Stair climbing device
By using a stair climber with a Mecanum wheel and omnidirectional wheel structure, combined with a cleaning mechanism and sensors, the problem of time-consuming and labor-intensive traditional stair cleaning is solved, realizing automated, flexible and customized stair cleaning services.
Patent Information
- Application Number
- CN202520067545.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2035-01-13
AI Technical Summary
Traditional stair cleaning requires manual operation, which is time-consuming and labor-intensive. Furthermore, the complexity and risks of cleaning are increased in multi-story buildings and high-rise buildings. Existing stair cleaning robots lack flexibility and adaptability.
It adopts a combination of Mecanum wheels and omnidirectional wheels with a folding and telescopic mechanism to achieve automatic stair climbing and lateral cleaning. Equipped with a cleaning mechanism and sensors, it can autonomously detect the stair structure and slope to provide customized cleaning services.
It achieves automated stair cleaning, reduces labor intensity, provides a cleaning experience without human intervention, lowers maintenance costs, improves cleaning efficiency and safety, and adapts to different stair environments.
Smart Images
Figure CN223574555U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field, concretely is a stair climber. BACKGROUND
[0002] People's pursuit of life quality and convenience is increasing, and the emergence of smart home makes people can control household appliances more conveniently, realize timing switch, remote control, automation operation etc.
[0003] Traditional cleaning method often needs manual operation, but the special structure of stair makes the cleaning work become cumbersome and time-consuming, in addition, the height and slope of stair are not the same, which increases the risk of manual cleaning, in addition, with the increase of population density, the amount of composite house and high-rise building increases, manual cleaning stair is very troublesome and makes people tired, therefore we put forward a stair climber. CONTENT OF UTILITY MODEL
[0004] The utility model discloses a stair climber to solve the traditional cleaning method in the background art needs manual operation, but the structure of stair is special, makes the cleaning work become tedious and time -consuming, in addition, the height and slope of stair are not same, increase the risk of manual cleaning, in addition, with the increase of population density, the compound house and high -rise building increase a lot, manual cleaning stair is very troublesome and makes the problem of people tired. In order to realize above -mentioned purpose, the utility model provides the following technical scheme: a stair climber, including fixed mainboard, the bottom both sides of fixed mainboard are fixedly connected with a plurality of hole flat plate no. 1, the bottom both sides of fixed mainboard are symmetrically distributed, the inside of every hole flat plate no. 1 is fixedly connected with servo motor no. 1 respectively, one side of every hole flat plate no. 1 is fixedly connected with big steering engine support no. 1 respectively, one side of big steering engine support no. 1 is fixedly connected with transmission plate no. 1, one side of transmission plate no. 1 is fixedly connected with slide rail, the top of one side of slide rail is fixedly connected with transmission plate no. 2, one side of transmission plate no. 2 is fixedly connected with big steering engine support no. 2, one side of big steering engine support no. 2 is fixedly connected with hole flat plate no. 2, the inside of hole flat plate no. 2 is fixedly connected with servo motor no. 2, the bottom of hole flat plate no. 2 is fixedly connected with connecting plate, the bottom of connecting plate is fixedly connected with drive motor, through the folding telescopic mechanism of the symmetrical Mecanum wheel and omni-directional wheel structure and rotary support frame connection stretches to the appropriate position and realizes automatic stair climbing, and is automatically cleaned through the cleaning mechanism, thereby realizing the overall cleaning of duplex house stair and second floor, and completely reducing the labor intensity of people;Meanwhile, Mecanum wheel and omni-directional wheel structure can realize left and right movement, thereby realizing the transverse cleaning of stair, when sweeping the ground, the Mecanum wheel module is folded and stored, the robot main body part moves through the universal electric roller, and the ground sweeping work is completed by the body module, which reduces the wear of Mecanum wheel set, the folding and storage of Mecanum wheel module makes the product more flexible, and the product has aesthetic and practicality, and compared with the existing stair cleaning robot, the product is light and flexible, and has strong pertinence.
[0005] Further preferably, one side of the four drive motors is fixedly connected with a Mecanum wheel, and the other two drive motors are fixedly connected with an omni-directional wheel on one side. The stair cleaning robot can provide unmanned cleaning service, and the user can freely move during the cleaning process without worrying about the interference or interaction with the cleaning worker. This unmanned cleaning experience provides a more private and comfortable environment, making the user feel more relaxed and satisfied.
[0006] More preferably, the bottom of the fixed motherboard is fixedly connected to three connecting brackets, which are arranged in a linear array at the bottom of the fixed motherboard. The maintenance cost of the stair cleaning robot is relatively low. Compared with traditional manual cleaning, the robot does not require the payment of wages, benefits and insurance, and also reduces the cost of personnel management and training. In addition, the robot has a relatively simple structure and the damaged parts are clearly visible. It can be repaired by itself with the availability of spare parts and is easy to operate.
[0007] Preferably, the connecting bracket is located between two hole plates, and a servo motor is fixedly connected to the bottom of each connecting bracket. A robotic arm is fixedly connected to one side of the bottom of the fixed main board. The stair cleaning robot can provide customized solutions according to the needs and requirements of different customers. The robot can be adjusted and optimized according to the characteristics, size and material of the staircase to meet the personalized needs of customers and provide cleaning services suitable for different scenarios and environments.
[0008] More preferably, the two sides of the robotic arm are respectively connected to hinge shafts by hinges, and the side surfaces of the two hinge shafts are connected to a U-shaped bracket by hinges.
[0009] In a further preferred embodiment, mechanical fingers are movably connected to both sides of the U-shaped bracket, and the two mechanical fingers are symmetrically distributed on both sides of the U-shaped bracket. Using advanced sensor technology, the structure, size, and slope of the staircase can be detected, thereby performing cleaning operations according to the different characteristics of the staircase. The staircase cleaning robot project has developed an intelligent robot that can move autonomously in stairwells and perform efficient cleaning work. It can not only reduce the burden of manual labor and improve cleaning efficiency, but also ensure the safety of cleaning work.
[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0011] In this invention, a folding and telescopic mechanism connected to a symmetrical Mecanum wheel and omnidirectional wheel structure and a rotating support frame extends and retracts to a suitable position to automatically climb stairs. The cleaning mechanism then automatically cleans, achieving comprehensive cleaning of the stairs and second floor of a duplex apartment, significantly reducing human labor intensity. Simultaneously, the Mecanum wheel and omnidirectional wheel structure allows for left and right movement, enabling lateral cleaning of the stairs. When cleaning the floor, the Mecanum wheel module folds up, and the main body of the robot moves via omnidirectional electric rollers, with the sweeping work completed by the body module. This reduces wear on the Mecanum wheel assembly. The folding and retracting of the Mecanum wheel module makes the product more flexible, aesthetically pleasing, and practical. Compared to existing stair cleaning robots, it is lightweight, flexible, and highly targeted.
[0012] In this invention, the stair cleaning robot can provide unattended cleaning services. Users can move freely during the cleaning process without worrying about interference or interaction with cleaning workers. This unattended cleaning experience provides a more private and comfortable environment, making users feel more relaxed and satisfied. The maintenance cost of the stair cleaning robot is relatively low. Compared with traditional manual cleaning, the robot does not require the payment of wages, benefits, and insurance, and also reduces the costs of personnel management and training. In addition, the robot has a relatively simple structure, and damaged parts are clearly visible. It can be repaired by itself with available parts, and the operation is simple.
[0013] In this invention, the stair cleaning robot can provide customized solutions according to the needs and requirements of different customers. The robot can be adjusted and optimized according to the characteristics, size and material of the staircase to meet the personalized needs of customers and provide cleaning services suitable for different scenarios and environments.
[0014] This invention utilizes advanced sensor technology to detect the structure, size, and slope of stairs, thereby enabling cleaning operations to be performed according to the different characteristics of the stairs. The stair cleaning robot project has developed an intelligent robot that can move autonomously in stairwells and perform efficient cleaning work, which can not only reduce the burden of manual labor and improve cleaning efficiency, but also ensure the safety of cleaning work. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the three-dimensional main structure of this utility model;
[0016] Figure 2 This is a three-dimensional structural diagram of the present invention viewed from below;
[0017] Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle;
[0018] Figure 4 This is a frontal three-dimensional structural diagram of the present invention;
[0019] Figure 5 This is a side view of the three-dimensional structure of the present invention.
[0020] In the diagram: 1. Fixed motherboard; 2. Hole plate one; 3. Servo motor one; 4. Large servo motor bracket one; 5. Transmission plate one; 6. Slide rail; 7. Transmission plate two; 8. Large servo motor bracket two; 9. Hole plate two; 10. Servo motor two; 11. Connecting plate; 12. Drive motor; 13. Mecanum wheel; 14. Omnidirectional wheel; 15. Connecting bracket; 16. Servo motor three; 17. Robotic arm; 18. Hinge shaft; 19. U-shaped bracket; 20. Robotic finger. Detailed Implementation
[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary technical personnel in the field without creative labor belong to the scope of protection of the utility model.
[0022] Please refer to Figures 1-5 The utility model provides a kind of technical solutions: a stair climber, including fixed mainboard 1, the bottom of fixed mainboard 1 two sides is respectively fixedly connected with several hole flat plate one 2, hole flat plate one 2 is symmetrically distributed at the bottom of fixed mainboard 1, the inside of each hole flat plate one 2 is respectively fixedly connected with servo motor one 3, the side of each hole flat plate one 2 is respectively fixedly connected with large rudder machine support one 4, the side of large rudder machine support one 4 is fixedly connected with transmission plate one 5, the side of transmission plate one 5 is fixedly connected with slide rail 6, transmission plate one 5 is located at the side top of slide rail 6, the side bottom of slide rail 6 is fixedly connected with transmission plate two 7, the side of transmission plate two 7 is fixedly connected with large rudder machine support two 8, the side of large rudder machine support two 8 is fixedly connected with hole flat plate two 9, the inside of hole flat plate two 9 is fixedly connected with servo motor two 10, the bottom of hole flat plate two 9 is fixedly connected with connecting plate 11, the bottom of connecting plate 11 is fixedly connected with drive motor 12.
[0023] In the embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , one side drive end of the four drive motors 12 is fixedly connected with a Mecanum wheel 13, one side drive end of the other two drive motors 12 is fixedly connected with an omnidirectional wheel 14, the bottom of the fixed mainboard 1 is fixedly connected with three connecting supports 15, the three connecting supports 15 are linearly arrayed at the bottom of the fixed mainboard 1, the connecting support 15 is located between the two hole flat plates one 2, and the bottom of each connecting support 15 is respectively fixedly connected with a servo motor three 16.
[0024] In the embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , the bottom of the fixed mainboard 1 is fixedly connected with a mechanical arm 17, the two sides of the mechanical arm 17 are respectively movably connected with a hinged shaft 18 through a hinge, the side surfaces of the two hinged shafts 18 are movably connected with a U-shaped support 19 through a hinge, and the two sides of the U-shaped support 19 are movably connected with a mechanical finger 20.
[0025] The use method and advantages of the utility model are: the stair climber, when using, the working process is as follows:
[0026] As Figure 1 , Figure 2 , Figure 3 , Figure 4 And Figure 5 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Indicated, when using the stair climber, the whole car is six-arm wheel type trolley, reaches the purpose of climbing stairs and crossing obstacles by lifting mechanical arm 17, six double DC motors are additionally installed on the car and jointly drive, the Mecanum wheel 13 and omnidirectional wheel 14 are assembled on the robot, can make our robot move horizontally on the stairs, reaches the cleaning purpose, the near-infrared sensor is assembled on the robot, can identify the stair wall when moving horizontally, and then turns, reaches the repeated cleaning effect, the fixed mainboard 1 adopts Basra main control board, respectively also has bluetooth and sound control module, all hardware facilities are provided based on explorer innovation kit, the folding telescopic mechanism that the symmetrical Mecanum wheel 13 and omnidirectional wheel 14 structure and rotary support frame are connected is telescoped to the appropriate position and realizes automatic stair climbing, the folding telescopic mechanism includes large steering gear support one 4, transmission plate one 5, slide rail 6, transmission plate two 7 and large steering gear support two 8, and is automatically cleaned by cleaning mechanism, thereby realizing the comprehensive cleaning of duplex residential stair and second floor, completely reduces the labor intensity of people;Meanwhile, the Mecanum wheel 13 and omnidirectional wheel 14 structure can realize left and right movement, thereby realizing the transverse cleaning of the stairs;When cleaning the ground, the Mecanum wheel 13 module is folded and stowed, the robot main body part moves through the universal electric roller, and the body module completes the sweeping work, reduces the wear of the Mecanum wheel 13 wheel set, the Mecanum wheel 13 module folding stowing makes the product more flexible, also has aesthetic and practicality, simultaneously can replace the length of arm according to the structure and size of the stair, ensures that the cleaning effect is best, adjusts the angle of cleaning equipment according to the slope of the stair, adjusts the position of cleaning equipment according to the height of the stair, etc., is customized according to the stair of different height.
[0027] The basic principle, main characteristics and advantages of the utility model are shown and described above.The technical staff of the industry should understand that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the utility model and are not used to limit the utility model, various changes and improvements of the utility model can be made without departing from the spirit and scope of the utility model, and these changes and improvements all fall within the scope of the claimed utility model.The scope of protection of the utility model is defined by the attached claims and their equivalents.
Claims
1. A stair climber comprising a fixed main plate (1), characterized in that: The bottom of the fixed main plate (1) is fixedly connected with a plurality of hole flat plates (2) on both sides, the hole flat plates (2) are symmetrically distributed on both sides of the bottom of the fixed main plate (1), the inner part of each hole flat plate (2) is fixedly connected with a servo motor (3), one side of each hole flat plate (2) is fixedly connected with a large steering engine support (4), one side of the large steering engine support (4) is fixedly connected with a transmission plate (5), one side of the transmission plate (5) is fixedly connected with a slide rail (6), the transmission plate (5) is located on one side of the top of the slide rail (6), one side of the bottom of the slide rail (6) is fixedly connected with a transmission plate (7), one side of the transmission plate (7) is fixedly connected with a large steering engine support (8), one side of the large steering engine support (8) is fixedly connected with a hole flat plate (9), the inner part of the hole flat plate (9) is fixedly connected with a servo motor (10), the bottom of the hole flat plate (9) is fixedly connected with a connecting plate (11), the bottom of the connecting plate (11) is fixedly connected with a drive motor (12).
2. A stair climber according to claim 1, characterized in that: One side of the drive end of the four drive motors (12) is fixedly connected with a Mecanum wheel (13), and one side of the drive end of the other two drive motors (12) is fixedly connected with an omnidirectional wheel (14).
3. A stair climber according to claim 2, characterized in that: The bottom of the fixed main plate (1) is fixedly connected with three connecting supports (15), and the three connecting supports (15) are linearly arrayed on the bottom of the fixed main plate (1).
4. A stair climber according to claim 3, wherein: The connecting supports (15) are located between the two hole flat plates (2), and the bottom of each connecting support (15) is fixedly connected with a servo motor (16), and one side of the bottom of the fixed main plate (1) is fixedly connected with a mechanical arm (17).
5. A stair climber according to claim 4, characterized in that: Both sides of the mechanical arm (17) are movably connected with a hinge shaft (18) through a hinge, and the side surfaces of the two hinge shafts (18) are movably connected with a U-shaped support (19) through a hinge.
6. A stair climber according to claim 5, characterized in that: Both sides of the U-shaped support (19) are movably connected with a mechanical finger (20), and the two mechanical fingers (20) are symmetrically distributed on both sides of the U-shaped support (19).