CN111084585A

CN111084585A - Intelligent road sweeper with walking wheel set with steering auxiliary capacity

Info

Publication number: CN111084585A
Application number: CN202010008546.7A
Authority: CN
Inventors: 朱高峰; 成运; 刘浩; 梁平元; 张艳蕾
Original assignee: Hunan University of Humanities Science and Technology
Current assignee: Hunan University of Humanities Science and Technology
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2020-05-01
Anticipated expiration: 2040-01-06
Also published as: CN111084585B

Abstract

The invention discloses a walking wheel group with steering auxiliary capacity for an intelligent sweeper, which comprises a walking wheel, wherein the walking wheel is annular, a gear ring is sleeved on the inner ring of the walking wheel, a transmission gear is meshed with the inner ring of the gear ring, the transmission gear is connected with a driving mechanism through a universal rod, a support rod is arranged on the driving mechanism in an extending way towards the circle center of the walking wheel, a positioning wheel is fixedly arranged at the tail end of the support rod, the positioning wheel is positioned at the center of the inner ring of the walking wheel, screw holes are transversely and symmetrically formed in the circle center of the positioning wheel, an annular plane thrust ball bearing is embedded in the outer side of the inner ring of the walking wheel, a support disk is covered on the plane thrust ball bearing, an auxiliary direction changing mechanism is arranged on the center of one side of the support disk, which, the screw rods penetrate through the supporting disc and are respectively sleeved in the corresponding screw holes, and openings for accommodating the movement of the screw rods are formed in the supporting disc corresponding to the screw rods.

Description

Intelligent road sweeper with walking wheel set with steering auxiliary capacity

Technical Field

The invention relates to the field of floor sweeper body robots, in particular to a walking wheel set with steering auxiliary capacity for an intelligent floor sweeper.

Background

The robot is a machine device which can automatically execute work, not only can accept human command, but also can run a pre-arranged program, and also can perform movements according to the principle formulated by artificial intelligence technology, the task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, the walking wheel set structure is a mechanism which drives an execution mechanism to move, the robot is driven to move by a power element according to a command signal sent by a control system, the robot is driven by the power element, the input electric signal is an electric signal, the output is a linear and angular displacement, a driving device used by the robot is mainly an electric driving device, an intelligent sweeper is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, can automatically complete floor cleaning work in a room by means of certain artificial intelligence, generally adopts a brushing and vacuum modes, the garbage collecting box is characterized in that the garbage collecting box is arranged on the ground, and the garbage collecting box is arranged on the ground.

The existing intelligent sweeper still has some problems, for example, most of the prior sweepers with double walking wheels adjust the rotating speed of the two walking wheels, so that the walking direction of the sweeper can be adjusted by the difference of the rotating speeds, the walking path of the sweeper can not be effectively corrected, the rotating speed of the sweeper can not be more precisely controlled, a large steering error exists, the sweeping degree of the ground is influenced to a certain extent, some detailed areas can not be effectively cleaned due to the steering problem, a small part of sweeping opportunities can be added to form a pair of steering wheels, but the problem cannot be perfectly solved due to the addition of the steering wheels, and the steering speed and the steering angle are not satisfactory.

Therefore, it is necessary to provide a traveling wheel set having an auxiliary steering function to make steering more accurate and faster.

Disclosure of Invention

The invention provides a traveling wheel set which has an auxiliary steering function and can steer more accurately and rapidly. Through the universal rod to and supporting disk, locating wheel and motor realize the angle modulation of walking wheel, as long as the control core through sweeping the machine controls the motor of the last transverse symmetry at supporting disk center, thereby it can the rotation of turning over and adjust the walking direction of its walking wheel, also can effectively revise the walking direction of walking wheel.

In order to solve the technical problem, the technical scheme of the invention is as follows:

the walking wheel set with steering auxiliary capacity for the intelligent sweeper comprises walking wheels, wherein the walking wheels are annular, a toothed ring is sleeved on an inner ring of each walking wheel, a transmission gear is meshed with an inner ring of the toothed ring, the transmission gear is connected with a driving mechanism through a universal rod, a supporting rod is arranged on the driving mechanism in a manner of extending towards the circle center of each walking wheel, a positioning wheel is fixedly arranged at the tail end of the supporting rod and is positioned at the center of the inner ring of each walking wheel, two screw holes are formed in the positioning wheel in a transversely symmetrical mode with the circle center, annular planar thrust ball bearings are embedded in the outer sides of the inner rings of the walking wheels, a supporting disk covers the planar thrust ball bearings, an auxiliary steering mechanism is arranged at one center of the supporting disk opposite to the positioning wheel and comprises two fixing blocks which are arranged in a transversely symmetrical mode, the dwang of motor all is connected with the lead screw, the lead screw passes the supporting disk is located in the screw that corresponds respectively to the cover, correspond on the supporting disk the lead screw is seted up and is held the opening that the lead screw was moved about.

Preferably, actuating mechanism includes casing, driving motor and driving gear, the cover is equipped with the driving gear on driving motor's the dwang, the driving gear meshing has driven gear one, driven gear one central connection has driven gear two, driven gear two meshes has driven gear three, driving motor installs in the shell, driven gear one, driven gear two, driven gear three all erect in the casing through the axostylus axostyle rotation.

Preferably, the shaft rod of the driven gear III penetrates through the shell to be fixedly connected with the universal rod.

Preferably, the casing includes upper housing and lower casing, the upper housing passes through the screw post lid and locates on the casing down, just the upper housing shape is unanimous with lower casing shape.

Preferably, the universal rod comprises a rod and a ball groove formed in a shaft rod of the transmission gear III, a ball is arranged at one end of the rod and wrapped in the ball groove, and the transmission gear is sleeved at the other end of the rod.

Preferably, an elastic chamber is further arranged in the ball groove, an elastic rope is arranged in the elastic chamber, and the elastic rope is connected with the ball.

Preferably, the walking wheel is provided with a ring groove on the side, the plane thrust ball bearing is embedded in the ring groove, and the supporting disk is welded on the plane thrust ball bearing.

Preferably, the auxiliary direction changing mechanism further comprises a protective cover, and the protective cover is arranged on the fixed block and the motor.

Preferably, the toothed ring and the transmission gear are both made of strong magnetic materials.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, correction is realized when the sweeper walks and turns a corner through the universal rod, the supporting disk, the positioning wheel and the motor, and only the motor which is transversely symmetrical on the supporting disk is controlled through the control core of the sweeper, so that the motor can rotate reversely and positively to adjust the walking direction of the walking wheel, and the walking direction of the walking wheel can also be effectively corrected.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention without a support plate;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic view of the relationship between the auxiliary direction changing mechanism and the support plate of the present invention;

FIG. 4 is a schematic front view of a support plate according to the present invention;

FIG. 5 is a schematic view showing the relationship between the support plate, the auxiliary direction changing mechanism and the positioning wheel according to the present invention;

FIG. 6 is a schematic top view of the fixed block and motor of the present invention;

FIG. 7 is a schematic view of the driving mechanism of the present invention;

FIG. 8 is a schematic diagram showing the relationship between a third driven gear, a universal rod and a transmission gear according to the present invention;

FIG. 9 is a perspective view of the gimbal structure of the present invention.

Reference numerals: 1. the device comprises a driving motor, 2, a lower shell, 3, a driving gear, 4, a first driven gear, 5, a second driven gear, 6, a third driven gear, 7, a transmission gear, 8, a traveling wheel, 9, a toothed ring, 10, a positioning wheel, 11, a supporting rod, 12, a supporting plate, 13, a universal rod, 14, a screw hole, 15, a motor, 16, a protective cover, 17, a shaft rod, 18, a ball rod, 19, a fixed block, 20, a ball, 21, a plane thrust ball bearing, 22, a screw rod, 23, an opening, 24, an elastic rope and 25 elastic chambers.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-9, the walking wheel 8 is ring-shaped, a gear ring 9 is sleeved on an inner ring of the walking wheel 8, a transmission gear 7 is meshed on an inner ring of the gear ring 9, the transmission gear 7 is connected with a driving mechanism through a universal rod 13, the driving mechanism drives the transmission gear 7 to rotate, the gear ring 9 is driven to drive the walking wheel 8 to rotate, the driving mechanism extends to the center of the circle of the walking wheel 8 to form a support rod 11, the support rod 11 is used for supporting a positioning wheel 10, a positioning wheel 10 is fixedly arranged at the tail end of the support rod 11, the positioning wheel 10 is positioned at the center of the inner ring of the walking wheel 8, screw holes 14 are symmetrically arranged on the positioning wheel 10 in the transverse direction of the circle, the positioning wheel 10 cannot rotate, the screw holes 14 are always transversely arranged, and are matched with an auxiliary steering mechanism to realize the deflection, an annular plane thrust ball bearing 21 is embedded into one side, close to the outside, of an inner ring of the traveling wheel 8, a supporting plate 12 covers the plane thrust ball bearing 21, the rotation traveling of the traveling wheel 8 is achieved through the plane thrust ball bearing 21, it is guaranteed that the supporting plate 12 cannot rotate along with the traveling wheel, it can be guaranteed that an auxiliary steering mechanism and a positioning wheel 10 are connected stably relatively to provide supporting capacity for the traveling wheel 8, the supporting plate is assisted in steering and wound around the circle center, an auxiliary steering mechanism is arranged on the center, opposite to one side of the positioning wheel 10, of the supporting plate 12 and comprises two fixing blocks 19 which are transversely symmetrically arranged, two motors 15 are arranged between the fixing blocks 19 corresponding to position rotating frames of screw holes 14, rotating rods of the motors 15 are connected with screw rods 22, the screw rods 22 penetrate through the supporting plate 12 and are respectively sleeved in the corresponding screw holes 14, openings 23 which accommodate the movement of the screw, the opening 23 can accommodate the left and right movement of the screw rod 22 (when the traveling wheel 8 deflects, the distance between the positioning wheel 10 and the support plate 12 changes, and in order to ensure that the position of the screw rod 22 is always vertical to the screw hole 14, so that the motor 15 can be inclined transversely therewith, and the screw rod 22 is always vertical to the screw hole 14), the two motors 15 are both electrically connected with a control core in the sweeper, and the control core is used for controlling the forward and reverse rotation of the two motors 15, so that the screw rod 22 is displaced in the screw hole 14 in the forward and reverse directions (when the screw rod 22 in one screw hole 14 rotates in the forward direction, the screw rod 22 in the other screw hole 14 with the center of the circle being transversely axisymmetric rotates in the reverse direction, so that when one screw rod 22 rotates, the other screw rod 22 does not rotate to generate obstruction, which causes the traveling wheel 8 to deflect slowly), thereby forcing the support plate 12 to, therefore, the traveling wheels 8 are deviated (because the distance between the traveling wheels 8 and the positioning wheels 10 is small, the deflection limit angle is 15-18 degrees, and in the range, the screw rod 22 cannot be separated from the corresponding screw hole 14, because the traveling wheels 8 are driving wheels, when the driving wheels deflect, the smaller deflection angle can be matched with the steering wheels to achieve better steering effect, and the two traveling wheels can generate a rotation speed difference to achieve the steering function, therefore, three steering modes (i.e. the traveling wheel rotation speed difference + the auxiliary steering mechanism + the steering wheels) or two steering modes (i.e. the traveling wheel rotation speed difference + the auxiliary steering mechanism) can be matched to achieve accurate and large-angle steering of the sweeper), a pair of traveling wheel sets (i.e. two symmetrically arranged traveling wheel sets) generally exists in the conventional sweeper, and a part of the middle-high-end sweeper has a pair of steering wheels, the steering wheel and the combination of the common walking wheel 8 can not improve the response speed and the accuracy of steering, and the walking wheel 8 with certain steering capacity is matched with the steering wheel, so that the steering wheel has the advantages that: knowing the condition that the sweeper needs to turn to through all kinds of sensors at the control core, simultaneous control directive wheel and walking wheel 8 turn to, perhaps control walking wheel 8 to turn to immediately after the directive wheel (postponing 8 turn to time of walking wheel can promote the overall stability when the sweeper turns to, avoid skidding) can improve the precision greatly to and response speed.

The driving mechanism comprises a shell, a driving motor 1 and a driving gear 3, the driving gear 3 is sleeved on a rotating rod of the driving motor 1, the driving gear 3 is meshed with a driven gear I4, the center of the driven gear I4 is connected with a driven gear II 5, the driven gear II 5 is meshed with a driven gear III 6, the driving motor 1 is installed in the shell, the driven gear I4, the driven gear II 5 and the driven gear III 6 are all arranged in the shell through a shaft lever 17 rotating frame, the shaft lever 17 is all rotated together with corresponding gears, the driving motor 1 is electrically connected with a control core of the sweeper, the positive and negative rotation and the rotating speed of the driving motor 1 are controlled by the control core, and therefore the sweeper can walk.

The shaft lever 17 of the driven gear III 6 penetrates through the shell to be fixedly connected with the universal rod 13, the driven gear III 6 drives the shaft lever 17 to rotate together when rotating, so that the universal rod 13 rotates to drive the transmission gear 7 to rotate, the transmission gear 7 drives the traveling wheel 8 to travel (even if the traveling wheel 8 deflects due to the existence of the universal rod 13, a large contact surface still exists between the transmission gear 7 and a toothed ring 9 in the traveling wheel 8, and the universal rod 13 can change at a certain angle, so that the transmission gear 7 can still be tightly attached to the toothed ring 9 along with the deflection of the traveling wheel 8)

The shell comprises an upper shell and a lower shell 2, the upper shell is covered on the lower shell 2 through a screw column, the shape of the upper shell is consistent with that of the lower shell 2,

the universal rod 13 comprises a rod 18 and a ball groove formed in a shaft rod 17 of the driven gear III 6, a ball 20 is arranged at one end of the rod 18, the ball 20 is wrapped in the ball groove, and the transmission gear 7 is fixedly sleeved at the other end of the rod 18, so that the universal rod 13 can be inclined within a certain angle, and the universal rod is adapted to changes of the traveling wheels 8 during deflection.

An elastic cavity 25 is further arranged in the ball groove, an elastic rope 24 is arranged in the elastic cavity 25, the elastic rope 24 is connected with the ball 20, when the ball rod 18 and the shaft rod 17 of the driven gear III 6 are in a straight line, the elastic rope 24 is in a stretching state, when the traveling wheel 8 deflects, the ball rod 18 is forced to incline, then the ball 20 rotates, the distance between the connection point of the elastic rope 24 and the ball rod 18 and the connection point of the elastic cavity 25 and the elastic rope 24 is lengthened, therefore, the elastic rope 24 is stretched, when the traveling wheel 8 rotates, the ball rod 18 returns to return to form a straight line with the shaft rod 17 of the driven gear III 6 again under the pulling of the elastic rope 24, and therefore the transmission gear 7 is attached to the toothed ring 9 in the traveling wheel 8 at the moment, and the moment transmission of power is guaranteed.

The side surface of the traveling wheel 8 is provided with a ring groove, the plane thrust ball bearing 21 (the plane thrust ball bearing 21 is a known component, the detailed structure of which is not completely described in the figure) is embedded in the ring groove, so that the occupied area of the plane thrust ball bearing 21 is reduced, the influence on the integral appearance of the traveling wheel 8 is avoided, the opening of the ring groove is slightly enlarged, the friction with the side surface of the ring groove when the plane thrust ball bearing 21 rotates can be avoided, the supporting disc 12 is welded on the plane thrust ball bearing 21, thereby realizing the supporting of the supporting disc 12 on the traveling wheel 8, enabling the traveling wheel 8 to rotate around the positioning wheel 10 under the driving of the transmission gear 7, ensuring that the supporting disc 12 does not rotate along with the rotation of the traveling wheel 8, the supporting disc 12 keeps a relatively stable state with the positioning wheel 10, enabling the screw rods 22 connected with the two motors 15 on the supporting disc 12 to be, thereby achieving support and directional adjustment of the road wheels 8.

The auxiliary direction changing mechanism further comprises a protective cover 16 (shown in fig. 3, the protective cover is fixed on the supporting disc through a screw rod), and the protective cover 16 covers the fixed block 19 and the motors 15 to protect the exposed fixed block 19 and the two motors 15 and ensure attractiveness.

The toothed ring 9 and the transmission gear 7 are made of magnetic materials, the transmission gear 7 is meshed with the toothed ring 9 in one step, the stability and the high efficiency of power transmission are improved, and the adsorption effect of the magnetic materials can consume a small part of power, but the adsorption effect is acceptable compared with a better and more stable transmission effect.

The invention provides a traveling wheel set which has an auxiliary steering function and can steer more accurately and rapidly. Through the universal rod 13 to and supporting disk 12, locating wheel 10 and motor 15 realize walking 8's angle modulation, as long as control core through sweeping the quick-witted control motor 15 of horizontal symmetry on the supporting disk 12 for thereby it can be anti-just rotatory adjust its walking direction of walking 8, also can effectively revise the walking direction of walking 8.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Intelligence machine of sweeping floor has the walking wheelset that turns to auxiliary capacity, its characterized in that: comprises a travelling wheel, the travelling wheel is annular, a toothed ring is sleeved in the travelling wheel, a transmission gear is meshed in the inner ring of the toothed ring, the transmission gear is connected with a driving mechanism through a universal rod, the driving mechanism extends to the circle center of the travelling wheel to form a supporting rod, the tail end of the supporting rod is fixedly provided with a positioning wheel, the positioning wheel is positioned in the center of the inner ring of the travelling wheel, two screw holes are formed in the positioning wheel in a horizontal symmetrical mode in the circle center, an annular plane thrust ball bearing is embedded in the outer side of the inner ring of the travelling wheel, a supporting disc covers the plane thrust ball bearing, an auxiliary steering mechanism is arranged at the center of one side of the supporting disc opposite to the positioning wheel and comprises two fixing blocks which are arranged in a horizontal symmetrical mode, two motors are arranged between the fixing blocks corresponding, the screw rods penetrate through the supporting plate and are respectively sleeved in the corresponding screw holes, and openings for accommodating the movement of the screw rods are formed in the supporting plate corresponding to the screw rods.

2. The walking wheel set for the intelligent sweeper according to claim 1, wherein: actuating mechanism includes casing, driving motor and driving gear, the cover is equipped with the driving gear on driving motor's the dwang, the driving gear meshing has driven gear one, driven gear one central connection has driven gear two, driven gear two meshes has driven gear three, driving motor installs in the shell, driven gear one, driven gear two, driven gear three all erect in the casing through the axostylus axostyle rotation.

3. The walking wheel set for the intelligent sweeper according to claim 2, wherein: and a shaft lever of the driven gear III penetrates through the shell to be fixedly connected with the universal rod.

4. The walking wheel set for the intelligent sweeper according to claim 3, wherein: the casing includes casing and lower casing, go up the casing and locate down on the casing through the screw post lid, just go up the casing shape and be unanimous with lower casing shape.

5. The walking wheel set for the intelligent sweeper according to claim 1, wherein: the universal rod comprises a rod body and a ball groove formed in a shaft rod of the transmission gear III, a ball is arranged at one end of the rod body, the ball is wrapped in the ball groove, and the transmission gear is sleeved at the other end of the rod body.

6. The walking wheel set with steering assisting capability for the intelligent sweeper according to claim 5, wherein: an elastic cavity is further arranged in the ball groove, an elastic rope is arranged in the elastic cavity, and the elastic rope is connected with the ball.

7. The walking wheel set with steering assisting capability for the intelligent floor sweeping machine according to claim 1, characterized in that: the annular has been seted up to the walking wheel side, plane thrust ball bearing inlays in the annular, the supporting disk welding is in on the plane thrust ball bearing.

8. The walking wheel set with steering assisting capability for the intelligent floor sweeping machine according to claim 1, characterized in that: the auxiliary direction changing mechanism further comprises a protective cover, and the protective cover is arranged on the fixed block and the motor.

9. The walking wheel set with steering assisting capability for the intelligent floor sweeping machine according to claim 1, characterized in that: the gear ring and the transmission gear are made of strong magnetic materials.