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公开(公告)号：KR101407662B1
公开(公告)日：2014-07-01
申请号：KR1020130018668
申请日：2013-02-21
Applicant: 한국교통대학교산학협력단
CPC classification number: A47L9/2857 , A47L9/009 , A47L2201/04
Abstract: Disclosed is a stair cleaning robot using an omnidirectional mobile mechanism. The disclosed stair cleaning robot comprises: a robot body with a control unit; a pair of cleaning units arranged on both sides of the body, coupled to the body and pulling units to be able to move up and down, respectively, and having vacuum equipment therein; and guides installed between the body and the cleaning units moving up and down through the pulling units, and maintaining longitudinal movements and coupling states between the body and the cleaning units, wherein each of the cleaning units have a mutually symmetrical structure and are able to perform omnidirectional movements by each having a pair of mecanum wheels installed on the bottom side of the cleaning units, and which rub against the ground, and are actuated by actuating motors. According to the present invention, the stair cleaning robot not only is able to go up and down stairs, but is also able to perform the omnidirectional movements in narrow stairs by having the body and the cleaning units mutually coupled to be able to move up and down and by being applied with the mecanum wheels functioning as driving bodies. Therefore the stair cleaning robot is able to move in every direction and can be used as a unit replacing manpower by favorably cleaning a shaded area, thereby improving living convenience and enable the industrial development of a robot.
Abstract translation: 公开了一种使用全向移动机构的楼梯清洁机器人。 所公开的楼梯清洁机器人包括：具有控制单元的机器人主体; 布置在主体两侧的一对清洁单元，其联接到主体和拉动单元以分别上下移动并且在其中具有真空设备; 以及安装在主体和清洁单元之间的引导件，其通过拉动单元上下移动，并且保持主体和清洁单元之间的纵向运动和联接状态，其中每个清洁单元具有相互对称的结构并且能够执行 通过每个具有安装在清洁单元的底侧上的一对麦克风轮，并且摩擦地面并由致动马达致动的全方向运动。 根据本发明，楼梯清洁机器人不仅能够上下楼梯，而且还能够通过使身体和清洁单元相互联接以能够向上移动而执行在狭窄楼梯中的全向运动，并且 通过应用作为驱动体的美味轮。 因此，楼梯清洁机器人能够在各个方向上移动，并且可以用作替代人力的单位，有利地清洁阴影区域，从而改善生活便利性并使机器人的工业发展。
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