CN101711659A - Dust catcher walking device with adjustable height - Google Patents
Dust catcher walking device with adjustable height Download PDFInfo
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- CN101711659A CN101711659A CN200910155013A CN200910155013A CN101711659A CN 101711659 A CN101711659 A CN 101711659A CN 200910155013 A CN200910155013 A CN 200910155013A CN 200910155013 A CN200910155013 A CN 200910155013A CN 101711659 A CN101711659 A CN 101711659A
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- guiding trestle
- dust catcher
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Abstract
The invention discloses a dust catcher walking device with adjustable height, which comprises a driving plate, a transmission fork, a walking wheel, a guide bracket, a gear box, a walking motor and a chassis. Via toggling the driving plate, a transmission fork with certain height is toggled in and out of the guide bracket so as to restrict the distance of the walking wheel fluctuating up and down and achieve the effect of regulating the height of the dust catcher body away from the ground. The walking device comprises two walking wheel groups arranged at the middle end of the chassis of the dust catcher body. Each of the walking wheel groups can rotate along the axle direction and regulate the rotate speed of a walking motor to regulate the walking speed of the dust catcher. The walking device can enable the dust catcher to adapt to the carpet with different heights, so as to prevent the walking wheel from being blocked. The walking device can be widely applied to various types of autonomous moving dust catchers.
Description
Technical field
The present invention relates to a kind of dust catcher walking device, relate in particular to a kind of running gear of realizing the autonomous mobile dust catcher that differing heights is regulated.
Background technology
21 century, various service robots are about to come into daily life.Preliminary definition of service robot has been given in international robot combined meeting: service robot is a kind of robot of semi-automatic or full utonomous working, and it can finish the healthy services that is beneficial to man, but does not comprise manufacturing-oriented equipment.The application scenario of mobile model service robot can comprise household cleaning, hospital care; Mall shopping, guide; Restaurant service, hotel ceremony; Community's tour, bank building security personnel etc., the robot of the some other people's of pressing close to life also is put into wherein.
Along with the raising of development of technologies and people's living standard, service robot just is being subjected to extensive concern.In the prior art, the road wheel supporting mechanism of dust catcher comprises body of dust collector, is arranged at the road wheel of the both sides of described body of dust collector respectively, and the wheel shaft of each road wheel is connected with the power output of gearbox.But in existing dust catcher supporting mechanism, though solved the chassis of body of dust collector when running into barrier, body of dust collector can't overcome the weight of self and clear the jumps, and dust catcher occurs and is stuck in the problem that the barrier place can't advance.But, can't regulate the distance that chassis and any ground all are maintained fixed owing to the bearing height of this supporting mechanism, the first: when dust catcher cleaned on shag carpet, shag carpet can bring huge resistance to dust catcher, and dust catcher might be blocked and can't advance; It two is: dust catcher can pass through shag carpet, but because the chassis is too big with the height on ground, causes when general carpet supernatant is swept, and the suction of dust catcher can be very little, and it is poor to clean effect, and sweeping efficiency is not high.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of dust catcher walking device of adjustment height is provided, the present invention is applicable to the carpet of different-thickness, can overcome the large drag forces of shag carpet, can adapt to general ground again, can carry out the oneself and highly regulate, simple and reliable for structure.
The technical solution adopted for the present invention to solve the technical problems is as follows: a kind of dust catcher walking device of adjustment height, and it comprises dial, shift fork, road wheel, guiding trestle, gearbox, movable motor and chassis; Described road wheel is driven by movable motor and rotates, and the wheel shaft of road wheel is connected with the output of the power of gearbox; One cylindrical hole is arranged on the gearbox, and this cylindrical hole is connected with a cylindrical bar matched in clearance; The bottom of cylindrical bar cooperates with nut on the chassis and screws the locating hole matched in clearance of upper end and guiding trestle.
Further, respectively there is a buckle on described guiding trestle both sides, and the draw-in groove on described buckle and the chassis cooperatively interacts, and guiding trestle is vertically fixed on the chassis.Be combined with a guide cylinder in the gathering sill of guiding trestle, guide cylinder has a cylindrical hole, the inside is with a cylindrical spring, sliding guide is connected with guide cylinder by cylindrical spring, owing to be subjected to the effect of the elastic force of cylindrical spring, in that road wheel is unsettled when not having kiss the earth, sliding guide can push up the bottom of the gathering sill of guiding trestle; The gathering sill inwall of guiding trestle has two square openings, and when needs were spacing, this hole can be dialled in the two ends of shift fork.Gearbox plays the effect of guiding by two shoulder effects of its two feelers that stretch out above and sliding guide to gearbox.The upper end of cylindrical bar cooperates with the locating hole of guiding trestle, the cylindrical hole interference fit on lower end and chassis.
Further, described dial is contained in the bottom on chassis, and dial connects by the strip hole on the shift fork; When needs were regulated height, the dial of stirring on the chassis just can make the two ends of shift fork insert in the square hole of guiding trestle, and the stroke that the limit slippage guide rod fluctuates gets final product.
The present invention compares the useful effect that has with background technology:
1) adjustable-height.By stirring dial, the distance that the shift fork restriction road wheel of certain altitude can be fluctuated reaches the effect of regulating the dust catcher walking device terrain clearance.This running gear can make dust catcher adapt to the carpet of differing heights and be unlikely to make road wheel to be stuck, and can be widely used in various autonomous mobile dust catcher.
2) this running gear is simple in structure, and low cost of manufacture can be good at improving the reliability and the accuracy of structure action.When body of dust collector ran into little barrier, barrier can enter the tray bottom of body of dust collector, and cylindrical spring elongation this moment is raised the chassis, and road wheel still lands power is provided; Because cylindrical spring has the power of support upwards to body of dust collector, therefore body of dust collector is pressed in normal pressure on the barrier less than the weight less than body of dust collector, frictional force between body of dust collector and the barrier is also less, is convenient to body of dust collector and breaks the barriers.
Description of drawings
Fig. 1 is a principle schematic of the present invention;
Fig. 2 is a upward view of the present invention;
Fig. 3 is the schematic diagram of guiding trestle;
Fig. 4 is the structural representation that guiding trestle cooperates;
Fig. 5 is the principle schematic of road wheel, gearbox and guiding trestle adjustment structure;
Among the figure: 1, chassis, 2, dial, 3, shift fork, 4, road wheel, 5, guiding trestle, 6, gearbox, 7, movable motor, 8, sliding guide, 9, cylindrical spring, 10, guide cylinder, 11, buckle, 12, locating hole, 13, feeler, 14, cylindrical bar.
The specific embodiment
The dust catcher walking device of adjustment height of the present invention mainly comprises dial, shift fork, road wheel, guiding trestle, gearbox, movable motor and chassis etc.; Respectively there is a driving wheel both sides on the dust catcher chassis, and the wheel shaft of described each driving wheel is connected with the power output of gearbox, and the power importation of reduction box is connected with the output shaft of movable motor.The both sides on chassis respectively have a guiding trestle to be connected by the draw-in groove on buckle and the chassis.Be provided with cylindrical spring in the guiding trestle, sliding guide is positioned at guiding trestle and is slidingly connected with guiding trestle, described sliding guide is positioned at the bottom of cylindrical spring, low pressure is on the guide cylinder and on the sliding guide respectively at the both ends of described cylindrical spring, and guide cylinder on the guiding trestle and cylindrical spring, sliding guide form whole guiding support device.Be extended with feeler on the described gearbox, gearbox can be inserted into two shoulders of sliding guide by two feelers.One cylindrical hole is arranged on the gearbox, and cylindrical bar gap with it connects, and the top of described cylindrical bar is connected with locating hole matched in clearance on the guiding trestle, and the lower end is furnished with screw thread, can screw with the nut that is embedded on the chassis.Road wheel, movable motor and gearbox can fluctuate under the common guide effect of cylindrical bar and guiding trestle together.Dial on the chassis is connected with shift fork by a strip hole, stirs dial and just can regulate shift fork.When dust catcher cleans on shag carpet, stir dial and shift fork is dialled in guiding trestle get final product; When dust catcher when general carpet supernatant is swept, stir dial and transfer to guiding trestle to get final product shift fork.
The present invention is further illustrated below in conjunction with drawings and Examples, and it is more obvious that purpose of the present invention and effect will become.
As Fig. 1, Fig. 2, Fig. 3 and shown in Figure 5, the present invention mainly comprises dial 2, shift fork 3, road wheel 4, guiding trestle 5, gearbox 6, movable motor 7 and chassis 1 etc.Road wheel 4 is driven by movable motor 7 and rotates, and road wheel is connected with the power output of gearbox 6, and its speed of travel is subjected to gearbox 6 controls of a stable drive ratio.One cylindrical hole is arranged on the gearbox 6, and this cylindrical hole is connected with a cylindrical bar 14 matched in clearance, so road wheel 4, gearbox 6 and movable motor 7 can integral body fluctuate together.The bottom of cylindrical bar 14 cooperates with The One On The Chassis nut and screws, locating hole 12 matched in clearance of upper end and guiding trestle 5, when road wheel 4, gearbox 6 and movable motor 7 integral body fluctuated together, cylindrical bar 14 can not wave loosening like this, can play a good guide effect.Respectively there is a buckle 11 on guiding trestle 5 both sides, and the draw-in groove on described buckle 11 and the chassis cooperatively interacts, with guiding trestle 5 vertical being fixed on the chassis 1.Be combined with a guide cylinder 10 in the gathering sill of guiding trestle 5, guide cylinder 10 has a cylindrical hole, the inside is with a cylindrical spring 9, sliding guide 8 is connected with guide cylinder 10 by cylindrical spring 9, owing to be subjected to the effect of the elastic force of cylindrical spring 9, in that road wheel is unsettled when not having kiss the earth, sliding guide 8 can push up the bottom of the gathering sill of guiding trestle 5.The gathering sill inwall of guiding trestle 5 has two square openings, and when needs were spacing, this hole can be dialled in the two ends of shift fork 3.Gearbox 6 plays the effect of guiding by the two shoulder effects of its two feelers 14 that stretch out above with sliding guide 8 to gearbox 6.Because the upper end of cylindrical bar 14 cooperates the cylindrical hole interference fit on lower end and chassis 1 with the locating hole 12 of guiding trestle 5.
The function of operation principle of the present invention and each several part is as follows:
As Fig. 3, Fig. 4 and shown in Figure 5, in the both sides on dust catcher chassis 1 road wheel 4 is arranged respectively, the wheel shaft of described each road wheel 4 is connected with the power output of gearbox 6, and the power importation of gearbox 6 is connected with the output shaft of movable motor 7.The both sides on chassis 1 respectively have a guiding trestle 5 to be connected by buckle 11 and The One On The Chassis draw-in groove.Be provided with cylindrical spring 9 in the guiding trestle 5, sliding guide 8 is positioned at guiding trestle 5 and is slidingly connected with guiding trestle 5, described sliding guide 8 is positioned at the bottom of cylindrical spring 9, the both ends of described cylindrical spring 9 respectively low pressure on the guide cylinder 10 and sliding guide 8 on, the guide cylinder 10 on the guiding trestle 5 forms whole guiding support device with cylindrical spring 9, sliding guide 8.Be extended with feeler 13 on the described gearbox 6, gearbox 6 can be inserted into two shoulders of sliding guide 8 by two feelers 13.One cylindrical hole is arranged on the gearbox 6, and cylindrical bar 14 gap with it connects, and the top of described cylindrical bar 15 is connected with locating hole 12 matched in clearance on the guiding trestle 5, and the lower end is furnished with screw thread, can screw with the nut that is embedded on the chassis.Road wheel 4, movable motor 7 and gearbox 6 can fluctuate under the common guide effect of cylindrical bar 14 and guiding trestle 5 together.The One On The Chassis dial 2 is connected with shift fork 3 by a strip hole, stirs dial 2 and just can regulate shift fork 3.Because shift fork 3 has certain thickness, so guiding trestle 5 is dialled in or transferred to shift fork 3, the impulse stroke of sliding guide 8 will be restricted.When dust catcher cleans on shag carpet, need body of dust collector distance overhead is high, make body of dust collector be in a normal operation position, dust catcher can be advanced on the ground normally, stirs dial 2 at this moment and shift fork 3 is dialled in guiding trestle 5 gets final product; When dust catcher when general carpet supernatant is swept, need body of dust collector distance overhead is low, make body of dust collector be in another normal operation position, dust catcher can be advanced on the ground normally, stirs dial 2 this moment and transfers to guiding trestle 5 to get final product shift fork 3.
Claims (3)
1. the dust catcher walking device of an adjustment height is characterized in that: it comprises dial (2), shift fork (3), road wheel (4), guiding trestle (5), gearbox (6), movable motor (7) and chassis (1) etc.Described road wheel (4) is driven by movable motor (7) and rotates, and the wheel shaft of road wheel is connected with the power output of gearbox (6).Gearbox has a cylindrical hole on (6), and this cylindrical hole is connected with a cylindrical bar (14) matched in clearance.The bottom of cylindrical bar (14) cooperates with nut on chassis (1) and screws locating hole (12) matched in clearance of upper end and guiding trestle (5).
2. according to the dust catcher walking device of the described adjustment height of claim 1, it is characterized in that: respectively there is a buckle (11) on described guiding trestle (5) both sides, draw-in groove on described buckle (11) and the chassis (1) cooperatively interacts, and guiding trestle (5) is vertically fixed on the chassis (1).Be combined with a guide cylinder (10) in the gathering sill of guiding trestle (5), guide cylinder (10) has a cylindrical hole, the inside is with a cylindrical spring (9), sliding guide (8) is connected with guide cylinder (10) by cylindrical spring (9), owing to be subjected to the effect of the elastic force of cylindrical spring (9), in that road wheel (4) is unsettled when not having kiss the earth, sliding guide (8) can push up the bottom of the gathering sill of guiding trestle (5).The gathering sill inwall of guiding trestle (5) has two square openings, and when needs were spacing, this hole can be dialled in the two ends of shift fork (3).Gearbox (6) plays the effect of guiding by the two shoulder effects of its two feelers (14) that stretch out above with sliding guide (8) to gearbox (6).The upper end of cylindrical bar (14) cooperates the cylindrical hole interference fit of lower end and chassis (1) with the locating hole (12) of guiding trestle (5).
3. according to claim 1, it is characterized in that: dial (2) is installed in the bottom of chassis (1), and dial (2) connects by the strip hole on the shift fork (3).When needs were regulated height, the dial of stirring on the chassis (1) (2) just can make the two ends of shift fork (3) insert in the square hole of guiding trestle (5), and the stroke that limit slippage guide rod (8) fluctuates gets final product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101550135A CN101711659B (en) | 2009-12-14 | 2009-12-14 | Dust catcher walking device with adjustable height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101550135A CN101711659B (en) | 2009-12-14 | 2009-12-14 | Dust catcher walking device with adjustable height |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101711659A true CN101711659A (en) | 2010-05-26 |
| CN101711659B CN101711659B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101550135A Expired - Fee Related CN101711659B (en) | 2009-12-14 | 2009-12-14 | Dust catcher walking device with adjustable height |
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| CN (1) | CN101711659B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961086A (en) * | 2011-09-01 | 2013-03-13 | 三星电子株式会社 | Driving wheel assembly and robot cleaner having the same |
| CN106725121A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Integrated automatic obstacle-avoiding scavenging machine |
| CN108542313A (en) * | 2018-06-08 | 2018-09-18 | 莱克电气股份有限公司 | Robot cleaner lifting mechanism |
| WO2022252434A1 (en) * | 2021-06-02 | 2022-12-08 | 南京西新人工智能研究院有限公司 | Household cleaning and sweeping robot having self-learning capabilities |
| CN116327031A (en) * | 2023-02-01 | 2023-06-27 | 南京龙清环境科技有限公司 | Movable dust collection device for ground station |
-
2009
- 2009-12-14 CN CN2009101550135A patent/CN101711659B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961086A (en) * | 2011-09-01 | 2013-03-13 | 三星电子株式会社 | Driving wheel assembly and robot cleaner having the same |
| CN106725121A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Integrated automatic obstacle-avoiding scavenging machine |
| CN108542313A (en) * | 2018-06-08 | 2018-09-18 | 莱克电气股份有限公司 | Robot cleaner lifting mechanism |
| WO2022252434A1 (en) * | 2021-06-02 | 2022-12-08 | 南京西新人工智能研究院有限公司 | Household cleaning and sweeping robot having self-learning capabilities |
| CN116327031A (en) * | 2023-02-01 | 2023-06-27 | 南京龙清环境科技有限公司 | Movable dust collection device for ground station |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101711659B (en) | 2012-06-27 |
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Granted publication date: 20120627 Termination date: 20131214 |