning operation on all the steps of the stairs according to the above steps ① - ⑦.

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