Stair-climbing sweeping robot self-adaptive to various heights

Abstract

The stair climbing and floor sweeping robot self-adaptive to the various heights comprises a main control box, a rotary telescopic mechanism and a symmetrical walking executing mechanism, and the side face of the main control box is connected with the symmetrical walking executing mechanism through the rotary telescopic mechanism; a first overturning motor is arranged on the side face of the main control box. A second overturning motor is arranged on the symmetrical walking executing mechanism, the fixed shell is connected with the first overturning motor, the telescopic shell is connected with the second overturning motor, and the fixed shell is connected with the telescopic shell through an electric linear driver. According to the stair-climbing sweeping robot self-adaptive to various heights, through the combined design of the rotary telescopic mechanism, the symmetrical walking executing mechanism and the main control box, the self-adaptive climbing capacity of the sweeping robot to stairs with various heights is achieved.

Description

Technical Field

[0001] This utility model belongs to the field of cleaning equipment technology and relates to an adaptive stair-climbing sweeping robot with multiple heights. Background Technology

[0002] Existing household robotic vacuum cleaners have the following main drawbacks:

[0003] Limited to surface cleaning, it cannot clean and mop the stairs in duplex apartments. Furthermore, existing robot vacuums lack the functionality to climb stairs, making them unsuitable for stairs of varying heights.

[0004] Therefore, a stair-climbing sweeping robot that can adapt to various heights is needed to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an adaptive stair-climbing sweeping robot capable of climbing stairs at various heights.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An adaptive stair-climbing sweeping robot that can climb stairs at various heights, comprising:

[0008] The main control box has first tilting motors symmetrically arranged on both sides;

[0009] The fixed end of the rotary telescopic mechanism is hinged to the main control box via a first flip motor.

[0010] A symmetrical walking actuator is hinged to the telescopic end of the rotary telescopic mechanism via a second flipping motor;

[0011] The rotary telescopic mechanism includes: a telescopic cavity formed by a fixed housing and a telescopic housing;

[0012] An electric linear actuator, with its two ends connected to a fixed housing and a telescopic housing, respectively;

[0013] A multi-degree-of-freedom attitude detection module, including a grating set in the telescopic housing and a photoelectric switch set in the fixed housing;

[0014] The rotation axes of the first and second flip motors are parallel to each other and perpendicular to the direction of travel.

[0015] Furthermore, the rotary telescopic mechanism also includes a guide rod, through which the fixed housing and the telescopic housing are connected. This guide rod guides the extension and retraction of the rotary telescopic mechanism, enhances torsional force, and reduces leg outward extension.

[0016] Furthermore, the rotating telescopic mechanism also includes an electromagnet attracting an iron plate. A first electromagnet is provided on the side of the main control box, and the iron plate attracting the electromagnet is correspondingly arranged with the first electromagnet. Attracting the first electromagnet increases the vertical attraction force and reduces the outward spread of the legs.

[0017] Furthermore, the rotary telescopic mechanism also includes a photoelectric switch and a grating. The grating is disposed on the telescopic housing, and the photoelectric switch is connected to the electric linear actuator. When the photoelectric switch passes through the grating, the system can record the number of pulses, with each pulse representing 1.2 mm. The number of pulses passed by the electric linear actuator can be used to calculate the distance the electric linear actuator extends or retracts, allowing for precise calculation and adaptation to different stair heights.

[0018] Furthermore, the rotary telescopic mechanism is arranged in parallel with the symmetrical walking actuator.

[0019] Furthermore, the bottom of the symmetrical walking actuator is equipped with a side brush mechanism. This brush removes dust and solid particles from the ground during operation.

[0020] Furthermore, the symmetrical walking actuator is equipped with a second electromagnet, and the iron plate attracted by the electromagnet is correspondingly positioned to the second electromagnet. Attracting the second electromagnet increases the vertical attraction force and reduces the outward spread of the legs.

[0021] Furthermore, the bottom of the symmetrical walking actuator is equipped with casters.

[0022] Furthermore, the symmetrical walking actuator is equipped with a walking wheel motor assembly and a steering motor mechanism, enabling the sweeper to walk and steer.

[0023] Furthermore, the main control box is equipped with the rotary telescopic mechanism and the symmetrical walking actuator on both sides.

[0024] Furthermore, the symmetrical walking actuator is externally provided with leg housings to protect the internal components.

[0025] Beneficial effects: This utility model of an adaptive multi-height stair-climbing sweeping robot, through the combined design of a rotary telescopic mechanism, a symmetrical walking actuator, and a main control box, with both the symmetrical walking actuator and the main control box equipped with a flip motor, realizes the sweeping robot's adaptive climbing ability for staircases of various heights. Attached Figure Description

[0026] Figure 1 A structural diagram of a stair-climbing sweeping robot that can adapt to various heights;

[0027] Figure 2 A schematic diagram of the main control box;

[0028] Figure 3 This is a schematic diagram of the rotary telescopic mechanism;

[0029] Figure 4 A schematic diagram of the fully retracted state of the electric linear actuator;

[0030] Figure 5 A schematic diagram showing the state of the electric linear actuator after extension;

[0031] Figure 6 A schematic diagram of one side of the symmetrical walking actuator;

[0032] Figure 7 This is a schematic diagram of the structure on the other side of the symmetrical walking actuator;

[0033] Figure 8 A schematic diagram of a stair-climbing sweeping robot that can adapt to various heights in front of a staircase.

[0034] Figure 9 This is a schematic diagram showing the simultaneous operation of the first flip motor, the second flip motor, and the electric linear actuator, which raises the main box to a certain angle.

[0035] Figure 10 The first schematic diagram shows the simultaneous operation of the first flip motor, the second flip motor, and the electric linear drive to lift the main box onto the steps.

[0036] Figure 11 The second schematic diagram shows the simultaneous operation of the first flip motor, the second flip motor, and the electric linear actuator to lift the main box onto the steps.

[0037] Figure 12 A first schematic diagram showing the simultaneous operation of the first flip motor, the second flip motor, and the electric linear drive to lift the symmetrical walking actuator onto the steps;

[0038] Figure 13 A second schematic diagram showing the simultaneous operation of the first flip motor, the second flip motor, and the electric linear drive, which lifts the symmetrical walking actuator onto the steps;

[0039] Figure 14 A first schematic diagram illustrating the repetitive action of climbing one step of a staircase.

[0040] Figure 15 A second schematic diagram illustrating the repetitive action of climbing one step of stairs;

[0041] Figure 16 The third diagram illustrates the repetitive action of climbing one step of a staircase;

[0042] Figure 17This is a schematic diagram of a stair-climbing sweeping robot that can adapt to various heights for sweeping and mopping stairs. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0044] Reference Figure 1-7 This utility model discloses an adaptive multi-height stair-climbing sweeping robot, comprising a main control box 1, a rotary telescopic mechanism 2, and a symmetrical walking actuator 3. The side of the main control box 1 is connected to the symmetrical walking actuator 3 via the rotary telescopic mechanism 2. A first flip motor 15 is provided on the side of the main control box 1. A second flip motor 32 is provided on the symmetrical walking actuator 3.

[0045] The rotary telescopic mechanism 2 includes a fixed housing 21, an electric linear actuator 22, and a telescopic housing 27. The fixed housing 21 is connected to a first flip motor 15, and the telescopic housing 27 is connected to a second flip motor 32. The fixed housing 21 is connected to the telescopic housing 27 via the electric linear actuator 22. Preferably, the rotary telescopic mechanism 2 also includes a guide rod 24, which connects the fixed housing 21 and the telescopic housing 27. This guide rod guides the extension and retraction of the rotary telescopic mechanism, enhances the torsional force, and reduces leg outward extension. Preferably, the rotary telescopic mechanism 2 also includes an electromagnet attracting iron plate 23. A first electromagnet 13 is provided on the side of the main control box 1, and the electromagnet attracting iron plate 23 is correspondingly arranged with the first electromagnet 13. Attracting the first electromagnet increases the vertical attraction force and reduces leg outward extension. Preferably, the rotary telescopic mechanism 2 also includes a photoelectric switch 25 and a grating 26. The grating 26 is provided on the telescopic housing 27, and the photoelectric switch 25 is connected to the electric linear actuator 22. When the photoelectric switch passes through the grating, the system can record the number of pulses, with each pulse representing 1.2 mm. The number of pulses passed by the electric linear actuator can be used to calculate the extension or retraction distance of the electric linear actuator, allowing for precise calculations and adaptation to different stair heights. Preferably, the rotary telescopic mechanism 2 and the symmetrical walking actuator 3 are arranged in parallel.

[0046] Preferably, the symmetrical walking actuator 3 has a side brush mechanism 33 at its bottom. This brush cleans dust and solid particles from the ground during operation. Preferably, the symmetrical walking actuator 3 has a second electromagnet 39, with the electromagnet attracting iron plate 23 corresponding to the second electromagnet 39. Attracting the second electromagnet increases the vertical attraction force, reducing leg outward spread. Preferably, the symmetrical walking actuator 3 has casters 37 at its bottom. Preferably, the symmetrical walking actuator 3 has a walking wheel motor assembly 34 and a steering motor mechanism 36, wherein the walking wheel motor assembly 34 is a component of an external gear, and the steering motor mechanism's gears are fitted together to form a transmission mechanism, such as... Figure 6 and Figure 7 As shown, when the gear of the steering motor mechanism 36 rotates, it drives the rotation of the walking wheel motor assembly 34. When the steering motor mechanism rotates a certain angle or a certain number of revolutions, it drives the entire walking wheel motor assembly to rotate by a proportional angle. The omnidirectional wheel is connected to the housing of the symmetrical walking actuator. When the walking wheel mechanism provides power in a certain direction, the omnidirectional wheel can also turn and rotate according to the direction of the power. This realizes the walking and turning of the sweeper. Preferably, the symmetrical walking actuator 3 is provided with a leg housing 31 on the outside. This is used to protect the internal components of the symmetrical walking actuator 3.

[0047] Preferably, the main control box 1 is provided with a rotary telescopic mechanism 2 and a symmetrical walking actuator 3 on both sides.

[0048] This utility model relates to an adaptive multi-height stair-climbing sweeping robot. Through the combined design of a rotary telescopic mechanism, a symmetrical walking actuator, and a main control box, both the symmetrical walking actuator and the main control box are equipped with a flip motor, enabling the sweeping robot to adaptively climb stairs of various heights.

[0049] like Figure 1 As shown, the adaptive multi-height stair-climbing sweeping robot includes a main control box 1, a rotary telescopic mechanism 2, a symmetrical walking actuator 3, and a mop mechanism 4.

[0050] I. Main Control Box:

[0051] like Figure 2 As shown, the system includes a vacuuming module 11, a cross-line laser 12, an electromagnet 13, a water tank 14, a first flip motor 15, a main control board 16, charging electrodes 17, a water filling module 18, and a top radar 19. The functions of each component are as follows:

[0052] Vacuum module 11: Used to pick up dust and solid particles from the ground.

[0053] Cross-line laser 12 and top radar 19: In conjunction with other sensors, algorithms enable functions such as walking, sweeping, and mopping.

[0054] Water Tank 14: Provides moisture to the mop, prevents dust from being stirred up, and removes stubborn stains.

[0055] Flip motor 15: Used to adjust the posture of the main box and telescopic arm to assist in climbing stairs.

[0056] Charging electrode 17: Connects to the base station for charging.

[0057] II. Rotary Telescopic Mechanism: Adaptive to stairs of different heights

[0058] like Figure 3 As shown, it includes a fixed housing 21, an electric linear actuator 22, an electromagnet attracting iron sheet 23, a guide rod 24, a photoelectric switch 25, a grating 26, and a telescopic housing 27.

[0059] Fixed housing 21: Bears the internal parts of the rotary telescopic mechanism and part of the torsional force.

[0060] Electric linear actuator 22: Extends and retracts to accommodate stairs of different heights.

[0061] Electromagnet attracts iron sheet 23: attracts the electromagnet, increases the vertical attraction, and reduces the outward spread of the legs.

[0062] Photoelectric switch 25 and grating 26: When the photoelectric switch passes through the grating, the system can record the number of pulses. Each pulse represents 1.2mm. The number of pulses passed by the electric linear actuator can be used to calculate the distance that the electric linear actuator extends or retracts, which can be accurately calculated and adapted to different stair heights.

[0063] Guide rod 24: Guides the leg length and contraction, enhances torsional force, and reduces leg outward spread.

[0064] Telescopic housing 27: Associated leg housing.

[0065] Figure 4 and Figure 5 It is the state where the electric linear actuator is fully retracted and fully extended.

[0066] like Figure 6 and Figure 7 As shown, it includes a leg housing 31, a second flip motor 32, a side brush mechanism 33, a walking wheel electrode assembly 34, a steering motor mechanism 36, a line laser 35, a swivel wheel 37, a battery pack 38, an electromagnet 39, a leg circuit board 310, and a leg anti-collision device 311.

[0067] Leg shell 31: Protects internal components.

[0068] Second flip motor 32: drives the legs to flip, assisting in climbing stairs.

[0069] Side brush mechanism 33: Cleans dust and solid particles from the ground during operation.

[0070] Walking wheel motor assembly 34 and steering motor mechanism 36: enable the sweeper to walk and steer.

[0071] 1) When the stair-climbing robot vacuum cleaner approaches the staircase, it scans and intelligently calculates the height of the staircase.

[0072] 2) Stop moving forward when you are 10-15mm away from the stairs. Figure 8 .

[0073] 3) The second tilting motor inside the symmetrical walking actuator, the first tilting motor inside the main box, and the electric linear drive inside the rotary telescopic mechanism all operate simultaneously, raising the main box to a certain angle, such as... Figure 9 .

[0074] 4) The flip motor continues to rotate, and the telescopic mechanism continues to rotate after reaching 90° until the main box control unit stops moving. Figure 10 and Figure 11 .

[0075] 5) The first flip motor inside the stair-climbing sweeping robot continues to rotate, driving the rotating and telescopic mechanism. Simultaneously, the second flip motor on the legs rotates, flipping the robot to the designated position, such as... Figure 12 and Figure 13 .

[0076] 6) Repeat the above movements until both legs rotate simultaneously, completing the motion of climbing one step of a staircase. Figure 14 , Figure 15 and Figure 16 .

[0077] 7) Repeat this action to climb multiple steps.

[0078] like Figure 17 As shown:

[0079] 1) After the stair-climbing robot vacuum climbs one step, the vacuum module in the main box rotates 90° to adjust the angle of the roller brush.

[0080] 2) The steering motors in the left and right legs start, driving the walking wheels to 90°, enabling lateral walking on the stairs.

[0081] 3) The leg brush mechanism operates, and the suction motor on the vacuum component operates to complete the cleaning of the stairs.

[0082] 4) The system intelligently calculates the width of the stair treads. If the mop mechanism is within the tread, the mop mechanism motor will start to complete the mopping function.

[0083] The present invention has the following technical advantages over the prior art:

[0084] Multi-degree-of-freedom linkage: Through the coordinated action of the first flip motor 15, the second flip motor 32 and the electric push rod 22, the multi-axis posture adjustment of the main box and the legs can be realized to adapt to steps with a height difference of +20%.

[0085] High-precision positioning: The combination of photoelectric switch 25 and grating 26 ensures that the stroke error of electric push rod 22 is less than 1mm, significantly improving the climbing success rate.

[0086] Enhanced stability: The triple electromagnet adsorption system (main control box / legs / adsorption iron plate) effectively suppresses leg outward extension, and tests show that the maximum anti-overturning torque is increased by 40%. Modular design: The rotating telescopic mechanism 2 and the leg walking part 3 adopt a standardized interface, which facilitates later maintenance and functional expansion.

Claims

1. A stair-climbing sweeping robot that adapts to multiple heights, characterized in that, include The main control box (1) has a first flip motor (15) symmetrically arranged on both sides. The rotating telescopic mechanism (2) has its fixed end hinged to the main control box (1) via the first flip motor (15); A symmetrical walking actuator (3) is hinged to the telescopic end of the rotary telescopic mechanism (2) via a second flip motor (32); The rotary telescopic mechanism (2) includes: The telescopic cavity is formed by the fixed shell (21) and the telescopic shell (27); An electric linear actuator (22) has its two ends connected to a fixed housing (21) and a telescopic housing (27), respectively; The multi-degree-of-freedom attitude detection module includes a grating (26) set on the telescopic housing (27) and a photoelectric switch (25) on the fixed housing (21). The rotation axes of the first flip motor (15) and the second flip motor (32) are parallel to each other and perpendicular to the direction of travel.

2. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The rotary telescopic mechanism (2) also includes a guide rod (24), and the fixed housing (21) and the telescopic housing (27) are connected by the guide rod (24).

3. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The rotary telescopic mechanism (2) also includes an electromagnet adsorbing iron sheet (23). A first electromagnet (13) is provided on the side of the main control box (1). The electromagnet adsorbing iron sheet (23) is correspondingly arranged with the first electromagnet (13).

4. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The rotary telescopic mechanism (2) is arranged in parallel with the symmetrical walking actuator (3).

5. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The bottom of the symmetrical walking actuator (3) is provided with a side brush mechanism (33).

6. The adaptive multi-height stair-climbing sweeping robot according to claim 3, characterized in that: The symmetrical walking actuator (3) is provided with a second electromagnet (39), and the electromagnet adsorbs the iron sheet (23) and the second electromagnet (39) are respectively arranged.

7. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The bottom of the symmetrical walking actuator (3) is provided with casters (37).

8. The adaptive multi-height stair-climbing sweeping robot according to claim 7, characterized in that: The symmetrical walking actuator (3) is equipped with a walking wheel motor assembly (34) and a steering motor mechanism (36).

9. The adaptive multi-height stair-climbing sweeping robot according to claim 1, characterized in that: The main control box (1) is equipped with the rotary telescopic mechanism (2) and the symmetrical walking actuator (3) on both sides.

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