AN OMNI-DIRECTIONAL ROBOT FOR STAIR CLEANING

摘要

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.