CN107791232A - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN107791232A CN107791232A CN201610790461.2A CN201610790461A CN107791232A CN 107791232 A CN107791232 A CN 107791232A CN 201610790461 A CN201610790461 A CN 201610790461A CN 107791232 A CN107791232 A CN 107791232A
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- self
- drive wheel
- movement robot
- main drive
- driving wheel
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- 230000004888 barrier function Effects 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000000712 assembly Effects 0.000 claims abstract description 31
- 238000000429 assembly Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000007423 decrease Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000009194 climbing Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of self-movement robot, control unit including self-movement robot body (1000) and thereon and main drive wheel component (200), main drive wheel component includes motor (100) and main drive wheel (201), the robot also includes secondary drive wheel assemblies (300), the component includes link assembly (400) and the secondary driving wheel (301) located at link assembly one end, and link assembly is movably on body or main drive wheel component；The robot also includes the trigger mechanism being connected with secondary drive wheel assemblies, and trigger mechanism comprises at least triggering end (401), and in a forward direction, triggering end is located at before main drive wheel；Triggering end is elevated after running into barrier, and so as to produce downward active force to the secondary driving wheel, secondary driving wheel opposing body under down force does descending motion or improves its normal pressure to walkway surface.The present invention effectively avoids dead point phenomenon, height adjustable, adapts to the obstacle detouring requirement of various complicated grounds, and compact-sized arrangement is reasonable.
Description
Technical field
The present invention relates to a kind of self-movement robot, belongs to small household appliances manufacturing technology field.
Background technology
Self-movement robot is widely used with its characteristics of walking freely easy to control, but due to operating environment
Complexity, during self-movement robot walking operations, it will usually run into various barriers, therefore, how safety cross over
Barrier and keeping is walked smooth, is where improving the key issue of self-movement robot operating efficiency.
Fig. 1 is the structural representation of US8998215B2 prior arts.As shown in figure 1, it this publication disclose a kind of use
In the device 9 across traveling barrier, the device be preferably mounted at powered traveling wheel 3 can be autonomous on ground 2
On the floor cleaning apparatus of traveling.Specifically, lifting part 10 is provided with the traveling wheel 3, the lifting part 10
The rolling surface 7 that front end face 12 by eccentric swing, can take turns beyond the traveling 3 along travel direction r is outstanding, praises face
13 help across obstacle.Following deficiency be present in above-mentioned prior art：1st, all obstacles can not be passed through, obstacle detouring angle has extremely
Point；2nd, auxiliary driving force has pulse ripple, runs unstable；3rd, the auxiliary driving force deficiency provided.
Fig. 2 and Fig. 3 is respectively the module connection figure and climbing state schematic diagram of CN204581162U prior arts.Such as Fig. 2
And with reference to shown in Fig. 3, a kind of intelligent cleaning robot is this publication disclose, including：Robot body, control device 100,
Supply unit 200, travel driving unit 300, cleaning device 400, walking wheel assembly 311, guide wheel assemblies 321, infrared obstacle avoidance
Induction installation 620, infrared ground detection 630, climbing wheel assembly 511, climbing drive device 500 and infrared slope detection dress
Put 610.When hot outslope detection means 610 detects that direction of advance has slope, slope feedback signal is sent to control dress
100 are put, control device 100 controls the climbing drive device 500 to work, and drives climbing wheel assembly 511 to work, with auxiliary machinery
Human body climbs.Above-mentioned prior art equally exists following deficiency：1st, mechanism space-consuming is big, it is impossible to is widely used in major part
Self-movement robot, for self-movement robot, water tank can not be installed if using the mechanism；2nd, set one more
Individual driving wheel motor, power consumption greatly increase.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of self-movement robot,
The dead point phenomenon of device for aiding overpass obstacle can effectively be avoided；The obstacle clearing capability adjustment mechanism chi that can be needed according to specific product model
It is very little, adapt to a variety of requirement for height；The obstacle detouring requirement of complicated ground can be dealt with；Using driving wheel outer space, not shadow
The arrangement of other elements is rung, it is compact-sized reasonable.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of self-movement robot, including self-movement robot body and control unit on the body and master are set
Drive wheel assemblies, the main drive wheel component include motor and main drive wheel, and the self-movement robot also includes pair
Drive wheel assemblies, the secondary drive wheel assemblies include link assembly and the secondary driving wheel located at described link assembly one end, institute
Link assembly is stated movably to be located on the body or the main drive wheel component；The self-movement robot also includes and the pair
The connected trigger mechanism of drive wheel assemblies, the trigger mechanism comprises at least triggering end, in self-movement robot direction of advance,
The triggering end is located at before the main drive wheel；The triggering end is elevated after running into barrier, so as to the secondary driving
Wheel produces downward active force, and the secondary driving wheel relatively described body under the down force does descending motion or raising
Its normal pressure to walkway surface.
Specifically, when the triggering end does not run into barrier, the secondary driving wheel hanging is in walkway surface；The triggering
End is elevated after running into barrier, and the relatively described body of the secondary driving wheel declines and contacted with the walkway surface.
When the triggering end does not run into barrier, the secondary driving wheel is affixed on walkway surface；The triggering end runs into obstacle
It is elevated after thing, so as to produce downward active force, and the secondary drive under the downward active force to the secondary driving wheel
Driving wheel improves its normal pressure to walkway surface.
Further, the link assembly is rotatably arranged on the body or the main drive wheel component, the triggering
Mechanism is connected with the other end of the link assembly；The triggering end is elevated after running into barrier so that the link assembly
Rotation, the link assembly produce downward active force to the secondary driving wheel.
Connecting portion that the link assembly includes being rotatably connected with the body or the main drive wheel component, from the company
Straight-arm that socket part extends forward and the link arm to extend back, the triggering end are the end of the straight-arm；The secondary driving wheel is set
In the end of the link arm, the middle part of the link arm is fixed on the body by extension spring.
In addition, torsion spring is provided between the straight-arm and link arm, when being elevated after triggering end runs into barrier, in torsion spring
The link arm is swung under effect, is declined secondary driving wheel and is contacted with walkway surface.
As needed, the link assembly is slidably located on the body or the main drive wheel component, the triggering
Gear-driven assembly is provided between mechanism and the link assembly；The triggering end is elevated after running into barrier so that gear
Transmission component rotates and drives the link assembly slide downward, and the link assembly produces downward work to the secondary driving wheel
Firmly.
The link assembly slidably on the body or the main drive wheel component, the trigger mechanism with it is described
Hydraulic transmission assembly is also provided between link assembly；The triggering end is elevated after running into barrier, oppresses the hydraulic pressure
Transmission component so that link assembly slide downward under hydraulic transmission assembly compressing, the link assembly is to the secondary drive
Driving wheel produces downward active force.
In order that structure is compacter, the drive shaft of the connecting portion and the main drive wheel is coaxially disposed.
In order to facilitate action, the both sides of the triggering end are respectively equipped with guide wheel；Meanwhile the triggering end is mobile towards oneself
One lateral edges in robot ambulation direction are provided with protuberance.
More specifically, the output shaft of the motor is connected by the first belt with the first belt pulley, first skin
The drive shaft of belt wheel and main drive wheel is coaxially disposed；The rotating shaft phase that the drive shaft of main drive wheel passes through the second belt and secondary driving wheel
Even；Also include reduction gearing between second belt and secondary live axle.
In addition, the main drive wheel and secondary driving wheel are connected with motor and by the driving motor supplies powers.
The main drive wheel component, secondary drive wheel assemblies are symmetrically set in the both sides of the self-movement robot body respectively
Put, the triggering end is arranged on the outside of the main drive wheel.
The present invention also provides a kind of self-movement robot, including self-movement robot body and sets on the body
Control unit and main drive wheel component, the self-movement robot also include secondary drive wheel assemblies and trigger mechanism, certainly mobile
In robot direction of advance, the trigger mechanism is located at the front of the main drive wheel of the main drive wheel component；The triggering machine
The triggering end of structure is elevated after running into barrier, so as to produce downward active force, the main drive to the secondary drive wheel assemblies
The secondary driving wheel of drive wheel assemblies relatively described body under the downward active force declines or improves it to walkway surface
Normal pressure；The triggering end drives the distance for taking turns to running surface to the distance on the chassis of the body more than the pair.
In summary, the present invention provides a kind of self-movement robot, can effectively avoid the dead point phenomenon of device for aiding overpass obstacle；
The obstacle clearing capability adjustment mechanism size that can be needed according to specific product model, adapts to a variety of requirement for height；It can deal with
The obstacle detouring requirement of complicated ground；Using driving wheel outer space, the arrangement of other elements is not influenceed, it is compact-sized reasonable.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Brief description of the drawings
Fig. 1 is the structural representation of US8998215B2 prior arts；
Fig. 2 is the module connection figure of CN204581162U prior arts；
Fig. 3 is the climbing state schematic diagram of CN204581162U prior arts；
Fig. 4 is the self-movement robot of the embodiment of the present invention one in the normal walking states schematic diagram in finishing operations face；
Fig. 5 is secondary drive wheel assemblies and coupled link assembly in the self-movement robot of the embodiment of the present invention one
Attachment structure schematic diagram；
Fig. 6 is walking states schematic diagram when the self-movement robot of the embodiment of the present invention one runs into barrier；
Fig. 7 is the gear-driven assembly partial structural diagram of the embodiment of the present invention two；
Fig. 8 is the hydraulic transmission assembly partial structural diagram of the embodiment of the present invention three.
Embodiment
Fig. 4 is the self-movement robot of the embodiment of the present invention one in the normal walking states schematic diagram in finishing operations face；Fig. 5 is this
The attachment structure schematic diagram of secondary drive wheel assemblies and coupled link assembly in the self-movement robot of inventive embodiments one；
Fig. 6 is walking states schematic diagram when the self-movement robot of the embodiment of the present invention one runs into barrier.Such as Fig. 4 and with reference to shown in Fig. 5,
The present invention provides a kind of self-movement robot, including self-movement robot body 1000 and the control that is arranged on the body 1000
Unit and main drive wheel component 200 processed, the main drive wheel component 200 includes motor 100 and main drive wheel 201, described
Self-movement robot also includes secondary drive wheel assemblies 300, and the secondary drive wheel assemblies 300 include link assembly 400 and set
Secondary driving wheel 301 in described one end of link assembly 400, the link assembly 400 is rotatable to be fixedly arranged on the body 100 or institute
State on main drive wheel component 200.The self-movement robot also includes the triggering machine being connected with the secondary drive wheel assemblies 300
Structure, the trigger mechanism comprises at least triggering end 401, and in self-movement robot direction of advance, the triggering end 401 is located at institute
Before stating main drive wheel 201；The triggering end 401 is elevated after running into barrier, so as to the secondary driving wheel 301 is produced to
Under active force, the secondary driving wheel 301 relatively described body 1000 under the down force does descending motion or raising
Its normal pressure to walkway surface A.Specifically, when the triggering end 401 does not run into barrier B, the secondary driving wheel 301 is outstanding
From in walkway surface A；The triggering end 401 is elevated after running into barrier, the relatively described body 100 of secondary driving wheel 301
Decline and contacted with the walkway surface A.In addition, barrier is not also run into the presence of another situation, the triggering end 401
During B, the secondary driving wheel 301 is affixed on walkway surface A；The triggering end 401 is elevated after running into barrier B, so as to described
Secondary driving wheel 301 produces downward active force, and improves normal pressure of the secondary driving wheel to walkway surface A to described.
In a preferred embodiment of the present invention, in the case of self-movement robot normal movement, as shown in figure 4, institute
The secondary hanging of driving wheel 301 is stated in the walkway surface A of self-movement robot；When self-movement robot runs into obstacle in moving process
During thing B, with reference to shown in Fig. 6, the triggering end 401 is elevated so that the relatively described body 1000 of the link assembly 400 or institute
Main drive wheel component 200 is stated to rotate, the secondary driving wheel 301 declines to be contacted with the walkway surface A, for self-movement robot across
Obstacle-overpass thing B provides extra power.It should be noted that in other embodiments, in self-movement robot normal movement
In the case of, the secondary driving wheel 301 can also be in contact with the walkway surface A of self-movement robot, when self-movement robot exists
When barrier B is run into moving process, the triggering end 401 is elevated so that the relatively described body of link assembly 400
1000 or described main drive wheel components 200 rotate, and the secondary driving wheel 301 has relative to the downward trend of body 1000, i.e.,
Normal pressure of the secondary driving wheel to walkway surface A is enhanced, bigger driving force is provided for self-movement robot across obstacle B.
Specifically, with reference to shown in Fig. 5, the link assembly 400 includes and the body 1000 or the main drive wheel
Connecting portion 410 that component 200 is rotatably connected, from the straight-arm 402 extended forward of connecting portion 410 and the link arm to extend back
403, the triggering end 401 is the end of the straight-arm 402；The secondary driving wheel 301 is located at the end of the link arm 403, institute
The middle part for stating link arm 403 is fixed on the body 1000 by extension spring 405.It should be noted that the present invention does not limit to institute
State the position of extension spring 405, the extension spring 405 can also be located at described end of link arm 403 etc. with pull the secondary driving wheel 301 with
Secondary driving wheel 301 is set to keep walkway surface A described in hanging.Further, it is provided with and turns round between the straight-arm 402 and link arm 403
Spring 404, when being elevated after triggering end 401 runs into barrier B, the link arm 403 is swung in the presence of torsion spring 404, makes pair
Driving wheel 301 declines to be contacted with walkway surface A.In order that overall structure is compacter, the connecting portion 410 and the main driving
The drive shaft of wheel 200 is coaxially disposed.In addition, in order that reaction of the secondary drive wheel assemblies 300 to barrier B is sensitiveer, conveniently
Action, the both sides of the triggering end 401 are respectively equipped with guide wheel 4011, meanwhile, the triggering end 401 is towards self-movement robot
One lateral edges of direction of travel are provided with protuberance 4011.With reference to shown in Fig. 6, when self-movement robot runs into barrier in the process of walking
When hindering thing B, protuberance 4011 contacts with barrier B first, under the rolling guide function of guide wheel 4011, the quilt of triggering end 401
Barrier B is raised, and based on lever principle, now torsion spring 404 applies downward power to link arm 403 so that secondary drive wheel assemblies 300
Overcome the upper pulling force that extension spring 405 is provided and decline and contacted with walkway surface A.
Especially, because triggering end 401 and secondary driving wheel 301 are linkage structure, triggering end 401 is running into higher obstacle
During thing, the degree that triggering end 401 is lifted will be bigger so that the secondary downward trend of driving wheel 301 is bigger, and secondary driving wheel 301 applies
Normal pressure on to walkway surface A is also bigger, so that the auxiliary power (skin-friction force) that secondary driving wheel 301 provides also is got over
Greatly, i.e. secondary driving wheel 301 can adaptively obstacle height and adjust driving force.
More specifically drive mechanism as shown in figure 5, the motor 100 output shaft 101 by the first belt 102 with
First belt pulley 103 is connected, and the drive shaft of first belt pulley 103 and main drive wheel 200 is coaxially disposed；Main drive wheel 200
Drive shaft be connected by the second belt 104 with the rotating shaft of secondary driving wheel 301；In addition, second belt 104 and secondary driving wheel
Reduction gearing can also be further set between 301 rotating shaft, those skilled in the art can be needed according to specific rotating speed into
Row selection.Above-mentioned drive mechanism belongs to the ordinary skill in the art, and in this not go into detail.In order to save the energy, the master
Driving wheel 201 and secondary driving wheel 301 provide power by motor 100.Meanwhile the in order that compacter conjunction of complete machine structure
Manage, will not cause to interfere with each other between all parts, the secondary drive wheel assemblies 300 are arranged on the main drive wheel component 200
Outside, especially, the triggering end 401 be located at the main drive wheel 201 outside so that the triggerable model of triggering end 401
Enclose the phenomenon that change is big, occurs triggering dead point when avoiding meeting with barrier " being close to " on self-movement robot direct of travel.
Meanwhile the main drive wheel component 200, secondary drive wheel assemblies 300 are respectively in the self-movement robot body
1000 both sides are symmetrical arranged；I.e.：Motor 100 is set respectively in the arranged on left and right sides of body 1000, the main driving per side
Wheel 201 and secondary driving wheel 301 form duplex driving wheel.
With reference to Fig. 4 and compares figure 6, the specific action process of the one of embodiment of the present invention is such：
When the self-movement robot is in normal walking operations on smooth walkway surface A, link assembly 400 and secondary driving wheel
Component 300 keeps vacant state.Specifically, the straight-arm 402 in link assembly 400 is provided by torsion spring 404 to triggering end 401
Upward power, make triggering end 401 vacantly liftoff, certain distance is kept between walkway surface A.At the same time, link arm 403 is being drawn
Secondary drive wheel assemblies 300 are made to be also at tightening state under the lifting effect of spring 405, secondary driving wheel 301 is also hanging liftoff, with walking
Certain distance is kept between surface A.Now, secondary drive wheel assemblies 300 are without any effect.As shown in fig. 6, in certainly mobile machine
When people runs into obstacle B, on its traffic direction, because the set location of triggering end 401 is located at the front of main main drive wheel 201,
Therefore, triggering end 401 can touch barrier B first, and in the guiding for the guide wheel 406 for being arranged on the both sides of triggering end 401
Raised under effect by barrier B, based on lever principle, now torsion spring 404 applies downward power to link arm 403 so that pair driving
Wheel assembly 300 overcomes the upper pulling force that extension spring 405 provided and drops to walkway surface A, in actual applications, can control secondary drive
The height that driving wheel 301 declines, makes its physical location be slightly below walkway surface A, so just walkway surface A can be made to pass through secondary driving wheel
301 pairs of whole systems provide the horizontal drag force advanced, and pass through frictional force of the main main drive wheel 201 on barrier B and secondary drive
Friction thrust collective effect of the driving wheel 301 in walking surface A, lifts self-movement robot obstacle climbing ability.
Embodiment two
As shown in the above, this self-movement robot provided by the present invention is connecing by triggering end and barrier
Triggering starts secondary drive wheel assemblies, belongs to mechanical triggering.To those skilled in the art, it again may be by it
His alternative mechanism realizes the aiding overpass obstacle to self-movement robot.
Fig. 7 is the gear-driven assembly partial structural diagram of the embodiment of the present invention two.As shown in fig. 7, self-movement robot
Link assembly slidably on the body 1000 or the main drive wheel component 200, the trigger mechanism and the company
Gear-driven assembly 600 is provided between bar assembly；The triggering end is elevated after running into barrier so that gear-driven assembly turns
Move and drive the link assembly slide downward, the relatively described body of secondary driving wheel or the main drive wheel component decline with
The walkway surface A contacts.
Other technical characteristics in the present embodiment are identical with embodiment one, refer to a kind of content of above-described embodiment,
This is repeated no more.
Embodiment three
Fig. 8 is the hydraulic transmission assembly partial structural diagram of the embodiment of the present invention three.As shown in figure 8, self-movement robot
Link assembly slidably on the body 1000 or the main drive wheel component 200, the trigger mechanism and the company
Hydraulic transmission assembly 700 is provided between bar assembly；The triggering end is elevated after running into barrier, oppresses the hydraulic drive group
Part so that link assembly slide downward under hydraulic transmission assembly compressing, the relatively described body of the secondary driving wheel or institute
The decline of main drive wheel component is stated to contact with the walkway surface A.
Other technical characteristics in the present embodiment are identical with embodiment one, refer to a kind of content of above-described embodiment,
This is repeated no more.
In addition, except using above-mentioned mechanical triggering mode, sensing can also be set on self-movement robot body
Device or sensor, for determining whether to encounter the barrier on slope etc, start pair by the way of electronic type triggering
The action of drive wheel assemblies.
The present invention also provides a kind of self-movement robot, including self-movement robot body 1000 and is arranged on the body
On control unit and main drive wheel component 200, the self-movement robot also include secondary drive wheel assemblies 300 and triggering machine
Structure, in self-movement robot direction of advance, the trigger mechanism is located at the front of main drive wheel 201；The trigger mechanism
Triggering end 401 is elevated after running into barrier B, so as to produce downward active force, the secondary driving to the secondary driving wheel 301
The relatively described body under the downward active force of wheel 301 declines or improved its normal pressure to walkway surface A；It is described to touch
The distance started to the body chassis is more than the distance that the secondary driving takes turns to running surface.
In summary, beneficial effects of the present invention include：1st, secondary driving wheel trigger mechanism is on the outside of driving wheel, trigger range
More than driving wheel coverage, the dead point phenomenon of device for aiding overpass obstacle is avoided that；2nd, what can be needed according to specific product model gets over
Barrier height, is adjusted, you can adapt to a variety of requirement for height slightly to the size of the mechanism；3rd, because trigger mechanism is with main driving
Wheel contact point essentially coincides, and can deal with the obstacle detouring requirement of complicated ground；4th, using small space on the outside of driving wheel, other are not influenceed
The arrangement of element, it can be widely popularized.
Claims (15)
1. a kind of self-movement robot, including self-movement robot body (1000) and control unit on the body is set
With main drive wheel component (200), the main drive wheel component includes motor (100) and main drive wheel (201), its feature exist
In the self-movement robot also includes secondary drive wheel assemblies (300), and the secondary drive wheel assemblies include link assembly
(400) and the secondary driving wheel (301) located at described link assembly one end, the link assembly are movably located at the body or described
On main drive wheel component；
The self-movement robot also includes the trigger mechanism being connected with the secondary drive wheel assemblies, and the trigger mechanism at least wraps
Triggering end (401) is included, in self-movement robot direction of advance, the triggering end is located at before the main drive wheel；
The triggering end is elevated after running into barrier, so as to produce downward active force, the secondary drive to the secondary driving wheel
Driving wheel relatively described body under the down force does descending motion or improves its normal pressure to walkway surface.
2. self-movement robot as claimed in claim 1, it is characterised in that described when the triggering end does not run into barrier
Secondary driving wheel hanging is in walkway surface；The triggering end is elevated after running into barrier, the relatively described body of secondary driving wheel
Decline and contacted with the walkway surface.
3. self-movement robot as claimed in claim 1, it is characterised in that described when the triggering end does not run into barrier
Secondary driving wheel is affixed on walkway surface；The triggering end is elevated after running into barrier, downward so as to be produced to the secondary driving wheel
Active force, and the secondary driving wheel improves its normal pressure to walkway surface under the downward active force.
4. self-movement robot as claimed in claim 1, it is characterised in that the link assembly is rotatably arranged the body
(1000) or on the main drive wheel component (200), the trigger mechanism is connected with the other end of the link assembly；
The triggering end is elevated after running into barrier so that the link assembly rotation, the link assembly is to the secondary drive
Driving wheel produces downward active force.
5. self-movement robot as claimed in claim 4, it is characterised in that the link assembly (400) includes and described
Body (1000) or the connecting portion (410) of the main drive wheel component (200) rotatable connection, extend forward from the connecting portion it is straight
Arm (402) and the link arm (403) to extend back, the triggering end (401) are the end of the straight-arm；The secondary driving wheel
(301) end of the link arm (403) is located at, the middle part of the link arm is fixed on the body (1000) by extension spring (405)
On.
6. self-movement robot as claimed in claim 5, it is characterised in that set between the straight-arm (402) and link arm (403)
There is torsion spring (404), when being elevated after triggering end (401) runs into barrier, link arm (403) pendulum in the presence of torsion spring
It is dynamic, decline secondary driving wheel (301) and contacted with walkway surface (A).
7. self-movement robot as claimed in claim 1, it is characterised in that the link assembly is slidably located at the body
(1000) or on the main drive wheel component (200), gear drive group is provided between the trigger mechanism and the link assembly
Part (600)；The triggering end is elevated after running into barrier so that gear-driven assembly rotate and drive the link assembly to
Lower slider, the link assembly produce downward active force to the secondary driving wheel.
8. self-movement robot as claimed in claim 1, it is characterised in that the link assembly is slidably located at the body
(1000) or on the main drive wheel component (200), hydraulic drive group is provided between the trigger mechanism and the link assembly
Part (700)；The triggering end is elevated after running into barrier, oppresses the hydraulic transmission assembly so that the link assembly exists
The lower slide downward of hydraulic transmission assembly compressing, the link assembly produce downward active force to the secondary driving wheel.
9. self-movement robot as claimed in claim 5, it is characterised in that the connecting portion (410) and the main drive wheel
(201) drive shaft is coaxially disposed.
10. the self-movement robot as described in claim 5 or 6, it is characterised in that the both sides difference of the triggering end (401)
Provided with guide wheel (406).
11. self-movement robot as claimed in claim 10, it is characterised in that the triggering end (401) is mobile towards oneself
One lateral edges in robot ambulation direction are provided with protuberance (4011).
12. self-movement robot as claimed in claim 1, it is characterised in that the output shaft of the motor (100)
(101) it is connected by the first belt (102) with the first belt pulley (103), the drive of first belt pulley and main drive wheel (201)
Moving axis is coaxially disposed；The drive shaft of main drive wheel is connected by the second belt (104) with the rotating shaft of secondary driving wheel (301)；It is described
Also include reduction gearing between second belt and secondary live axle.
13. self-movement robot as claimed in claim 1, it is characterised in that the main drive wheel (201) and secondary driving wheel
(301) it is connected and by the driving motor supplies power with motor (100).
14. self-movement robot as claimed in claim 1, it is characterised in that the main drive wheel component (200), secondary driving
Wheel assembly (300) is symmetrical arranged in the both sides of the self-movement robot body (1000) respectively, and the triggering end (401) is set
In the outside of the main drive wheel (201).
15. a kind of self-movement robot, including self-movement robot body (1000) and control list on the body is set
Member and main drive wheel component (200), it is characterised in that the self-movement robot also includes secondary drive wheel assemblies (300) and touched
Mechanism is sent out, in self-movement robot direction of advance, the trigger mechanism is located at the main drive wheel of the main drive wheel component
(201) front；
The triggering end (401) of the trigger mechanism is elevated after running into barrier, so as to the secondary drive wheel assemblies are produced to
Under active force, the secondary driving wheels of the secondary drive wheel assemblies relatively described body under the downward active force decline or
Improve its normal pressure to walkway surface；The triggering end is more than the secondary driving to the distance on the chassis of the body and takes turns to fortune
The distance on row surface.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790461.2A CN107791232B (en) | 2016-08-31 | 2016-08-31 | Self-moving robot |
| PCT/CN2017/099831 WO2018041190A1 (en) | 2016-08-31 | 2017-08-31 | Autonomous mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610790461.2A CN107791232B (en) | 2016-08-31 | 2016-08-31 | Self-moving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107791232A true CN107791232A (en) | 2018-03-13 |
| CN107791232B CN107791232B (en) | 2023-12-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610790461.2A Active CN107791232B (en) | 2016-08-31 | 2016-08-31 | Self-moving robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107791232B (en) |
| WO (1) | WO2018041190A1 (en) |
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| CN114424912A (en) * | 2022-02-21 | 2022-05-03 | 上海高仙自动化科技发展有限公司 | Cleaning robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018041190A1 (en) | 2018-03-08 |
| CN107791232B (en) | 2023-12-19 |
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