CN109497894B - Floor sweeping machine and obstacle crossing mechanism thereof - Google Patents
Floor sweeping machine and obstacle crossing mechanism thereof Download PDFInfo
- Publication number
- CN109497894B CN109497894B CN201910036661.2A CN201910036661A CN109497894B CN 109497894 B CN109497894 B CN 109497894B CN 201910036661 A CN201910036661 A CN 201910036661A CN 109497894 B CN109497894 B CN 109497894B
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- shell
- wheel assembly
- side wheel
- obstacle
- compression
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- 238000010408 sweeping Methods 0.000 title abstract description 14
- 241001417527 Pempheridae Species 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000007906 compression Methods 0.000 claims description 31
- 230000006835 compression Effects 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 8
- 238000004140 cleaning Methods 0.000 description 10
- 239000000428 dust Substances 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses an obstacle crossing mechanism, which comprises a shell, a side wheel assembly for realizing lifting movement relative to the shell, and a support frame fixedly arranged on the shell and used for being rotationally connected with the side wheel assembly; an elastic component is arranged between the shell and the side wheel component and is used for providing elasticity for the side wheel component so that the side wheel component can support the machine body to pass through the obstacle. The invention also discloses a sweeper comprising the obstacle crossing mechanism. The obstacle surmounting mechanism not only can reduce consumable materials and improve resource utilization rate, but also can reduce installation procedures and improve production efficiency, and meanwhile, the obstacle surmounting function of the intelligent sweeping robot can be realized more simply and efficiently.
Description
Technical Field
The invention relates to the technical field of floor sweeping machines, in particular to an obstacle crossing mechanism. The invention also relates to a sweeper with the obstacle crossing mechanism.
Background
The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically in room via certain artificial intelligence. The sweeping robot adopts a brushing and vacuum mode to absorb the sundries on the ground into the garbage storage box of the robot, so that the function of cleaning the ground is completed. Generally, robots that perform cleaning, dust collection, and floor scrubbing work are also collectively referred to as floor cleaning robots.
The robot body is a movable device of an automatic technology, and the vacuum dust collection device with the dust collection box is matched with the robot body to set a control path, so that the robot can walk repeatedly indoors, such as cleaning along the paths of edge, centralized cleaning, random cleaning, linear cleaning and the like, and the cleaning effect is enhanced by assisting in the modes of edge brush, central main brush rotation, rag and the like, so that the personified household cleaning effect is achieved. However, most of the intelligent floor sweeping machines in the prior art adopt a side wheel tension spring obstacle crossing mechanism, so that the consumption is large, the resource utilization rate is low, the installation procedures are more, and the production efficiency is low.
Therefore, how to avoid the problem of low production efficiency caused by large consumable materials and more installation procedures of the obstacle surmounting mechanism of the intelligent sweeper is a technical problem which needs to be solved by the technicians in the field at present.
Disclosure of Invention
The invention aims to provide an obstacle crossing mechanism which can solve the problem of low production efficiency caused by large consumable materials and more installation procedures of the obstacle crossing mechanism of an intelligent sweeper, and through integrally simplifying the obstacle crossing mechanism, the consumable materials can be reduced to a certain extent, the resource utilization rate can be improved, the installation procedures can be reduced, and the production efficiency can be improved. Another object of the present invention is to provide a sweeper comprising the obstacle surmounting mechanism.
In order to achieve the above purpose, the invention provides an obstacle surmounting mechanism, which comprises a shell, a side wheel assembly for realizing lifting movement relative to the shell, and a support frame fixedly arranged on the shell and used for being rotationally connected with the side wheel assembly; an elastic component is arranged between the shell and the side wheel component and used for providing elasticity for the side wheel component so that the side wheel component can support the machine body to pass through the obstacle.
Preferably, the shell comprises a face shell which is arranged above the side wheel assembly and used for installing the elastic component, the elastic component comprises a compression edge which is horizontally arranged and used for being connected with the face shell, and a first compression end which is connected with the compression edge and used for being contacted and abutted with the side wheel assembly, and the contact position of the first compression end and the side wheel assembly is variable.
Preferably, the elastic component is specifically a compression spring, and the section of the compression spring is triangular with an opening at the top angle.
Preferably, the device further comprises a connecting rod mechanism which is connected with the side wheel assembly and used for driving the side wheel assembly to rotate.
Preferably, the link mechanism is rotatably connected with the support frame through a rotating shaft.
Preferably, the rotary connecting end positioned in the middle of the supporting frame is a circular ring on a section perpendicular to the rotary shaft, and the rotary shaft is positioned at the center of the circular ring.
Preferably, the shell is provided with a bottom shell located below the face shell and used for being clamped with the support frame, the support frame comprises a first support end located on one side of the circular ring and used for being clamped with the side wall of the bottom shell at a preset inclination angle, and a second support end located on the other side of the circular ring and used for being connected with the end face of the lower side of the bottom shell, and the first support end and the second support end are located on the same inclined plane.
Preferably, the side wheel assembly comprises a limiting block fixedly arranged in the shell and used for limiting rotation of the side wheel assembly.
Preferably, the side wheel assembly includes a drive mechanism for providing power, a transmission mechanism coupled to the drive mechanism for transmitting motion and power, and a side wheel coupled to the transmission mechanism for rolling in a clockwise or counterclockwise direction.
The invention also provides a sweeper, which comprises the obstacle crossing mechanism.
Compared with the background art, the obstacle crossing mechanism is designed according to different requirements of the intelligent sweeping robot. Because the limit wheel extension spring obstacle crossing mechanism that most intelligence machine of sweeping floor adopted at present, the consumptive material is great, and resource utilization is not high to the installation process is many, and production efficiency is very low, consequently, it is very necessary to use the obstacle crossing mechanism that can more succinct, the obstacle crossing function of efficient realization intelligence robot of sweeping floor.
Specifically, the obstacle crossing mechanism comprises a shell, an edge wheel assembly and a support frame, wherein the edge wheel assembly and the support frame are arranged in the shell, and the edge wheel assembly can realize lifting movement relative to the shell through rotary movement; the support frame is fixedly arranged on the shell and is used for being rotationally connected with the side wheel assembly; further, the obstacle crossing mechanism further comprises an elastic component, the elastic component is arranged between the shell and the side wheel assembly, and when the obstacle crossing mechanism encounters an obstacle, the elastic component can provide elasticity for the side wheel assembly, so that the side wheel assembly can prop up the machine body to cross the obstacle under the pressure action of the elastic component. The setting mode not only can reduce consumable materials and improve the resource utilization rate, so that the occupied space of the obstacle crossing mechanism can be reduced to a certain extent, but also the installation procedure can be reduced, the production efficiency can be improved, and meanwhile, the obstacle crossing function of the intelligent floor sweeping robot can be realized more simply and efficiently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an assembled structure of an obstacle surmounting mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the elastic member of the obstacle detouring mechanism of FIG. 1 in a pressed state;
FIG. 3 is a schematic view of another elastic structure in a pressed state;
FIG. 4 is a schematic view of the elastic member of the obstacle detouring mechanism of FIG. 1 in an sprung-apart state;
FIG. 5 is a schematic view of another structure of the elastic member in a sprung-open state;
FIG. 6 is a schematic view of a first elastic member;
FIG. 7 is a schematic view of a second elastic member;
fig. 8 is a schematic structural view of a third elastic member.
Wherein:
the device comprises a 1-elastic component, a 11-first compression end, a 12-second compression end, a 13-compression edge, a 2-shell, a 21-face shell, a 22-bottom shell, a 3-side wheel assembly, a 4-limiting block, a 5-connecting rod mechanism, a 6-rotating shaft and a 7-supporting frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims at providing the obstacle crossing mechanism which can solve the problem of low production efficiency caused by large consumable materials and more installation procedures of the obstacle crossing mechanism of the intelligent sweeper, and the obstacle crossing mechanism is simplified integrally, so that the consumable materials can be reduced to a certain extent, the resource utilization rate can be improved, the installation procedures can be reduced, and the production efficiency can be improved. Another core of the invention is to provide a sweeper comprising the obstacle surmounting mechanism.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
The terms "upper, lower, left, right" and the like are defined below based on the drawings of the specification.
Referring to fig. 1 to 8, fig. 1 is a schematic diagram illustrating an assembly structure of an obstacle surmounting mechanism according to an embodiment of the present invention; FIG. 2 is a schematic view of the elastic member of the obstacle detouring mechanism of FIG. 1 in a pressed state; FIG. 3 is a schematic view of another elastic structure in a pressed state; FIG. 4 is a schematic view of the elastic member of the obstacle detouring mechanism of FIG. 1 in an sprung-apart state; FIG. 5 is a schematic view of another structure of the elastic member in a sprung-open state; FIG. 6 is a schematic view of a first elastic member; FIG. 7 is a schematic view of a second elastic member; fig. 8 is a schematic structural view of a third elastic member.
The obstacle surmounting mechanism provided by the embodiment of the invention comprises a shell 2, an edge wheel assembly 3 and a support frame 7, wherein the edge wheel assembly 3 and the support frame 7 are arranged in the shell 2, the shell 2 can play a role in protecting internal parts, and the edge wheel assembly 3 can realize lifting movement relative to the shell 2 through rotary movement; the support frame 7 is fixedly mounted on the housing 2, and the support frame 7 is rotatably connected with the rim assembly 3, that is, the rim assembly 3 can rotate relative to the support frame 7.
Further, the obstacle crossing mechanism further comprises an elastic component 1, wherein the elastic component 1 is arranged between the side wheel assembly 3 and the face shell 21 positioned above the side wheel assembly 3, and when the obstacle crossing mechanism encounters an obstacle, the elastic component 1 can provide elastic force for the side wheel assembly 3, so that the side wheel assembly 3 can prop up the machine body to cross the obstacle under the pressure action of the elastic component 1. Therefore, the obstacle crossing function of the intelligent sweeping robot can be realized more simply and efficiently.
According to practical needs, the elastic component 1 may be configured as a compression spring or a compression spring, for example, the compression spring may be configured as a triangular spring with an opening at a vertex angle, where the triangular spring includes a compression edge 13 disposed horizontally and two first compression ends 11 and second compression ends 12 respectively located at two sides of the compression edge 13, where the length of the first compression end 11 is greater than that of the second compression end 12, and the first compression end 11 contacts and abuts against the edge wheel assembly 3.
In addition, the joints of the compression ends positioned on two sides of the compression edge 13 and the compression edge 13 are connected through round corners, so that the elasticity of the triangular elastic sheet can be further ensured.
Of course, the structure of the elastic member 1 may be provided in various ways, and the structure of the elastic member 1 is not limited herein, for example, the structure of the elastic member 1 may be a first elastic member as shown in fig. 6, a second elastic member as shown in fig. 7, and a third elastic member as shown in fig. 8.
Correspondingly, the shell 2 comprises a face shell 21 positioned above the side wheel assembly 3, the face shell 21 is connected with the elastic sheet, of course, the elastic sheet can be arranged between the face shell 21 positioned above the side wheel assembly 3 and the side wheel assembly 3, wherein the compression edge 13 of the elastic sheet can be arranged on the lower side end surface of the face shell 21, the first compression end 11 of the elastic sheet is contacted and abutted with the side wheel assembly 3, and the position of the first compression end 11 of the elastic sheet on the side wheel assembly 3 can be changed along with the rotation of the side wheel assembly 3 relative to the shell 2; therefore, when the obstacle crossing mechanism passes over the threshold or is over an obstacle, the elastic sheet can give a certain elastic force to the side wheels of the side wheel assembly 3, so that the side wheels can be grounded and stressed to realize the crossing function.
It should be noted that, in the description of the present invention, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, directly connected, or indirectly connected through an intermediate medium.
In the embodiment of the present invention, the edge wheel assembly 3 may be provided to include a driving mechanism, a transmission mechanism, and an edge wheel; the driving mechanism can be set as a driving motor, the driving motor is used for providing driving force for the side wheel, the transmission mechanism is connected with the driving mechanism and used for transmitting the motion and the power of the driving mechanism, the side wheel is connected with the transmission mechanism, the side wheel can roll along the clockwise or anticlockwise direction, the side wheel is relatively exposed out of the connecting groove at the lower end of the shell 2, and the side wheel can rotate around the inner side and the outer side of the connecting groove.
Specifically, the obstacle surmounting mechanism further includes a link mechanism 5, the link mechanism 5 may be disposed between the side wheel assembly 3 and the support frame 7, one end of the link mechanism 5 is connected with the side wheel assembly 3, the other end of the link mechanism 5 is rotatably connected with the support frame 7, for example, the link mechanism 5 may be hinged with the support frame 7 through a rotating shaft 6, wherein a connecting hole opened in a thickness direction is provided at an end portion of the link mechanism 5 connected with the rotating shaft 6, and the rotating shaft 6 vertically extends into the connecting hole and completes the fixing with the link mechanism 5.
In this way, the edge wheel assembly 3 can rotate around the axis of the rotating shaft 6 relative to the supporting frame 7 under the action of the rotating shaft 6 and the link mechanism 5.
More specifically, one end of the rotating shaft 6 is connected to the link mechanism 5, the other end is connected to the supporting frame 7, the rotating shaft 6 is connected to the middle position of the supporting frame 7, the rotating connecting end located in the middle of the supporting frame 7 is a circular ring on a section perpendicular to the rotating shaft 6, and the rotating shaft 6 is disposed in a central hole of the circular ring and can rotate relative to the circular ring.
In order to ensure the stability of the support frame 7 in the rotation process of the side wheel assembly 3, the support frame 7 is also provided with a first support end and a second support end which are positioned at two sides of the circular rotation connecting end, correspondingly, the shell 2 is provided with a bottom shell 22 positioned below the surface shell 21, and the surface shell 21 is connected with the bottom shell 22 through a cover; specifically, the supporting frame 7 and the bottom shell 22 are disposed at a preset inclination angle, a first supporting end located at the left side of the rotation connecting end is clamped with a side wall of the bottom shell 22, a second supporting end located at the right side of the rotation connecting end is connected with a lower end face of the bottom shell 22, the first supporting end and the side wall of the bottom shell 22 are disposed at a preset inclination angle, and the first supporting end and the second supporting end are located on the same inclined plane.
Of course, the preset inclination angle of the supporting frame 7 and the bottom shell 22 can be adjusted according to the spatial arrangement of the actual obstacle surmounting mechanism and the rotation connection structure of the side wheel assembly 3 and the supporting frame 7, which is not limited in detail herein, and the premise is that the smoothness and stability of the rotation of the side wheel assembly 3 can be ensured on the basis of improving the space utilization as much as possible.
In order to optimize the above embodiment, the obstacle crossing mechanism further includes a stopper 4, the stopper 4 is fixedly mounted inside the housing 2, the stopper 4 is used for limiting the edge wheel assembly 3, specifically, the stopper 4 may be fixedly mounted on a side wall of the bottom shell 22 and disposed at a position between the side wall of the bottom shell 22 and the link mechanism 5, so that when the link mechanism 5 rotates to contact with the stopper 4, the link mechanism 5 is blocked from further rotating, thereby preventing the edge wheel assembly 3 from contacting the face shell 21 above the edge wheel assembly 3 due to an excessive rotation angle, and causing interference so as to affect the normal movement of the edge wheel assembly 3.
The invention provides a sweeper, which comprises the obstacle crossing mechanism described in the specific embodiment; other parts of the sweeper may be referred to in the art and are not developed herein.
It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The floor sweeping machine and the obstacle surmounting mechanism thereof provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (4)
1. The obstacle crossing mechanism is characterized by comprising a shell (2), an edge wheel assembly (3) for realizing lifting motion relative to the shell (2), and a supporting frame (7) fixedly arranged on the shell (2) and used for being rotationally connected with the edge wheel assembly (3); an elastic component (1) used for providing elasticity for the side wheel component (3) to support the side wheel component (3) to the machine body to cross the obstacle is arranged between the shell (2) and the side wheel component (3);
the shell (2) comprises a face shell (21) which is positioned above the side wheel assembly (3) and used for installing the elastic component (1), the elastic component (1) comprises a compression edge (13) which is horizontally arranged and used for being connected with the face shell (21), and a first compression end (11) which is connected with the compression edge (13) and used for being contacted and abutted with the side wheel assembly (3), and the contact position of the first compression end (11) and the side wheel assembly (3) is variable;
the elastic component (1) is specifically a compression spring piece, and the section of the compression spring piece is triangular with an opening at the top angle;
the device also comprises a connecting rod mechanism (5) which is connected with the side wheel assembly (3) and used for driving the side wheel assembly (3) to rotate;
the connecting rod mechanism (5) is rotationally connected with the supporting frame (7) through a rotating shaft (6);
the rotary connecting end positioned in the middle of the supporting frame (7) is a circular ring on the section vertical to the rotating shaft (6);
the shell (2) is provided with a bottom shell (22) which is arranged below the face shell (21) and is used for being clamped with the support frame (7), the support frame (7) comprises a first support end which is arranged on one side of the circular ring and is used for being clamped with the side wall of the bottom shell (22) at a preset inclination angle, and a second support end which is arranged on the other side of the circular ring and is used for being connected with the end face of the lower side of the bottom shell (22), and the first support end and the second support end are arranged on the same inclined plane.
2. Obstacle surmounting mechanism according to claim 1, further comprising a stopper (4) fixedly mounted inside the housing (2) for limiting the rotation of the wheel assembly (3).
3. Obstacle surmounting mechanism according to claim 2, characterized in that the side wheel assembly (3) comprises a drive mechanism for providing power, a transmission mechanism connected to the drive mechanism for transmitting motion and power, and side wheels connected to the transmission mechanism for rolling in a clockwise or counter-clockwise direction.
4. A sweeper comprising a barrier-surmounting mechanism as claimed in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910036661.2A CN109497894B (en) | 2019-01-15 | 2019-01-15 | Floor sweeping machine and obstacle crossing mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910036661.2A CN109497894B (en) | 2019-01-15 | 2019-01-15 | Floor sweeping machine and obstacle crossing mechanism thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109497894A CN109497894A (en) | 2019-03-22 |
| CN109497894B true CN109497894B (en) | 2023-12-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910036661.2A Active CN109497894B (en) | 2019-01-15 | 2019-01-15 | Floor sweeping machine and obstacle crossing mechanism thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109497894B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210612043U (en) * | 2019-08-09 | 2020-05-26 | 深圳市杉川机器人有限公司 | Obstacle crossing mechanism, walking device and floor sweeping robot |
| CN112847431B (en) * | 2019-11-28 | 2022-06-14 | 深圳津梁生活科技有限公司 | Robot |
| CN115919189A (en) * | 2021-09-22 | 2023-04-07 | 美智纵横科技有限责任公司 | Obstacle crossing structure for sweeping robot and sweeping robot with obstacle crossing structure |
| CN115381337B (en) * | 2022-08-31 | 2023-05-19 | 广东工业大学 | Sweeping and dragging robot and obstacle surmounting method |
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| CN207416995U (en) * | 2017-11-06 | 2018-05-29 | 济宁市技师学院 | Six sufficient barrier-surpassing robot traveling wheels |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1138825A (en) * | 1994-11-18 | 1996-12-25 | 德冈达-雷哈伯有限公司 | Wheel-chair for transporting or assisting the displacement of at least one user, particularly for a handicaped person |
| TWI255177B (en) * | 2005-03-10 | 2006-05-21 | Kwang Yang Motor Co | Chassis mechanism of electric wheelchair |
| CN1839779A (en) * | 2005-03-28 | 2006-10-04 | 光阳工业股份有限公司 | Power-driven wheelchair chassis device |
| KR20120041526A (en) * | 2010-10-21 | 2012-05-02 | 주식회사 스페이스솔루션 | Electromotive means capable of climbing obstacle using assist-foot |
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| GB201616453D0 (en) * | 2015-09-29 | 2016-11-09 | Ford Global Tech Llc | Obstacle avoidance system with active suspensions |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109497894A (en) | 2019-03-22 |
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