CN-224206742-U - Self-adaptive stair climbing sweeping robot with multiple heights

CN224206742UCN 224206742 UCN224206742 UCN 224206742UCN-224206742-U

Abstract

The utility model discloses a self-adaptive stair climbing sweeping robot with multiple heights, which comprises a main control box, a rotary telescopic mechanism and a symmetrical walking executing mechanism, wherein the side surface of the main control box is connected with the symmetrical walking executing mechanism through the rotary telescopic mechanism, a first ‌ turnover motor is arranged on the side surface of the main control box, a second ‌ turnover motor is arranged on the symmetrical walking executing mechanism, a fixed shell is connected with the first ‌ turnover motor, a telescopic shell is connected with the second ‌ turnover motor, and the fixed shell is connected with the telescopic shell through a ‌ electric linear driver. The self-adaptive stair climbing sweeping robot with multiple heights realizes the self-adaptive climbing capability of the sweeping robot on the stairs with multiple heights through the combined design of the rotary telescopic mechanism, the symmetrical walking actuating mechanism and the main control box.

Inventors

HU AIMING
MENG LINGYU
DENG ZHENGDONG

Assignees

南京安德普电子科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250507

Claims (9)

1. Self-adaptation multiple high stair robot of sweeping floor that climbs, its characterized in that includes The main control box (1) is symmetrically provided with first overturning motors (15) on two sides; The fixed end of the rotary telescopic mechanism (2) is hinged with the main control box (1) through a first overturning motor (15); The symmetrical walking executing mechanism (3) is hinged with the telescopic end of the rotary telescopic mechanism (2) through a second overturning motor (32); the rotary telescopic mechanism (2) comprises: A telescopic cavity formed by the fixed shell (21) and the telescopic shell (27); An electric linear actuator (22) having both ends connected to the fixed housing (21) and the telescopic housing (27), respectively; The multi-degree-of-freedom gesture detection module comprises a grating (26) arranged on a telescopic shell (27) and a photoelectric switch (25) of a fixed shell (21); Wherein the rotation axes of the first turnover motor (15) and the second turnover motor (32) are parallel to each other and perpendicular to the traveling direction.
2. The self-adaptive multi-height stair climbing sweeping robot according to claim 1, wherein the rotary telescopic mechanism (2) further comprises a guide rod (24), and the fixed shell (21) and the telescopic shell (27) are connected through the guide rod (24).
3. The stair climbing sweeping robot with multiple heights in a self-adaptation mode according to claim 1, wherein the rotary telescopic mechanism (2) further comprises an electromagnet adsorption iron sheet (23), a first electromagnet (13) is arranged on the side face of the main control box (1), and the electromagnet adsorption iron sheet (23) is arranged corresponding to the first electromagnet (13).
4. The self-adaptive multi-height stair climbing sweeping robot according to claim 1, wherein the rotary telescopic mechanism (2) is arranged in parallel with the symmetrical walking executing mechanism (3).
5. The self-adaptive multi-height stair climbing sweeping robot according to claim 1, wherein a ‌ side brush mechanism (33) is arranged at the bottom of the symmetrical walking executing mechanism (3).
6. The stair climbing sweeping robot with multiple heights in a self-adaptation mode according to claim 3, wherein the symmetrical walking executing mechanism (3) is provided with a second electromagnet (39), and the electromagnet adsorption iron sheet (23) is arranged corresponding to the second electromagnet (39).
7. The self-adaptive multi-height stair climbing sweeping robot according to claim 1, wherein universal wheels (37) are arranged at the bottom of the symmetrical walking executing mechanism (3).
8. The self-adaptive multi-height stair climbing sweeping robot according to claim 7, wherein the symmetrical walking executing mechanism (3) is provided with a ‌ walking wheel motor assembly (34) and a steering motor mechanism (36).
9. The self-adaptive multi-height stair climbing sweeping robot according to claim 1, wherein the rotating telescopic mechanisms (2) and the symmetrical walking executing mechanisms (3) are arranged on two sides of the main control box (1).

Description

Self-adaptive stair climbing sweeping robot with multiple heights Technical Field The utility model belongs to the technical field of cleaning equipment, and relates to a stair climbing sweeping robot with self-adaption to various heights. Background The existing household floor sweeping robot mainly has the following defects: The cleaning machine is limited to plane cleaning, and cannot clean and mopping stairs of a duplex apartment. And the existing sweeping robot lacks a functional module for climbing stairs, and cannot adapt to stairs with different heights. Therefore, a stair climbing sweeping robot adaptive to various heights is needed to solve the above problems. Disclosure of utility model The utility model aims to solve the defects in the prior art, and provides a self-adaptive stair climbing sweeping robot with multiple heights. In order to achieve the above purpose, the present utility model adopts the following technical scheme: a stair climbing sweeping robot of a plurality of heights of self-adaptation, comprising: the main control box is symmetrically provided with first overturning motors on two sides; the fixed end of the rotary telescopic mechanism is hinged with the main control box through a first overturning motor; The symmetrical walking executing mechanism is hinged with the telescopic end of the rotary telescopic mechanism through a second overturning motor; the rotary telescopic mechanism comprises a telescopic cavity formed by a fixed shell and a telescopic shell; The two ends of the electric linear driver are respectively connected with the fixed shell and the telescopic shell; the multi-degree-of-freedom gesture detection module comprises a grating arranged on the telescopic shell and a photoelectric switch of the fixed shell; Wherein the rotation axes of the first and second flipping motors are parallel to each other and perpendicular to the traveling direction. Still further, the rotary telescopic mechanism further comprises a guide rod, and the fixed shell and the telescopic shell are connected through the guide rod. The extension and contraction guide of the rotary telescopic mechanism is realized, the twisting force is enhanced, and the external tension of the legs is reduced. Still further, rotatory telescopic machanism still includes the electro-magnet and adsorbs the iron sheet, the side of main control box is provided with first electro-magnet, the electro-magnet adsorbs the iron sheet and corresponds the setting with first electro-magnet. The first electromagnet is adsorbed, so that the suction force in the vertical direction is increased, and the external tension of the legs is reduced. Still further, rotatory telescopic machanism still includes ‌ photoelectric switch and grating, the grating sets up on the telescopic housing, photoelectric switch connects ‌ electric linear drive. The photoelectric switch can record the pulse number when passing through the grating, each pulse represents 1.2mm, the pulse number passed by the electric linear driver can calculate the extending or retracting distance of the electric linear driver, the accurate calculation is realized, and the photoelectric switch is suitable for different stair heights. Furthermore, the rotary telescopic mechanism is arranged in parallel with the symmetrical walking executing mechanism. Furthermore, a ‌ side brush mechanism is arranged at the bottom of the symmetrical walking executing mechanism. The cleaning of dust and solid particles on the ground is carried out during operation. Further, a second electromagnet is arranged on the symmetrical walking executing mechanism, and the electromagnet adsorption iron sheet and the second electromagnet are correspondingly arranged. The second electromagnet is adsorbed, so that the suction force in the vertical direction is increased, and the external tension of the legs is reduced. Furthermore, universal wheels are arranged at the bottom of the symmetrical walking executing mechanism. Furthermore, the symmetrical walking executing mechanism is provided with ‌ walking wheel motor components and steering motor mechanisms. Realize the walking and steering of the sweeper. Furthermore, the two sides of the main control box are provided with the rotary telescopic mechanism and the symmetrical walking executing mechanism. Further, ‌ leg shells are arranged outside the symmetrical walking executing mechanism. For protecting the internal components. The self-adaptive stair climbing sweeping robot has the beneficial effects that through the combined design of the rotary telescopic mechanism, the symmetrical walking actuating mechanism and the main control box are provided with ‌ overturning motors, so that the self-adaptive climbing capability of the stair sweeping robot on various heights is realized. Drawings FIG. 1 is a schematic diagram of a stair climbing sweeping robot with multiple heights in a self-adaptive manner; FIG. 2 is a schematic structural view of a main co