CN105480319A - Travelling mechanism for floor sweeping robot - Google Patents
Travelling mechanism for floor sweeping robot Download PDFInfo
- Publication number
- CN105480319A CN105480319A CN201610055739.1A CN201610055739A CN105480319A CN 105480319 A CN105480319 A CN 105480319A CN 201610055739 A CN201610055739 A CN 201610055739A CN 105480319 A CN105480319 A CN 105480319A
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- China
- Prior art keywords
- sweeping robot
- traveling gear
- sub
- electric drive
- robot body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a travelling mechanism for a floor sweeping robot. The travelling mechanism comprises sub travelling mechanisms arranged on the lower surface of a floor sweeping robot body (1) in an array distribution manner, wherein each sub travelling mechanism comprises a position difference rod (2) with preset length and two electric wheels (3); the position difference rod (2) in each sub travelling mechanism is fixedly arranged in the position, where the corresponding sub travelling mechanism is positioned, on the lower surface of the floor sweeping robot body (1); the position, where the end, corresponding to the travelling direction of the floor sweeping robot body (1), of each position difference rod (2) is positioned, is higher than the position, where the other end is positioned; the two electric wheels (3) of each sub travelling mechanism are respectively connected with the two ends of the corresponding position difference rod (2). Through adoption of the designed travelling mechanism for the floor sweeping robot, the passing ability of the floor sweeping robot in the travelling process is improved greatly and sweeping with a larger range can be realized, so that the sweeping working efficiency of the floor sweeping robot is effectively guaranteed.
Description
Technical field
The present invention relates to a kind of sweeping robot traveling gear, belong to Smart Home technical field.
Background technology
Along with the development of science and technology level and improving constantly of people's living standard, increasing household electrical appliance are just towards intelligentized future development, such as in the last few years, sweeping robot has been there is in increasing family, it can when without the need to any control, automatically clean for ground, and along with improving constantly of sweeping robot Occupation coefficient, mend gene also constantly does for existing sweeping robot in manufacturer, such as the patent No.: 201320537462.8; Disclose a kind of sweeping robot, comprise main frame and dirt box, main frame is provided with cavity, dirt box is embedded in described cavity, the ash inlet of dirt box and the dust channel ash hole correspondence of main frame are arranged, on the sidewall of cavity, be positioned at the two ends place of dust channel ash hole, an optical signal transmitter is set respectively and for exporting dust concentration signal to one first optical signal receiver of control unit; And dirt box is transparent material.The sweeping robot of technique scheme design, by dust concentration sensor setting in cavity side walls, user can cleaning of the photocell of dust sensor and the light-passing board of light receiving element when cleaning dirt box simultaneously, solves the problem that prior art effectively cannot clean dust sensor light-passing board.
Also has number of patent application: 201410752789.6, disclose a kind of Intelligent robot for sweeping floor, comprise: the multiple obstacle sensors arranged with preset pitch, and each described obstacle sensor correspondence arranges a steering angle, when obstacle sensor is triggered, the angle that robot carries out the turning to steering angle corresponding with the obstacle sensor that this is triggered associates.The sweeping robot of technique scheme design, the steering angle that when obstacle being detected, its angle turned to and the obstacle sensor be triggered are preset associates, thus can optimize robot motion path, raising cleaning efficiency.
Moreover, the patent No.: 201520042353.8, disclose a kind of sweeping robot, this sweeping robot comprises: sweeping robot body, described sweeping robot body comprises shell, limit brush assemblies, drive motor and elastic construction, described limit brush assemblies is located at the bottom of described shell, described drive motor is connected with described limit brush assemblies and for driving described limit brush assemblies to rotate around the rotation axis of described limit brush assemblies, described elastic construction is arranged to flexibly compress described limit brush assemblies downwards.The sweeping robot of technique scheme design, its robot body can extend limit and brush service life, effectively cleans ground, thus improves cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot is with rapid changepl. never-ending changes and improvements, function is also being updated with perfect, operate also more intelligent, but existing sweeping robot is in the application process of reality, still there is a little weak point, such as existing sweeping robot is constantly being pursued on exquisite small and exquisite direction, the volume of product itself is constantly done little, can more narrow space be adapted to, this wherein espespecially pastes ground property, need to adopt less road wheel to realize the movement of product, but this kind of design direction, have a strong impact on the crossing ability of existing sweeping robot, namely just cannot pass through once the object running into some relatively high points, such as carpet etc., existing sweeping robot is just difficult to pass through, and then cannot clean for carpet surface.
Summary of the invention
For above-mentioned technical matters, technical matters to be solved by this invention is to provide a kind of sweeping robot traveling gear, have employed the structure design of brand-new traveling gear, greatly can improve the crossing ability of sweeping robot, ensures the work efficiency of sweeping robot.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises a kind of sweeping robot traveling gear, comprises the traveling gear being arranged at sweeping robot body lower surface; Described traveling gear comprises at least four sub-traveling geaies, and each sub-traveling gear array distribution is arranged on the lower surface of sweeping robot body, and wherein, each sub-traveling gear comprises poor position bar and two electric drive wheels of preset length respectively; Two electric drive wheels in each sub-traveling gear are connected with the control end in sweeping robot body; poor position bar in each sub-traveling gear is fixedly installed on the position at the corresponding sub-traveling gear place of sweeping robot body lower surface, and bar place, the poor position straight line in each sub-traveling gear is not vertical with sweeping robot body lower surface, poor position bar place straight line in each sub-traveling gear and sweeping robot body direction of travel place straight line coplanar, and the position, one end of corresponding sweeping robot body direction of travel is higher than its other end position on the bar of difference position, and the position at difference bar two ends, position is fixed to one another, two electric drive wheels in each sub-traveling gear connect the two ends of corresponding difference position bar respectively, and be positioned at the below at bar two ends, poor position, and the face, place of two electric drive wheels is coplanar, this is coplanar parallels with sweeping robot body direction of travel place straight line, the position of two electric drive wheels in each sub-traveling gear arranges dividing in height with the angle of correspondence difference position bar, in two electric drive wheels, the position of the electric drive wheel of corresponding sweeping robot body direction of travel is higher than the position of another electric drive wheel.
As a preferred technical solution of the present invention: the diff-H between two electric drive wheel positions in each sub-traveling gear described is electric drive wheel diameter 1/3 to 1/2.
As a preferred technical solution of the present invention: in each sub-traveling gear described, the length of difference position bar is 3 times of electric drive wheel diameter to 4 times.
As a preferred technical solution of the present invention: in each sub-traveling gear described, each electric drive wheel is brushless motor drive wheel.
As a preferred technical solution of the present invention: the poor position bar in each sub-traveling gear described adopts aluminum alloy materials to make.
A kind of sweeping robot traveling gear of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) the sweeping robot traveling gear of the present invention's design, for each sub-traveling gear of existing sweeping robot body lower surface, design brand new, utilize the electric drive wheel Position Design of high and low position difference before and after on direction of travel, can effectively improve for height walking surface grab ground effect, substantially increase the crossing ability in sweeping robot walking process, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot;
(2) in the sweeping robot traveling gear that the present invention designs, for each electric drive wheel (3) in each sub-traveling gear, further design adopts brushless motor drive wheel, the sweeping robot traveling gear that the present invention is designed is in practical work process, quiet work can be realized, both ensure that designed sweeping robot traveling gear had cross-country traveling ability, and can ensure that again its working process does not impact surrounding environment, embody the human oriented design in design process;
(3) in the sweeping robot traveling gear that the present invention designs, for the poor position bar in each sub-traveling gear, design adopts aluminum alloy materials to make further, while the bar high strength of guarantee difference position, effectively control the weight of poor position bar, ensure that the portability of sweeping robot.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention designs sweeping robot traveling gear;
Fig. 2 is the side-looking structural representation that the present invention designs sweeping robot traveling gear neutron traveling gear.
Wherein, 1. sweeping robot body, 2. differs from a bar, 3. electric drive wheel.
Detailed description of the invention
Be described in further detail for the specific embodiment of the present invention below in conjunction with Figure of description.
As shown in Figure 1, a kind of sweeping robot traveling gear of the present invention's design, comprises the traveling gear being arranged at sweeping robot body 1 lower surface; Described traveling gear comprises at least four sub-traveling geaies, and each sub-traveling gear array distribution is arranged on the lower surface of sweeping robot body 1, and wherein, as shown in Figure 2, each sub-traveling gear comprises poor position bar 2 and two electric drive wheels 3 of preset length respectively; Two electric drive wheels 3 in each sub-traveling gear are connected with the control end in sweeping robot body 1; poor position bar 2 in each sub-traveling gear is fixedly installed on the position at the corresponding sub-traveling gear place of sweeping robot body 1 lower surface, and bar 2 place, the poor position straight line in each sub-traveling gear is not vertical with sweeping robot body 1 lower surface, poor position bar 2 place straight line in each sub-traveling gear and sweeping robot body 1 direction of travel place straight line coplanar, and the position, one end of corresponding sweeping robot body 1 direction of travel is higher than its other end position on difference position bar 2, and the position at difference bar 2 two ends, position is fixed to one another, two electric drive wheels 3 in each sub-traveling gear connect the two ends of corresponding difference position bar 2 respectively, and be positioned at the below at bar 2 two ends, poor position, and the face, place of two electric drive wheels 3 is coplanar, this is coplanar parallels with sweeping robot body 1 direction of travel place straight line, the position of two electric drive wheels 3 in each sub-traveling gear arranges dividing in height with the angle of correspondence difference position bar 2, in two electric drive wheels 3, the position of the electric drive wheel 3 of corresponding sweeping robot body 1 direction of travel is higher than the position of another electric drive wheel 3.The sweeping robot traveling gear of technique scheme design, for each sub-traveling gear of existing sweeping robot body 1 lower surface, design brand new, utilize electric drive wheel 3 Position Design of high and low position difference before and after on direction of travel, can effectively improve for height walking surface grab ground effect, substantially increase the crossing ability in sweeping robot walking process, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot.
On basis based on above-mentioned design sweeping robot traveling gear technical scheme, the present invention also devises following optimal technical scheme further: for each electric drive wheel 3 in each sub-traveling gear, further design adopts brushless motor drive wheel, the sweeping robot traveling gear that the present invention is designed is in practical work process, quiet work can be realized, both ensure that the cross-country traveling ability that designed sweeping robot traveling gear has, can ensure that again its working process does not impact surrounding environment, embodies the human oriented design in design process; And for the poor position bar 2 in each sub-traveling gear, design adopts aluminum alloy materials to make further, while bar 2 high strength of guarantee difference position, effectively control the weight of poor position bar 2, ensure that the portability of sweeping robot.
The sweeping robot traveling gear of the present invention's design, in the middle of actual application, comprises the traveling gear being arranged at sweeping robot body 1 lower surface; Described traveling gear comprises at least four sub-traveling geaies, and each sub-traveling gear array distribution is arranged on the lower surface of sweeping robot body 1, and wherein, each sub-traveling gear comprises poor position bar 2 and two brushless motor drive wheels of preset length respectively; In each sub-traveling gear, the length of difference position bar 2 is 3 times of brushless motor drive wheel diameter to 4 times, and difference position bar 2 adopts aluminum alloy materials to make; Two brushless motor drive wheels in each sub-traveling gear are connected with the control end in sweeping robot body 1; poor position bar 2 in each sub-traveling gear is fixedly installed on the position at the corresponding sub-traveling gear place of sweeping robot body 1 lower surface, and bar 2 place, the poor position straight line in each sub-traveling gear is not vertical with sweeping robot body 1 lower surface, poor position bar 2 place straight line in each sub-traveling gear and sweeping robot body 1 direction of travel place straight line coplanar, and the position, one end of corresponding sweeping robot body 1 direction of travel is higher than its other end position on difference position bar 2, and the position at difference bar 2 two ends, position is fixed to one another, two brushless motor drive wheels in each sub-traveling gear connect the two ends of corresponding difference position bar 2 respectively, and be positioned at the below at bar 2 two ends, poor position, and the face, place of two brushless motor drive wheels is coplanar, this is coplanar parallels with sweeping robot body 1 direction of travel place straight line, the position of two brushless motor drive wheels in each sub-traveling gear arranges dividing in height with the angle of correspondence difference position bar 2, in two brushless motor drive wheels, the position of the brushless motor drive wheel of corresponding sweeping robot body 1 direction of travel is higher than the position of another brushless motor drive wheel, and the diff-H between two brushless motor drive wheel position in each sub-traveling gear is brushless motor drive wheel diameter 1/3 to 1/2.In the middle of actual application, rotate under being arranged at the control of two the brushless motor drive wheels control end in sweeping robot body 1 in each sub-traveling gear of sweeping robot body 1 lower surface, when sweeping robot is placed on the ground, the brushless motor drive wheel that in each sub-traveling gear, position is lower and ground touch, move under the rotation of sweeping robot body 1 brushless motor drive wheel that position is lower in each sub-traveling gear, obstacle is there is on the ground of sweeping robot working direction, and the diff-H on obstacle relative ground is when being brushless motor drive wheel diameter 1/3 to 1/2, being arranged in each sub-traveling gear high position, its lower surface forefront brushless motor drive wheel along sweeping robot body 1 direction of travel can under the control of each sub-traveling gear lower position brushless motor drive wheel, first move to the upper surface of obstacle, now in this each sub-traveling gear, lower position brushless motor drive wheel moves along sweeping robot body 1 direction of travel on the ground, in this each sub-traveling gear, high position brushless motor drive wheel moves along sweeping robot body 1 direction of travel at obstacle upper surface, like this by the movement at floor surface and blocking surfaces of this each sub-traveling gear, jointly have an effect and make lower position brushless motor drive wheel in this each sub-traveling gear move to blocking surfaces, all the other each the sub-traveling geaies being arranged at sweeping robot 1 lower surface equally all adopt above-mentioned moving process to move to the surface of obstacle, finally make sweeping robot body 1 move under the control of each sub-traveling gear of its lower surface to clear the jumps, substantially increase the crossing ability of sweeping robot, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot.
Be explained in detail for embodiments of the present invention in conjunction with Figure of description above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from present inventive concept.
Claims (5)
1. a sweeping robot traveling gear, comprises the traveling gear being arranged at sweeping robot body (1) lower surface; It is characterized in that: described traveling gear comprises at least four sub-traveling geaies, each sub-traveling gear array distribution is arranged on the lower surface of sweeping robot body (1), wherein, each sub-traveling gear comprises poor position bar (2) and two electric drive wheels (3) of preset length respectively; Two electric drive wheels (3) in each sub-traveling gear are connected with the control end in sweeping robot body (1); poor position bar (2) in each sub-traveling gear is fixedly installed on the position at the corresponding sub-traveling gear place of sweeping robot body (1) lower surface, and bar (2) place, the poor position straight line in each sub-traveling gear is not vertical with sweeping robot body (1) lower surface, poor position bar (2) place straight line in each sub-traveling gear and sweeping robot body (1) direction of travel place straight line coplanar, and the position, one end of upper corresponding sweeping robot body (1) direction of travel of difference position bar (2) is higher than its other end position, and the position at difference bar (2) two ends, position is fixed to one another, two electric drive wheels (3) in each sub-traveling gear connect the two ends of corresponding difference position bar (2) respectively, and be positioned at the below at bar (2) two ends, poor position, and the face, place of two electric drive wheels (3) is coplanar, this is coplanar parallels with sweeping robot body (1) direction of travel place straight line, in each sub-traveling gear two electric drive wheels (3) position with correspondence difference position bar (2) angle arrange in height dividing, in two electric drive wheels (3), the position of the electric drive wheel (3) of corresponding sweeping robot body (1) direction of travel is higher than the position of another electric drive wheel (3).
2. a kind of sweeping robot traveling gear according to claim 1, is characterized in that: the diff-H between two electric drive wheel (3) positions in each sub-traveling gear described is electric drive wheel (3) diameter 1/3 to 1/2.
3. a kind of sweeping robot traveling gear according to claim 1, is characterized in that: in each sub-traveling gear described, the length of difference position bar (2) is 3 times of electric drive wheel (3) diameter to 4 times.
4. a kind of sweeping robot traveling gear according to claim 1, is characterized in that: in each sub-traveling gear described, each electric drive wheel (3) is brushless motor drive wheel.
5. a kind of sweeping robot traveling gear according to claim 1, is characterized in that: poor position bar (2) in each sub-traveling gear described adopts aluminum alloy materials to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055739.1A CN105480319B (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610055739.1A CN105480319B (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot walking mechanism |
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| Publication Number | Publication Date |
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| CN105480319A true CN105480319A (en) | 2016-04-13 |
| CN105480319B CN105480319B (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610055739.1A Active CN105480319B (en) | 2016-01-27 | 2016-01-27 | A kind of sweeping robot walking mechanism |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030122327A1 (en) * | 2001-12-28 | 2003-07-03 | Wu Donald P.H. | Miracle curb climber |
| US20050263966A1 (en) * | 2004-06-01 | 2005-12-01 | Barnett Ralph L | Tandem axle with swivel wheels |
| CN1880146A (en) * | 2005-06-13 | 2006-12-20 | 乐金电子(天津)电器有限公司 | Robot possessing climbing barrier device |
| US20110023268A1 (en) * | 2009-07-29 | 2011-02-03 | Victor Dole Smith | Multi-wheel caster |
| CN203753188U (en) * | 2014-04-10 | 2014-08-06 | 苏州海盛织造有限公司 | Silk spindle cart |
| CN204071957U (en) * | 2014-08-01 | 2015-01-07 | 西南科技大学 | A kind of Intelligent sweeping machine device people |
| CN205930984U (en) * | 2016-01-27 | 2017-02-08 | 苏州宏奇锐自动化有限公司 | Running gear of robot sweeps floor |
-
2016
- 2016-01-27 CN CN201610055739.1A patent/CN105480319B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030122327A1 (en) * | 2001-12-28 | 2003-07-03 | Wu Donald P.H. | Miracle curb climber |
| US20050263966A1 (en) * | 2004-06-01 | 2005-12-01 | Barnett Ralph L | Tandem axle with swivel wheels |
| CN1880146A (en) * | 2005-06-13 | 2006-12-20 | 乐金电子(天津)电器有限公司 | Robot possessing climbing barrier device |
| US20110023268A1 (en) * | 2009-07-29 | 2011-02-03 | Victor Dole Smith | Multi-wheel caster |
| CN203753188U (en) * | 2014-04-10 | 2014-08-06 | 苏州海盛织造有限公司 | Silk spindle cart |
| CN204071957U (en) * | 2014-08-01 | 2015-01-07 | 西南科技大学 | A kind of Intelligent sweeping machine device people |
| CN205930984U (en) * | 2016-01-27 | 2017-02-08 | 苏州宏奇锐自动化有限公司 | Running gear of robot sweeps floor |
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| Publication number | Publication date |
|---|---|
| CN105480319B (en) | 2018-11-09 |
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