CN110338709A - The traveling method of running gear, clean robot and clean robot - Google Patents

The traveling method of running gear, clean robot and clean robot Download PDF

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Publication number
CN110338709A
CN110338709A CN201910555310.2A CN201910555310A CN110338709A CN 110338709 A CN110338709 A CN 110338709A CN 201910555310 A CN201910555310 A CN 201910555310A CN 110338709 A CN110338709 A CN 110338709A
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CN
China
Prior art keywords
wheel
accessory whorl
leg
chassis
main wheel
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Pending
Application number
CN201910555310.2A
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Chinese (zh)
Inventor
刘建平
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Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN201910555310.2A priority Critical patent/CN110338709A/en
Publication of CN110338709A publication Critical patent/CN110338709A/en
Pending legal-status Critical Current

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Abstract

The present invention relates to the traveling methods of a kind of running gear, clean robot and clean robot, running gear includes the omni-directional wheel for including walking driver, the transmission assembly of the connection walking driver and the connection transmission assembly, the omni-directional wheel include main wheel and be movably installed in the main wheel circumference the first accessory whorl group, the direction of rotation of the first accessory whorl group is different with the direction of rotation of the main wheel, and the walking driver is used to drive the main wheel rotation that the omni-directional wheel is driven to move along the direction of rotation of the main wheel by the transmission assembly.Running gear of the present invention can switch multiple directions, and be not take up switching space, walk unobstructed, the telecontrol equipment such as clean robot etc. for being applicable to transverse movement and turning in narrow corner.

Description

The traveling method of running gear, clean robot and clean robot
Technical field
The present invention relates to robotic technology fields, more particularly to running gear, clean robot and clean robot Traveling method.
Background technique
Clean robot is the specialized robot serviced for the mankind, is mainly engaged in the cleanings such as the cleaning of domestic hygiene. Robot for cleaning floor can accomplish the dust cleaning of ground grading, but the step of building stair is cleaned, and traditional is clear Clean robot is more difficult on step to be accomplished transverse movement and turns in narrow corridor corner, makes clean robot at stair Cleaning effect is bad.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of running gear, cutting for multiple directions of motion may be implemented It changes, main wheel is not necessarily to rotational motion direction in handoff procedure, can turn to transverse movement and at narrow space corner.
A kind of running gear including walking driver, connects the transmission assembly of walking driver and connects transmission assembly Omni-directional wheel, omni-directional wheel include main wheel and be movably installed in main wheel circumference the first accessory whorl group, the direction of rotation of the first accessory whorl group Different with the direction of rotation of main wheel, walking driver is used to drive main wheel rotation to drive omni-directional wheel along main by transmission assembly The direction of rotation of wheel moves.
Above-mentioned running gear, when walking, walking driver drives transmission assembly, and then drives main wheel rotation, the first accessory whorl Group is slave unit, after being applied to sports equipment such as robot, drives walking by the moving parts of sports equipment;Due to main wheel Direction of rotation is different from the direction of rotation of the first accessory whorl group, moves omni-directional wheel toward multiple directions, when main wheel rotation, the One accessory whorl group does not rotate, and moves toward the direction of rotation of main wheel;When the rotation of the first accessory whorl group, main wheel does not rotate, toward the first accessory whorl The direction movement of group rotation, the switching of multiple directions of motion can be realized without omni-directional wheel torsional direction, subtracted equipment and turned round The space occupied required for motion switch direction turn running gear of the invention can at narrow space corner To;Such as assume that the direction of motion of main wheel is that laterally, then the direction of motion of the first accessory whorl group is different from other lateral directions, most First accessory whorl group of bottom abuts ground, starts walking driver, drives main wheel rotation by transmission assembly, the first accessory whorl group with The rotation of main wheel moved in a circle using the axle center of main wheel as the center of circle, and then omni-directional wheel transverse movement, when motion switch direction, Main wheel stops operating, and abuts the first accessory whorl group rotation on ground, and it is mobile to drive main wheel, and then omni-directional wheel is revolved toward the first accessory whorl group The direction movement turned;Running gear of the present invention can switch multiple directions, and be not take up switching space, walk unobstructed, be suitable for The sports equipment such as clean robot etc. for needing transverse movement and being turned in narrow corner.
The first accessory whorl group includes multiple spaced first accessory whorls, the activity of the first accessory whorl in one of the embodiments, It is installed on the circumference of main wheel;Omni-directional wheel further includes the second accessory whorl group for being movably installed in the circumference of main wheel, and the second accessory whorl group includes Several spaced second accessory whorls, the second accessory whorl are movably installed in the circumference of main wheel;First accessory whorl and the second accessory whorl be from Driving wheel, and the direction of rotation of the first accessory whorl and the second accessory whorl is different with the direction of rotation of main wheel.
The circumference of main wheel is equipped with several loose slots in one of the embodiments, is equipped with accessory whorl shaft in each loose slot, Every one first accessory whorl is installed in a loose slot by accessory whorl shaft.
Transmission assembly includes that two walking synchronizing wheels, walking synchronous belt and transmission shaft, walking are same in one of the embodiments, The walking synchronizing wheel of band connection two is walked, wherein a walking synchronizing wheel connects walking driver, another walking synchronizing wheel connects transmission shaft, It is driven axis connection main wheel.
The present invention also provides a kind of clean robot, the running gear including any of the above-described.
Clean robot in one of the embodiments, further include:
Chassis, running gear are installed on chassis;
Climbing device, climbing device are installed on chassis;And
Clearing apparatus, clearing apparatus are installed on chassis.
Chassis includes substrate in one of the embodiments, and running gear is installed on substrate, and omni-directional wheel is located at substrate Lower section;Climbing device includes first leg and the second supporting leg, and first leg and the second supporting leg are installed on chassis, and are set in front and back It sets, first leg with respect to ground moving or can climb with the second supporting leg.
First leg includes the first lifting assembly, the first connecting plate and the first moving parts in one of the embodiments, First lifting assembly is installed on substrate, and the first lifting assembly connects the first connecting plate far from the part of substrate;Second supporting leg includes Second lifting assembly, the second connecting plate and the second moving parts, the second lifting assembly are installed on substrate, and the second lifting assembly is separate The part of substrate connects the second connecting plate;First lifting assembly is for driving first leg to climb with respect to ground, the first exercise group Part is for driving first leg with respect to ground moving;Second lifting assembly is for driving the second supporting leg to climb with respect to ground, and second Moving parts are for driving the second supporting leg with respect to ground moving;First lifting assembly can be opposite by chassis with the second lifting assembly Ground increases.
The quantity of running gear is at least two in one of the embodiments,;Chassis further includes several universal wheels, several Universal wheel is installed on the bottom of substrate.
The present invention also provides the traveling methods of above-mentioned clean robot, comprising the following steps:
It is assumed that clean robot is located at first step, second step to be risen to, first leg and the second supporting leg for chassis Opposite first step increases;
The bottom end of first leg is increased with respect to chassis;
Second supporting leg is mobile towards the direction of second step, reaches predeterminated position, and first leg is taken to second step;
The bottom end of second supporting leg is increased with respect to chassis, and first leg is mobile towards required direction, arrival predeterminated position, and second Leg is taken to second step, and completion is once climbed.
Detailed description of the invention
Fig. 1 is the schematic diagram of a preferred embodiment of clean robot of the present invention;
Fig. 2 is the schematic diagram of the first leg in Fig. 1 clean robot;
Fig. 3 is the schematic diagram of the second supporting leg in Fig. 1 clean robot;
Fig. 4 is the schematic diagram on the chassis and running gear in Fig. 1 clean robot;
Fig. 5 is the schematic diagram of the running gear in Fig. 4;
Fig. 6 is the decomposition diagram of the universal wheel in Fig. 5 running gear;
Fig. 7 is the schematic diagram of the clearing apparatus in Fig. 1 clean robot;
Fig. 8-16 is climbing and the walking schematic diagram of Fig. 1 clean robot.
Description of symbols:
10-chassis, 11-substrates, 12-universal wheels;20-climbing devices;30-running gears, 31-hoofing parts Device, 32-transmission assemblies, 324-walking synchronizing wheels, 325-walking synchronous belts, 33-omni-directional wheels, 34-main wheels, 35-the first Accessory whorl, the 36-the second accessory whorl, 37-loose slots, 38-accessory whorl shafts;40-clearing apparatus, 41-Electric brush of bristles rollers, 42-inhale Dust hood, 43-collecting boxs, 44-dust absorption fans;50-first legs, the 51-the first lifting assembly, the 512-the first stepper motor, 513-the first screw rod, the 52-the first connecting plate, the 55-the first moving parts, 551-first bearing seats, the 552-the first servo electricity Machine, the 553-the first movement synchronizing wheel, the 554-the first movement synchronous belt, the 550-the first movement shaft, the 556-the first moving wheel, 56-the first guidance set, the 561-the first guide rod, the 562-the first guide sleeve;60-the second supporting leg, the 61-the second lifting group Part, 612-second stepper motors, the 613-the second screw rod, the 62-the second connecting plate, the 65-the second moving parts, 651-the second Bearing block, the 652-the second servo motor, the 653-the second movement synchronizing wheel, the 654-the second movement synchronous belt, the 655-the second fortune Turn axis, the 656-the second moving wheel, the 66-the second guidance set, the 661-the second guide rod, the 662-the second guide sleeve;70— Range sensor;100-clean robots.
Specific embodiment
It to facilitate the understanding of the present invention, below will be to invention is more fully described.But the present invention can be to be permitted Mostly different form is realized, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes It is more thorough and comprehensive to the understanding of the disclosure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Fig. 1 to Fig. 7 is please referred to, clean robot 100 is a preferred embodiment of the present invention, can climb step, and It smoothly laterally walks on step and is turned in narrow corridor corner, save the steering space of clean robot 100, improve Cleaning effect.The clean robot 100 include chassis 10 and be installed on chassis 10 climbing device 20, running gear 30 with Clearing apparatus 40.
As shown in Fig. 1 and Fig. 4, chassis 10 includes substrate 11, and climbing device 20, running gear 30 and clearing apparatus 40 are pacified Loaded on substrate 11.
In one embodiment, chassis 10 further includes several universal wheels 12, and several universal wheels 12 are installed on the bottom of substrate 11, And the two sides of substrate 11 are respectively arranged on, it is used cooperatively with running gear 30.
Please refer to figs. 2 and 3 together, climbing device 20 include first leg 50 and the second supporting leg 60, first leg 50 with Second supporting leg 60 is mounted on chassis 10, and is arranged in front and back, is equivalent to two legs of clean robot 100, first leg 50 with Second supporting leg 60 with respect to ground moving or can climb, and realize climbing platform using the cooperation of first leg 50 and the second supporting leg 60 Rank.
The traveling method of above-mentioned clean robot 100 the following steps are included:
It is assumed that clean robot 100 is located at first step, second step to be risen to, first leg 50 and the second supporting leg 60 increase on chassis 10 with respect to first step;
The bottom end of first leg 50 is increased with respect to chassis 10;
Second supporting leg 60 is mobile towards the direction of second step, reaches predeterminated position, and first leg 50 is taken to second step;
The bottom end of second supporting leg 60 is increased with respect to chassis 10, and first leg 50 is mobile towards required direction, reaches predeterminated position, Second supporting leg 60 is taken to second step, and completion is once climbed.
In one embodiment, first leg 50 includes the first lifting assembly 51, the first connecting plate 52 and the first moving parts 55, the first lifting assembly 51 is installed on substrate 11, and the first lifting assembly 51 connects the first connecting plate 52 far from the part of substrate 11. Second supporting leg 60 includes the second lifting assembly 61, the second connecting plate 62 and the second moving parts 65, the installation of the second lifting assembly 61 In substrate 11, the second lifting assembly 61 connects the second connecting plate 62 far from the part of substrate 11.First lifting assembly 51 is for driving The opposite ground of dynamic first leg 50 is climbed, and the first moving parts 55 are for driving first leg 50 with respect to ground moving.Second liter Part 61 of coming down to a lower group is for driving the opposite ground of the second supporting leg 60 to climb, and the second moving parts 65 are for driving the second supporting leg 60 relatively Face is mobile;First lifting assembly 51 and the second lifting assembly 61 can increase on chassis 10 with respect to ground.
First lifting assembly 51 and the second lifting assembly 61 can drive chassis 10 relative to the first connecting plate 52 and simultaneously Two connecting plates 62 rise, the position of the first connecting plate 52 and the second connecting plate 62 is constant, then be equivalent to drive chassis 10 relative to Ground rises, and achievees the effect that elevate chassis 10, chassis 10 is allow to rise a step;After chassis 10 rises, the first lifting Component 51 acts, and the first moving parts 55 are improved, is equivalent to and lifts first leg 50, first leg 50 is allow to rise one Step, clean robot 100 drive the walking of the second moving parts 65, the second lifting assembly 61 toward front walking certain distance Movement, the second moving parts 65 are improved, the second supporting leg 60 is lifted, the second supporting leg 60 also rises a step, clean robot 100 continue to walk toward front, complete the climbing of a step.
In one embodiment, the first lifting assembly 51 include the first stepper motor 512 and the first screw rod 513, first Stepper motor 512 is installed on substrate 11, and the both ends of the first screw rod 513 are separately connected the first moving parts 55 and the first connecting plate 52.The running of first stepper motor 512, makes itself to rise or fall along the first screw rod 513, when rising, chassis 10 is driven to rise, When decline, move the first screw rod 513 toward the direction far from ground, and then improve the first moving parts 55.Second lifting assembly 61 include second stepper motor 612 and the second screw rod 613, and second stepper motor 612 is installed on substrate 11, the second screw rod 613 Both ends are separately connected the second moving parts 65 and the second connecting plate 62.Second stepper motor 612 operate, make itself along second Bar 613 rises or falls, and when rising starts simultaneously with the first stepper motor 512, jointly improves chassis 10, when decline, makes Two screw rods 613 are moved toward the direction far from ground, and then improve the second moving parts 65.Stepper motor and screw rod are used cooperatively The distance of raising and lowering is more acurrate, is easy to control and is easy guiding.
In one embodiment, the junction of the first stepper motor 512 and the first screw rod 513 uses hollow shaft screw thread noose Structure drives the rotation of hollow shaft thread bush by the rotor rotation of the first stepper motor 512, realizes the first screw rod 513 opposite first Stepper motor 512 rises or falls movement.Similarly, second stepper motor 612 is with the junction of the second screw rod 613 using hollow Axle thread nested structure realizes that the opposite second stepper motor 612 of the second screw rod 613 rises or falls movement.
In one embodiment, the first moving parts 55 include first bearing seat 551, the fortune of first servo motor 552,2 first Dynamic synchronizing wheel 553, first moves the movement shaft 550 of synchronous belt 554, first and the first moving wheel 556, the first guide rod 53 are separate One end of first connecting plate 52 connects first bearing seat 551, and first servo motor 552 and the first movement shaft are installed on first axle Hold seat 551,2 first movement synchronizing wheel 553 of the first movement synchronous belt 554 connection, wherein one first movement synchronizing wheel 553 connects First servo motor 552, another first movement synchronizing wheel 553 connection the first movement shaft 550, the first moving wheel 556 connection the One movement shaft 550.
Second moving parts 65 include second bearing seat 651, the second servo motor 652,2 second movement synchronizing wheel 653, Second movement synchronous belt 654, second moves shaft 650 and the second moving wheel 656, and the second guide rod 63 is far from the second connecting plate 62 One end connect second bearing seat 651, the second servo motor 652 and the second movement shaft 650 are installed on second bearing seat 651, Second movement synchronous belt 654 connection, 2 second movement synchronizing wheel 653, wherein one second movement synchronizing wheel 653 connects the second servo Motor 652, another second movement synchronizing wheel 653 connection the second movement shaft 650, the second movement of the second moving wheel 656 connection turn Axis 650.In a preferred embodiment, the quantity of the first moving wheel 556 and the second moving wheel 656 is respectively multiple, and first Supporting leg 50 and the second supporting leg 60 are stood more steady.
In one embodiment, first leg 50 further includes the first guidance set 56, and the first guidance set 56 is installed on basal disc 10, and the two sides of the first guidance set 56 are separately connected the first moving parts 55 and the first connecting plate 52.
In one embodiment, the first guidance set 56 includes the first guide rod 561 and is sheathed on the of the first guide rod 561 One guide sleeve 562, the both ends of the first guide rod 561 are separately connected the first lifting assembly 51 and the first moving parts 55.
In one embodiment, the second supporting leg 60 further includes the second guidance set 66, and the second guidance set 66 is installed on basal disc On 10, and the two sides of the second guidance set 66 are separately connected the second moving parts 65 and the second connecting plate 62.In one embodiment, Second guidance set 66 includes the second guide rod 661 and the second guide sleeve 662 for being sheathed on the second guide rod 661, and second liter It comes down to a lower group part 61 and the second guide sleeve 662 is installed on substrate 11, the second lifting assembly 61 connects far from the part connection second of substrate 11 Fishplate bar 62, the both ends of the second guide rod 661 are separately connected the second lifting assembly 61 and the second moving parts 65.
When chassis 10 rises, the first guide sleeve 562 rises with chassis 10 along the first guide rod 561, the second guide sleeve 662 rise with chassis 10 along the second guide rod 661, the first guide sleeve 562 and the first guide rod 561 and the second guide sleeve 662 and second the cooperation of guide rod 661 effect of guiding and support is primarily served to the rising on chassis 10.First guide rod 561 Also make the first connecting plate 52 and the second connecting plate 62 that there is fixed height respectively with the second guide rod 661, determines chassis 10 Move distance limit, so as to probably estimate step height that clean robot 100 can be climbed.
In one embodiment, first leg 50 and the second supporting leg 60 are centrosymmetric setting, i.e. the first screw rod 513 and second Screw rod 613 is respectively arranged on the two sides on chassis 10 along the distribution arrangement of first leg 50 and the second supporting leg 60, when raising chassis 10 When, the stress balance on chassis 10 will not lead to the problem of inclination.
As shown in Figures 4 and 5, running gear 30 includes walking driver 31, the transmission assembly for connecting walking driver 31 32 and connect transmission assembly 32 omni-directional wheel 33, omni-directional wheel 33 include main wheel 34 and be movably installed in main wheel 34 circumference first The direction of rotation of accessory whorl group, the first accessory whorl group is different with the direction of rotation of main wheel 34, and walking driver 31 is used to pass through transmission group Part 32 drives main wheel 34 to rotate and then omni-directional wheel 33 is driven to move along the direction of rotation of main wheel 34.
Walking driver 31 drives transmission assembly 32, and then main wheel 34 is driven to rotate, and the first accessory whorl group is slave unit, answers After sports equipment such as robot, walking is driven by the moving parts of sports equipment.Due to the direction of rotation and the of main wheel 34 The direction of rotation of one accessory whorl group is different, moves omni-directional wheel 33 toward multiple directions, when main wheel 34 rotates, the first accessory whorl group It does not rotate, is moved toward the direction of rotation of main wheel.When the rotation of the first accessory whorl group, main wheel 34 does not rotate, and rotates toward the first accessory whorl group Direction movement, the switching of multiple directions of motion can be realized without 33 torsional direction of omni-directional wheel, subtracted equipment and turned round switching The space occupied required for the direction of motion turn to running gear of the invention can at narrow space corner. Such as assume that the direction of motion of main wheel 34 is that laterally, then the direction of motion of the first accessory whorl group is different from other lateral directions, most First accessory whorl group of bottom abuts ground, starts walking driver 31, drives main wheel 34 to rotate by transmission assembly 32, and first is secondary Wheel group is moved in a circle using the axle center of main wheel 34 as the center of circle with the rotation of main wheel 34, and then 33 transverse movement of omni-directional wheel, when cutting When changing the direction of motion, main wheel 34 stops operating, and abuts the first accessory whorl group rotation on ground, and drives main wheel 34 mobile, Jin Erquan It is moved to wheel 33 toward the direction that the first accessory whorl group rotates.Running gear 30 of the present invention can switch multiple directions, and be not take up and cut Space is changed, is walked unobstructed.
In one embodiment, the first accessory whorl group includes multiple spaced first accessory whorls 35,35 activity peace of the first accessory whorl Circumference loaded on main wheel 34, the first accessory whorl 35 have the first working face, and the first working face of part protrudes main wheel 34, and main wheel 34 has Center of rotation axis, the first working face that all first accessory whorls 35 protrude 34 part of main wheel form the first tip circle, the first tip circle Center of rotation axis is overlapped with the center of rotation axis of main wheel 34, the direction of rotation of several first accessory whorls 35 and the rotation of main wheel 34 Direction is different.
In one embodiment, omni-directional wheel 33 further includes the second accessory whorl group for being movably installed in the circumference of main wheel 34, and second is secondary Wheel group includes several spaced second accessory whorls 36, and the second accessory whorl 36 is movably installed in the circumference of main wheel 34, the second accessory whorl 36 It is spaced and is arranged with the first accessory whorl 35, the second accessory whorl 36 has the second working face, and the second working face of part protrudes main wheel 34, Suo You The second working face that two accessory whorls 36 protrude 34 part of main wheel forms the second tip circle, the center of rotation axis and main wheel 34 of the second tip circle Center of rotation axis be overlapped, the direction of rotation of the second accessory whorl 36 is different with the direction of rotation of main wheel 34.
First accessory whorl 35 and the second accessory whorl 36 are driven wheel, and the direction of rotation of the first accessory whorl 35 and the second accessory whorl 36 with The direction of rotation of main wheel 34 is different.Generally, the first accessory whorl 35 and the second accessory whorl 36 are by first leg 50 and/or the second supporting leg 60 Drive rotation, the i.e. rotation of mobile driving the first accessory whorl 35 and the second accessory whorl 36 of first leg 50 and/or the second supporting leg 60.
In one embodiment, the first accessory whorl group and the second accessory whorl group are in relatively, are arranged in parallel, then the first accessory whorl of bottommost 351 is parallel with the direction of motion of the second accessory whorl 352, turns to more unobstructed.
In one embodiment, the first accessory whorl 35 and the second accessory whorl 36 are drum organization, the drum organization of the first accessory whorl 35 Arc radius is equal to the arc radius of the drum organization of the second accessory whorl 36.
In one embodiment, the circumference of main wheel 34 is equipped with several loose slots 37, is equipped with accessory whorl shaft in each loose slot 37 38, every one first accessory whorl 35 is installed in a loose slot 37 by accessory whorl shaft 38, and every one second accessory whorl 36 passes through accessory whorl shaft 38 are installed in a loose slot 37.
In one embodiment, transmission assembly 32 includes two walking synchronizing wheels 324, walking synchronous belt 325 and transmission shaft, walking Two walking synchronizing wheel 324 of the connection of synchronous belt 325, wherein a walking synchronizing wheel 324 connects walking driver 31, another walking is synchronized 324 connection transmission shaft of wheel, is driven axis connection main wheel 34.
In one embodiment, a clean robot 100 is no less than two, and all walkings containing the quantity of running gear 30 Device 30 is set in parallel.
As shown in Figure 1, clearing apparatus 40 is installed on substrate 11.More preferably, the quantity of clearing apparatus 40 is two, Huo Zhegeng It is more, it can sweep simultaneously, increase and effectively sweep area, improve working efficiency.
In one embodiment, as shown in fig. 6, clearing apparatus 40 include Electric brush of bristles roller 41, dust hood 42, collecting box 43, Dust absorption fan 44, dust hood 42 are installed on substrate 11, and Electric brush of bristles roller 41 is installed in dust hood 42, and dust hood 42 is equipped with dust suction Mouthful, dust hood 42 is connected to dust absorption fan 44 and collecting box 43 by suction inlet.Electric brush of bristles roller 41 sweep ground, make dust or its His waste items are raised or are loosened, and the work of dust absorption fan 44 generates negative pressure and dust Other Waste article is sucked receipts by suction inlet Header 43.
In one embodiment, clean robot 100 further includes range sensor 70, and range sensor 70 is installed on chassis 10, ultrasonic sensor can be used in range sensor 70, is mainly used for incuding clean robot 100 at a distance of barrier or to be cleaned The distance of step such as turns to or climbs step to make corresponding reaction.
Clean robot 100 climbs the step of step are as follows:
As shown in Fig. 8 to 16, it is followed successively by the schematic diagram of step 1 to 9;
Step 1: assuming that clean robot 100 at this time in first step, is intended to climb to second step, first leg 50 is located at Close to the position of second step, the second supporting leg 60 is located remotely from the position of second step, starts clean robot 100;
Step 2: the first lifting assembly 51 and the second lifting assembly 61 act, and the first stepper motor 512 is along the first screw rod 513 move toward the direction close to the first connecting plate 52, and second stepper motor 612 is along the second screw rod 613 toward close to the second connection The direction of plate 62 moves, while chassis 10 is raised to the height higher than second step;
Step 3: first servo motor 552 and/or the second servo motor 652 starting, drive the first moving wheel 556 and/or The movement of second moving wheel 656, drives clean robot 100 to move toward the direction close to second step, and chassis 10 is close to front position Part take to second step, range sensor 70 incudes first leg 50 at a distance of the distance between second step, to preset away from From when, first servo motor 552 and/or 652 stopping of the second servo motor movement;
Step 4: the movement of the first stepper motor 512 moves the first screw rod 513 relative to the first stepper motor 512, by the One moving parts 55 improve, and are equivalent to and lift first leg 50;
Step 5: the movement of the second moving parts 65 moves toward the direction of second step, takes first leg 50 to second Rank, and the chassis 10 of majority is located at second step, second supporting leg of the induction of range sensor 70 60 at a distance of second step away from From, until when pre-determined distance, 65 stopping of the second moving parts movement;
Step 6: second stepper motor 612 acts, and moves the second screw rod 613 relative to second stepper motor 612, by the Two moving parts 65 improve, and are equivalent to and lift the second supporting leg 60;
Step 7: the movement of the first moving parts 55, the direction movement in orientation, takes the second supporting leg 60 to second step forward, Clean robot 100 completes one step of climbing;
Step 8: walking driver 31 acts, and makes omni-directional wheel 33 along second step transverse movement, and drive chassis 10 12 transverse movement of universal wheel laterally cleans second step;
Step 9: swept away second step, turned in corner, walking driver 31 stops, the first moving parts 55 and/ Or second moving parts 65 drive omni-directional wheel 33 toward the direction of rotation of the first accessory whorl 35 and the second accessory whorl 36 move, complete corner It turns to, when continuing to climb step, keeps first leg 50 in front, climbing sequence of second supporting leg 60 at rear.
The operation of the recyclable above-mentioned steps 2 to 9 of the climbing of multiple steps.
Clean robot 100 of the present invention can connect when in use to be equipped with inside external power supply or clean robot 100 Power storage cell, wherein inside sets power storage cell and can move in a big way, not by the length limitation of electric power connection line.
The switching of multiple directions of motion may be implemented in clean robot 100 of the present invention, in handoff procedure clean robot without It need to turn round with converting motion direction, save space, can be turned to transverse movement and at narrow space corner, and climb It is orderly smooth to climb step, can effectively clean at stair.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.
One embodiment of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (10)

1. a kind of running gear, which is characterized in that including walking driver, the transmission assembly of the connection walking driver and company Connect the omni-directional wheel of the transmission assembly, the omni-directional wheel include main wheel and be movably installed in the main wheel circumference the first accessory whorl The direction of rotation of group, the first accessory whorl group is different with the direction of rotation of the main wheel, and the walking driver is for passing through institute Transmission assembly is stated to drive the main wheel to rotate and then the omni-directional wheel is driven to move along the direction of rotation of the main wheel.
2. running gear according to claim 1, which is characterized in that the first accessory whorl group includes multiple spaced First accessory whorl, first accessory whorl are movably installed in the circumference of the main wheel;The omni-directional wheel further include be movably installed in it is described Second accessory whorl group of the circumference of main wheel, the second accessory whorl group include several spaced second accessory whorls, second accessory whorl It is movably installed in the circumference of the main wheel;First accessory whorl and the second accessory whorl are driven wheel, and first accessory whorl and The direction of rotation of two accessory whorls is different with the direction of rotation of the main wheel.
3. running gear according to claim 1, which is characterized in that the circumference of the main wheel is equipped with several loose slots, often Accessory whorl shaft is equipped in one loose slot, each first accessory whorl is installed on a loose slot by the accessory whorl shaft It is interior.
4. running gear according to any one of claims 1 to 3, which is characterized in that the transmission assembly includes two rows Walk synchronizing wheel, walking synchronous belt and transmission shaft, the synchronous walking synchronizing wheel of band connection two of the walking a, wherein row It walks synchronizing wheel and connects the walking driver, another walking synchronizing wheel connects the transmission shaft, transmission axis connection institute State main wheel.
5. a kind of clean robot, which is characterized in that the clean robot includes the described in any item rows of Claims 1-4 Walking apparatus.
6. clean robot according to claim 5, which is characterized in that the clean robot further include:
Chassis, the running gear are installed on the chassis;
Climbing device, the climbing device are installed on the chassis;And
Clearing apparatus, the clearing apparatus are installed on the chassis.
7. clean robot according to claim 6, which is characterized in that the chassis includes substrate, the running gear It is installed on the substrate, the omni-directional wheel is located at the lower section of the substrate;The climbing device includes first leg and second Supporting leg, the first leg and second supporting leg are installed on the chassis, and are arranged in front and back, the first leg and institute Stating the second supporting leg with respect to ground moving or can climb.
8. clean robot according to claim 7, which is characterized in that the first leg include the first lifting assembly, First connecting plate and the first moving parts, first lifting assembly are installed on the substrate, and first lifting assembly is separate The part of the substrate connects first connecting plate;Second supporting leg includes the second lifting assembly, the second connecting plate and the Two moving parts, second lifting assembly are installed on the substrate, the part of second lifting assembly far from the substrate Connect second connecting plate;First lifting assembly is for driving the first leg to climb with respect to ground, and described first Moving parts are for driving the first leg with respect to ground moving;Second lifting assembly is for driving second supporting leg Opposite ground is climbed, and second moving parts are for driving second supporting leg with respect to ground moving;The first lifting group Part and second lifting assembly can increase the opposite ground in the chassis.
9. clean robot according to claim 7 or 8, which is characterized in that the quantity of the running gear is at least two It is a;The chassis further includes several universal wheels, and several universal wheels are installed on the bottom of the substrate.
10. such as the traveling method of the described in any item clean robots of claim 7 to 9, which is characterized in that including following step It is rapid:
The clean robot is located at first step, and second step to be risen to, the first leg and the second supporting leg will be described Chassis is increased with respect to first step;
The relatively described chassis in the bottom end of the first leg increases;
Second supporting leg is mobile towards the direction of second step, reaches predeterminated position, and the first leg is taken to second step;
The relatively described chassis in the bottom end of second supporting leg increases, and the first leg is mobile towards required direction, reaches default position It sets, second supporting leg is taken to second step, and completion is once climbed.
CN201910555310.2A 2019-06-25 2019-06-25 The traveling method of running gear, clean robot and clean robot Pending CN110338709A (en)

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RU2099230C1 (en) * 1995-06-07 1997-12-20 Волгоградский государственный технический университет Walking vehicle
CN2903174Y (en) * 2006-04-29 2007-05-23 胡子刚 Dusting cleaning apparatus of road sweeping vehicle
CN206218050U (en) * 2016-11-30 2017-06-06 陕西理工学院 A kind of stair climbing robot
CN106985608A (en) * 2017-04-14 2017-07-28 常州市吉庆机电有限公司 A kind of universal wheel
CN208248335U (en) * 2018-03-10 2018-12-18 彭椿皓 A kind of Omni-mobile chassis
CN109008828A (en) * 2018-09-13 2018-12-18 西南石油大学 A kind of stair cleaning machine device people mobile based on Mecanum wheel
CN208447439U (en) * 2017-12-29 2019-02-01 山东三方化工集团有限公司 Compound fertilizer's warehouse special mobile formula floor-sweeping dust collector
CN208864200U (en) * 2017-07-31 2019-05-17 深圳市普森斯科技有限公司 Dust catcher

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2099230C1 (en) * 1995-06-07 1997-12-20 Волгоградский государственный технический университет Walking vehicle
CN2903174Y (en) * 2006-04-29 2007-05-23 胡子刚 Dusting cleaning apparatus of road sweeping vehicle
CN206218050U (en) * 2016-11-30 2017-06-06 陕西理工学院 A kind of stair climbing robot
CN106985608A (en) * 2017-04-14 2017-07-28 常州市吉庆机电有限公司 A kind of universal wheel
CN208864200U (en) * 2017-07-31 2019-05-17 深圳市普森斯科技有限公司 Dust catcher
CN208447439U (en) * 2017-12-29 2019-02-01 山东三方化工集团有限公司 Compound fertilizer's warehouse special mobile formula floor-sweeping dust collector
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