CN108945153B - Driving wheel assembly and intelligent self-moving equipment - Google Patents
Driving wheel assembly and intelligent self-moving equipment Download PDFInfo
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- CN108945153B CN108945153B CN201811052513.1A CN201811052513A CN108945153B CN 108945153 B CN108945153 B CN 108945153B CN 201811052513 A CN201811052513 A CN 201811052513A CN 108945153 B CN108945153 B CN 108945153B
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- driving wheel
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- wheel assembly
- drive
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- 230000009471 action Effects 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 67
- 230000005540 biological transmission Effects 0.000 claims description 46
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 12
- 239000000428 dust Substances 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a driving wheel assembly and intelligent self-moving equipment, the driving wheel assembly comprises: the wheel is arranged on the shell, and the shell is pivotally connected with the driving wheel bracket; the elastic piece is arranged between the top surface of the driving wheel bracket and the top surface of the shell, and the shell can rotate upwards relative to the driving wheel bracket under the action of external force so as to enable the shell and the driving wheel bracket to be close to each other, thereby reducing the height of the driving wheel assembly; the elastic member can apply a force to the housing to rotate the housing downward relative to the drive wheel bracket when the external force is reduced or eliminated, thereby moving the housing and the drive wheel bracket away from each other to increase the height of the drive wheel assembly. The drive wheel assembly according to the invention simplifies the later installation of the drive assembly. The intelligent self-mobile device according to the invention has similar advantages.
Description
Technical Field
The invention relates to a driving wheel assembly and intelligent self-moving equipment.
Background
The self-moving device has higher requirements on the moving stability and obstacle surmounting capability, and the driving wheel structure is required to meet the moving requirement of the device, and the driving wheel has a certain self-adjusting height capability so as to ensure that the machine can stably run on uneven ground in the moving process and has a certain obstacle surmounting capability. However, the driving wheel structure of the current self-moving device does not perform well in these respects, and most of the driving wheel structures are complex to assemble and occupy a large amount of height space.
Accordingly, there is a need to provide a drive wheel assembly and an intelligent self-moving device that at least partially address the above-mentioned problems.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
A first aspect of the invention discloses a drive wheel assembly comprising:
A wheel;
The wheel is arranged on the shell through a transmission shaft and can rotate under the drive of the transmission shaft;
A drive wheel bracket, the top surface of the drive wheel bracket being located above at least a portion of the housing, and the housing being pivotally connected to the drive wheel bracket;
An elastic member disposed between a top surface of the driving wheel support and a top surface of the housing for adjusting a relative position between the housing and the driving wheel support, and having one end in contact with the top surface of the driving wheel support and the other end in contact with the top surface of the housing when the relative position between the housing and the driving wheel support is changed;
The shell can rotate upwards relative to the driving wheel support under the action of external force so as to enable the shell and the driving wheel support to be close to each other, and therefore the height of the driving wheel assembly is reduced;
The elastic member can apply a force to the housing to rotate the housing downward relative to the drive wheel bracket when the external force is reduced or eliminated, thereby moving the housing and the drive wheel bracket away from each other to increase the height of the drive wheel assembly.
In one embodiment of the invention, an elastic member mounting part is arranged on the top surface of the shell, and the elastic member is sleeved on the elastic member mounting part.
In one embodiment of the present invention, a limiting portion surrounding the elastic member mounting portion is further disposed on the top surface of the housing, and is used for limiting the elastic member.
In one embodiment of the present invention, the limiting portion is circular.
In one embodiment of the present invention, the elastic member is a compression spring.
In one embodiment of the invention, the device further comprises a driving mechanism and a transmission mechanism, wherein the driving mechanism, the transmission mechanism and the transmission shaft are sequentially in transmission connection.
In one embodiment of the invention, the housing includes a drive mechanism mount and a transmission mechanism mount.
In one embodiment of the invention, the elastic member is provided between an upper surface of the driving mechanism mounting portion and a top surface of the driving wheel bracket.
In one embodiment of the invention, the housing comprises a wheel housing part for housing part of the wheel, the elastic member being arranged between an upper surface of the wheel housing part and a top surface of the drive wheel carrier.
According to the driving wheel assembly, the working procedure of the later assembly of the driving wheel is simplified, the assembly efficiency is improved, and the assembly cost is reduced; the automatic height adjusting function of the driving wheel assembly is realized through the elastic piece, the elastic piece has the characteristics of high reliability and long service life, the integral reliability of the driving wheel assembly is ensured, and meanwhile, the strength and the accuracy of the automatic height adjusting of the driving wheel can be ensured due to the accurate and adjustable strength and size of the elastic piece; finally, the rotating shaft of the driving wheel assembly is arranged close to the center of the renting of the driving wheel, so that the occupied space of the whole assembly in the height direction can be properly reduced.
A second aspect of the invention discloses a smart self-moving device comprising a drive wheel assembly according to the first aspect of the invention.
The intelligent self-moving device according to the invention has similar advantages because of the above-described driving wheel assembly.
Drawings
The following drawings of embodiments of the present invention are included as part of the invention. Embodiments of the present invention and their description are shown in the drawings to explain the principles of the invention. In the drawings of which there are shown,
FIG. 1 illustrates a schematic perspective view of a drive wheel assembly according to one embodiment of the present invention;
FIG. 2 illustrates an exploded view of the drive wheel assembly shown in FIG. 1;
FIG. 3 illustrates a partial perspective view of the drive wheel assembly shown in FIG. 1;
FIG. 4 shows an exploded view of a drive wheel assembly according to another embodiment of the present invention;
FIG. 5 shows a schematic view of a drive wheel assembly in a first state, wherein the resilient member is in an uncompressed state, according to an embodiment of the present invention;
FIG. 6 shows a schematic view of a drive wheel assembly in a second state, wherein the resilient member is in a maximally compressed state, according to an embodiment of the present invention;
fig. 7 shows a schematic representation of the rotational axis position of a drive wheel assembly according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be presented in the following description in order to explain the technical solution presented by the present invention. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.
An embodiment of the present invention provides a driving wheel assembly 100, and a driving wheel assembly 100 according to an embodiment of the present invention is described in detail with reference to fig. 1 to 7.
First, as shown in fig. 1, the driving wheel assembly 100 provided in the present embodiment includes a wheel 1, a housing 2, a driving wheel support 3, and a support cover 4, the wheel 1 is mounted on the housing 2, the housing 2 is pivotally connected to the driving wheel support 3, the support cover 4 and the driving wheel support 3 together constitute a space for accommodating part of the housing 2, and together with the housing 2, a certain limit function is provided to the wheel 1. An elastic member 5 (see fig. 2 and 4) is provided between the top surface of the housing 2 and the top surface of the driving wheel bracket 3 for adjusting the relative positions of the housing 2 and the driving wheel bracket 3, thereby adjusting the height of the driving wheel assembly 100.
In addition, the driving wheel assembly 100 provided in this embodiment further includes a driving mechanism 6 (see fig. 2-4) and a transmission mechanism (not shown) disposed in the housing 2, where the driving mechanism 6 and the transmission mechanism are sequentially connected with the wheel 1 in a transmission manner, so that the wheel 1 is driven to rotate by the driving of the driving mechanism 6.
The structure and connection relationship of the respective components of the drive wheel assembly 100 provided in the present embodiment are described in detail below with reference to fig. 2 to 4.
Referring to fig. 2 to 4, the wheel 1 is circular and may be formed of a tire, a hub, or the like. The wheels 1 are mounted on the housing 2 and are in driving connection with the driving mechanism 6 and the transmission mechanism, so as to rotate under the driving of the driving mechanism 6 and the transmission mechanism.
The housing 2 comprises a drive mechanism mounting portion 21 for mounting the drive mechanism 6, a transmission mechanism mounting portion 22 for mounting a transmission mechanism, a wheel cover portion 23 for covering a part of the wheel 1, a dust cover 24 for dust prevention, and a rotation shaft mounting portion 25 for mounting the rotation shaft 7, and a transmission shaft 26 for transmission connection with the wheel 1. The driving mechanism mounting portion 21 and the wheel cover portion 23 are connected and arranged side by side on the same side as the transmission mechanism mounting portion 22. The drive mechanism mounting portion 21 and the wheel cover portion 23 may be integrally formed as shown in fig. 2 and 3, or may be formed separately and fixedly connected as shown in fig. 4. The dust cover 24 is provided on the transmission mechanism mounting portion 22, and is located on the same side of the transmission mechanism mounting portion 22 as the driving mechanism mounting portion 21 and the wheel cover portion 23, and below the wheel cover portion 23. The rotation shaft mounting portion 25 is provided above the driving mechanism mounting portion 21 and is located on a side away from the wheel 1.
Illustratively, the drive mechanism mounting portion 21 is cylindrical. A drive mechanism 6 such as various electric motors or motors is mounted in the drive mechanism mounting portion 21. It should be understood that the driving mechanism mounting portion 21 may take other suitable shapes, and the cylindrical shape of the present embodiment is given as an example only.
The transmission mechanism mounting portion 22 has a substantially rectangular box shape with semicircular both ends, and a transmission mechanism such as a gear set is mounted in the transmission mechanism mounting portion 22. The transmission may be various gear sets, such as a reduction gear set. As an example, the gear set may comprise an input gear, an output gear and an intermediate gear, the input gear being coaxially fixed with the main shaft of the drive mechanism 6 (e.g. motor); the output gear is coaxially fixedly connected with the wheel 1; the intermediate gear comprises a plurality of gears which are coaxial and mutually fixed, wherein the gear set can transfer the rotation speed of the main shaft of the driving mechanism to the output gear in a decelerating way. The gear set configuration described above is by way of example only and other suitable gear set configurations are equally applicable to the present invention.
The wheel cover portion 23 has an arc shape protruding upward relative to the drive mechanism mounting portion 21. When the wheel 1 is mounted on the housing 2, it is located below the wheel cover 23. Debris such as dust carried during rotation of the wheel 1 can be prevented from entering the equipment (e.g., a sweeper) to which the drive wheel assembly 100 is mounted by the wheel housing 23.
A dust cover 24 is provided between the wheel 1 and the transmission mount 22. The dust cover 24 prevents dust and other foreign matter carried by the wheel 1 during rotation from entering the transmission mechanism mounting portion 22. The dust cap 24 is circular in shape, having an edge extending towards the direction in which the wheel 1 is located, and accordingly, a recess (not shown) for embedding said dust cap 24 may be provided in the wheel 1, in order to achieve a better dust-proof effect.
The rotation shaft mounting portion 25 is for mounting the rotation shaft 7, and the rotation shaft mounting portion 25 is formed with a through hole parallel to the rotation shaft 26 or the rotation shaft of the wheel 1. The rotation shaft 7 passes through the rotation shaft mounting portion 25, and the housing 2 is pivotally/rotatably connected to the drive wheel bracket 3 through the rotation shaft 7. That is, the housing 2 and the drive wheel bracket 3 are rotatable relative to each other about the rotation axis 7. In this embodiment, the rotation shaft mounting portion 25 is disposed on a side of the driving mechanism mounting portion 21 away from the wheel 1 and is disposed near the center of the driving mechanism mounting portion 21, and the disposition near the center of the driving mechanism mounting portion 21 means that the vertical distance between the rotation shaft mounting portion 25 and the center of the driving mechanism mounting portion 21 is small, for example, the vertical distance between the rotation shaft mounting portion 25 and the driving mechanism mounting portion 21 is smaller than the radius of the driving mechanism mounting portion 21 (see fig. 5 to 7). As an example, the rotation shaft mounting portion 25 is provided at one third or more of the height of the housing 2, wherein preferably, the rotation shaft mounting portion 25 is provided at one half or more of the height of the housing 2, more specifically, the rotation shaft mounting portion 25 is provided at one third or more of the height of the side wall of the driving mechanism mounting portion 21, and the rotation shaft mounting portion 25 is provided at one half or more of the height of the side wall of the driving mechanism mounting portion 21, so that the position of the rotation shaft 7 provided in the rotation shaft mounting portion 25 is relatively high, so that the position of the rotation shaft 7 is moved toward the center of the driving wheel assembly 100 (the center of the wheel 1 and the driving mechanism 6 is positioned in a straight line), whereby the space occupied by the whole assembly in the height direction can be appropriately reduced.
The drive shaft 26 may be any suitable shaft body for rotating a shaft, for example, the drive shaft 26 may be a metal shaft, or may be another rubber shaft, or the like. In this embodiment, the transmission shaft 26 passes through the center of the dust cover 24 to be in transmission connection with the transmission mechanism in the transmission mechanism mounting portion 22, and the wheel 1 is mounted on the housing 2 through the transmission shaft 26 and is in transmission connection with the transmission mechanism in the transmission mechanism mounting portion 22.
The drive wheel carrier 3 is substantially rectangular in shape and has a projection extending outwardly from its top surface, said projection being located above the wheel, the drive wheel carrier 3 being open at the bottom, i.e. it has no bottom surface. A connection part 30 for connection with the rotation shaft mounting part 25 is provided in the drive wheel bracket 3, and the drive wheel bracket 3 and the housing 2 can be pivotally connected by the connection part 30, the rotation shaft mounting part 25 and the rotation shaft 7. As an example, as shown in fig. 4, the connection part 30 includes a stopper part 31 and a mounting hole 32 provided on the stopper part 31, which are disposed opposite to each other, a distance between the stopper parts 31 corresponds to a length of the rotation shaft mounting part 25, and a left-right movement distance of the rotation shaft mounting part 25 is small or impossible when it is disposed between the stopper parts 31. As an example, the mounting process of the driving wheel support 3 and the housing 2 is implemented by first mounting the rotation shaft mounting portion 25 at a position corresponding to the connection portion 30, then sequentially passing the rotation shaft 7 through the through hole and the mounting hole 32 on the rotation shaft mounting portion 25, and then fixing the rotation shaft 7 by a fastener after inserting and/or passing the rotation shaft 7 through the through hole and the mounting hole 32 on the rotation shaft mounting portion 25. As another example, the mounting holes 32 may be not through holes, and the rotation shaft 7 has a movement elasticity, and the mounting process is to insert the rotation shaft mounting portion 25 first and then pass through, then to insert one end into one of the mounting holes 32, and then to insert the other end into the other mounting hole 32, so as to achieve the above-mentioned mounting of the driving wheel support 3 and the housing 2.
The bracket cover 4 is disposed below the driving wheel bracket 3 and is fitted with a part of the driving wheel bracket 3 to form a space accommodating a part of the housing 2, and illustratively, in this embodiment, the driving mechanism 6 and the driving mechanism mounting part 21 and a part of the transmission mechanism and the transmission mechanism mounting part 22 are located in the space. It will be appreciated that when the support cover 4 is mounted on the drive wheel support 3, its bottom surface will be higher than the bottom surface of the wheel 1 so as not to interfere with the rotation of the wheel 1, as far as the distance between the bottom surface of the support cover 4 and the bottom surface of the wheel 1 can be set according to the requirement of the drive wheel assembly 100 for self-adjusting height. Illustratively, the holder cover 4 comprises a flat plate-shaped base to which a holder cover body having a substantially rectangular parallelepiped shape is attached, the top of which has an opening, i.e., the holder cover 4 body has no top surface, and the side wall of which facing the housing 2 has a notch.
In one example, the driving wheel support 3 and the support cover 4 are in a covering connection, for example, the driving wheel support 3 and the support cover 4 are mutually matched and connected through concave-convex rabbets, the assembly mode is easy to assemble, the working procedure can be saved, the assembly efficiency can be improved, or the driving wheel support and the support cover can be connected through other suitable connection modes, for example, the driving wheel support and the support cover 4 are connected through arranging the driving wheel support and the support cover through corresponding fasteners.
The elastic member 5 may be various elastic members having a deformation recovery capability, which can generate an interaction force with the housing 2 and the driving wheel bracket 3. Illustratively, in the present embodiment, the elastic member 5 is a compression spring, which can generate a substantially downward force on the housing 2 and a substantially upward force on the driving wheel support 3 when the elastic member 5 is compressed. An elastic member 5 is provided between the top surface of the housing 2 and the top surface of the driving wheel support 3 for adjusting the relative positions of the housing 2 and the driving wheel support 3 to adjust the height of the driving wheel assembly 100, and the elastic member 5 maintains one end in contact with the top surface of the driving wheel support 3 when the relative position between the housing 2 and the driving wheel support 3 is changed, and the other end in contact with the top surface of the housing 2 to apply a force to the housing 2 when the relative position between the housing 2 and the driving wheel support 3 is changed.
In the present embodiment, an elastic member mounting portion 50 and a stopper portion 51 provided around the elastic member mounting portion 50 are provided on the top surface of the housing 2. The elastic member 5 is mounted on the top surface of the housing 2 by being fitted over the elastic member mounting portion 50. As an example, the elastic member mounting portion 50 may be two rectangular bars arranged in a crisscross, that is, the elastic member mounting portion 50 has a cross-shaped cross section. As another example, the elastic member mounting portion 50 may be cylindrical, that is, the elastic member mounting portion 50 has a circular cross section. The stopper 51 serves to limit the elastic member 5 so as to be mounted on the elastic member mounting portion 50. As an example, the stopper 51 has a circular shape.
Further, as an example, as shown in fig. 2 and 3, the elastic member mounting portion 50 is provided on the upper surface of the driving mechanism mounting portion 21, that is, the elastic member 5 is provided between the upper surface of the driving mechanism mounting portion 21 and the top surface of the driving wheel bracket 3.
As another example, as shown in fig. 4, the elastic member mounting portion 50 is provided on the upper surface of the wheel cover portion 23, that is, the elastic member 5 is provided between the upper surface of the wheel cover portion 23 and the top surface of the drive wheel bracket 3.
The assembly process of the driving wheel assembly 100 provided in this embodiment is that the driving mechanism 6 and the transmission mechanism are firstly installed on the corresponding installation portion in the housing 2, then the wheel 1 is fixedly assembled with the transmission mechanism through the transmission shaft 26, then the elastic member 5 is directly assembled with the housing 2 through the elastic member installation portion 50 on the housing 2, and at this time, the assembly of the semi-finished product of the driving wheel assembly is completed, as shown in fig. 3; the drive wheel assembly blank is then assembled with the drive wheel carrier 3 via the rotation shaft 7 and finally assembled integrally with the carrier cover 4, to complete the assembly of the entire drive wheel assembly 100. Therefore, the elastic piece 5 can be simply assembled with the shell 2, the process of the later assembly of the driving wheel is simplified, the assembly efficiency is improved, and the assembly cost is reduced.
The principle of autonomous height adjustment of the driving wheel assembly 100 provided in this embodiment is as follows: since the housing 2 is pivotally connected to the driving wheel support 3 with the elastic member 5 interposed between the top surface of the driving wheel support 3 and the top surface of the housing 2, the housing 2 can be rotated upward with respect to the driving wheel support 3 by an external force to bring the housing 2 and the driving wheel support 3 close to each other, thereby reducing the height of the driving wheel assembly 100; the elastic member 5 can apply a force (e.g., a force opposite to the external force) to the housing 2 to rotate the housing 2 downward with respect to the driving wheel support 3 when the external force is reduced or eliminated, thereby moving the housing 2 and the driving wheel support 3 away from each other to increase the height of the driving wheel assembly 100. Fig. 4 shows a schematic view of the wheel 1 (i.e. the housing 2) rotated downwards relative to the drive wheel carrier 3 under the influence of the elastic member 5 without the influence of external forces, so that the height of the drive wheel assembly 100 reaches the maximum height H1. Fig. 5 shows a schematic view of the state in which the wheel 1 (i.e., the housing 2) is rotated upward relative to the driving wheel bracket 3 under the external force such that the elastic member 5 is in the maximally compressed state, and the height of the driving wheel assembly 100 reaches the minimum height H2. With the change of the external force applied to the driving wheel assembly 100, the height of the driving wheel assembly 100 can be automatically adjusted between the heights H1 and H2 shown in fig. 4 and 5, wherein the heights H1 and H2 and the accuracy and the strength of the automatic adjustment can be set by the size, the accuracy and the strength of the elastic member 5.
According to the driving wheel assembly, the working procedure of the later assembly of the driving wheel is simplified, the assembly efficiency is improved, and the assembly cost is reduced; the automatic height adjusting function of the driving wheel assembly is realized through the elastic piece, the elastic piece has the characteristics of high reliability and long service life, the integral reliability of the driving wheel assembly is ensured, and meanwhile, the strength and the accuracy of the automatic height adjusting of the driving wheel can be ensured due to the accurate and adjustable strength and size of the elastic piece; finally, the rotating shaft of the driving wheel assembly is arranged close to the center of the renting of the driving wheel, so that the occupied space of the whole assembly in the height direction can be properly reduced.
In another embodiment, the present invention further provides an intelligent self-moving device including the driving wheel assembly in the foregoing embodiment, where the intelligent self-moving device may be any device that needs to be mounted with the driving wheel assembly, including but not limited to a sweeping robot, an intelligent robot, and the like. The smart self-moving device may also comprise one, two or more of the above-described drive wheel assemblies, which also have the above-described advantages of the drive wheel assemblies, since the smart self-moving device of the present invention comprises the aforementioned drive wheel assemblies.
When the driving wheel assembly 100 of the present invention is applied to an intelligent self-moving device, as shown in fig. 6, when the host of the intelligent self-moving device is placed on the ground, the wheel 1 is mostly retracted into the body under the action of gravity (i.e. the wheel body is under the action of pressure), at this time, the elastic member 5 is compressed, the included angle between the extension line of the connecting line between the axis of the rotating shaft 7 and the axis of the wheel 1 and the top surface of the driving wheel bracket 3 is a, the included angle reflects the size of the wheel 1 exposed out of the body (i.e. the height of the wheel 1 after being autonomously adjusted), and the larger the included angle is, the larger the height is; when the intelligent self-moving equipment encounters uneven ground surface, for example, when encountering pits, the external force is reduced or eliminated, the elastic piece 5 applies a general downward pressure to the shell, so that the shell 2 rotates downwards around the rotating shaft 7, the wheel 1 installed on the shell 2 moves outwards/downwards from the inside of the machine body under the action of the elastic piece 5, the height of the wheel 1 is automatically adjusted, the elastic piece 5 is restored to the original state, the size of the wheel 1 outside the machine body reaches the maximum, the included angle between the extension line of the connecting line between the axis of the rotating shaft 7 and the axis of the wheel 1 and the top surface of the driving wheel support 3 is B, the included angle B is larger than the included angle A, the included angle of the intelligent self-moving equipment is changed between A and B in the moving process, and the driving wheel assembly can automatically adjust the height even when encountering uneven ground, so that the stable running is ensured, and the intelligent self-moving equipment has obstacle crossing capability of a certain height.
In addition, the position of the rotating shaft 7 of the driving wheel structure of the present invention moves toward the center of the assembly (i.e. moves upward), for example, the position of the rotating shaft 7 is located at or above the middle of the height of the whole casing 2, and this arrangement mode may be that the space occupied by the whole driving wheel assembly in the height direction is suitably reduced, and further, the space occupied by the body of the intelligent self-moving device including the driving wheel assembly is smaller in the height direction, when the casing 2 moves downward with the wheels 1 out of the body of the intelligent self-moving device or presses upward into the body, compared with the case that the rotating shaft position is located at the bottom.
It should be appreciated that in order to streamline the invention and aid in understanding one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, the method of the present invention should not be construed as reflecting the following intent: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The foregoing description is merely illustrative of specific embodiments of the present invention and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. The protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. A drive wheel assembly, comprising:
A wheel;
The wheel is arranged on the shell through a transmission shaft and can rotate under the drive of the transmission shaft;
The top surface of the driving wheel bracket is positioned above at least part of the shell, and the shell is pivotally connected with the driving wheel bracket through a rotating shaft;
An elastic member disposed between a top surface of the driving wheel support and a top surface of the housing for adjusting a relative position between the housing and the driving wheel support, and maintaining a first end in contact with the top surface of the driving wheel support and a second end in contact with the top surface of the housing between the transmission shaft and the rotation shaft when the relative position between the housing and the driving wheel support is changed;
The shell can rotate upwards relative to the driving wheel support under the action of external force so as to enable the shell and the driving wheel support to be close to each other, and therefore the height of the driving wheel assembly is reduced;
The elastic piece can apply acting force to the shell so as to enable the shell to rotate downwards relative to the driving wheel support when the external force is reduced or eliminated, and therefore the shell and the driving wheel support are far away from each other, and the height of the driving wheel assembly is increased;
the top surface of the shell between the transmission shaft and the rotation shaft is provided with an elastic piece installation part, and the second end of the elastic piece is sleeved on the elastic piece installation part;
the top surface of the shell is also provided with a limiting part surrounding the elastic piece installation part and used for limiting the second end of the elastic piece;
The first end of the elastic piece is a free end.
2. The drive wheel assembly of claim 1, wherein the limiter portion is circular in shape.
3. The drive wheel assembly of claim 1 or 2, wherein the resilient member is a compression spring.
4. The drive wheel assembly of claim 1, further comprising a drive mechanism and a transmission mechanism, the drive mechanism, the transmission mechanism, and the transmission shaft being in sequential driving connection.
5. The drive wheel assembly of claim 4, wherein the housing includes a drive mechanism mount and a transmission mechanism mount.
6. The drive wheel assembly of claim 5, wherein the resilient member is disposed between an upper surface of the drive mechanism mount and a top surface of the drive wheel bracket.
7. The drive wheel assembly of claim 5, wherein the housing includes a wheel housing portion for housing a portion of the wheel, the resilient member being disposed between an upper surface of the wheel housing portion and a top surface of the drive wheel bracket.
8. A smart self-moving device comprising the drive wheel assembly of any one of claims 1-7.
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| CN108945153A (en) | 2018-12-07 |
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