CN113197515B - Moving mechanism and robot - Google Patents

Abstract

The invention discloses a moving mechanism and a robot, wherein the moving mechanism comprises a chassis, a driving wheel set, a guide wheel set and a driven wheel set, the driving wheel set, the guide wheel set and the driven wheel set are respectively arranged on the lower surface of the chassis, and at least one of the guide wheel set and the driven wheel set comprises two wheels; the moving mechanism realizes moving stability and turning flexibility in narrow space by optimizing the number of wheels below the chassis and the arrangement position of the driving wheels.

Description

Moving mechanism and robot

Technical Field

The invention relates to the technical field of robots, in particular to a moving mechanism and a robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive. The coming of the robot era will revolutionize the existing production and manufacturing modes and the human life style. Intelligent cleaning robots or intelligent distribution robots are suitable for use in various indoor environments, such as: shopping malls, office buildings, hotels, etc.

The chassis of the traditional sweeper generally adopts a three-wheel structure, the turning radius ratio under the structure is large, the sweeper is difficult to roll out after entering a narrow angle, the flexibility is not enough, and sanitary dead angles are easy to leave. The sweeper needs to be installed on the chassis, and when the wheel structure is arranged to meet the requirement that the turning radius is smaller, the requirement on driving stability is hardly met.

Therefore, a robot which can run stably and turn flexibly needs to be found.

Disclosure of Invention

One object of the present invention is: the moving mechanism is provided, and the structure below the chassis is optimized, so that the moving mechanism can move stably and flexibly steer;

another object of the invention is: the robot comprises the moving mechanism, and can move stably under the load of the moving mechanism and perform flexible turning operation.

In order to achieve the above object, one aspect of the present invention provides a moving mechanism, including:

a chassis;

the driving wheel set comprises a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel are oppositely arranged on the lower surface of the chassis;

the guide wheel set is arranged on the front side of the driving wheel set along the advancing direction of the moving mechanism;

the driven wheel set is arranged on the rear side of the driving wheel set along the advancing direction of the moving mechanism;

the driving wheel set, the guide wheel set and the driven wheel set are respectively arranged on the lower surface of the chassis;

at least one of the guide wheel set and the driven wheel set comprises two wheels;

the central point of the driving wheel set and the central point of the chassis are positioned on the same vertical straight line;

the moving mechanism realizes the smooth operation of the moving mechanism by arranging at least five wheels and comprising two driving wheels which are oppositely arranged, realizes flexible steering by differential control of the driving wheels, and realizes the stability of the moving mechanism and reduces the turning radius by installing the driving wheel set at the central position of the chassis.

In a preferred embodiment, the center point of the driving wheel set, the center point of the driven wheel set and the center point of the guiding wheel set are located on the same straight line and are all located in the same vertical plane with the symmetry axis of the chassis along the advancing direction of the moving mechanism, and the running stability of the moving mechanism is further improved by arranging the wheels in a symmetrical structure.

In a preferred embodiment, the moving mechanism further comprises a suspension system, the suspension system is arranged on the lower surface of the chassis, two sides of the suspension system are respectively movably connected with the first driving wheel and the second driving wheel, and the climbing and obstacle crossing capability is improved by arranging the suspension system;

the central point of the suspension system and the central point of the chassis are positioned on the same vertical straight line so as to meet the installation requirement of installing the driving wheel in the middle of the chassis.

In a preferred embodiment, the suspension system is a dual-yoke suspension system, which includes a fixed bracket connected to the chassis, a pair of yoke assemblies movably connected to both sides of the fixed bracket, and a pair of buffer assemblies having one end connected to the yoke assemblies and the other end movably connected to the fixed bracket;

the fork arm assembly comprises a support, an upper fork arm and a lower fork arm, wherein the support is used for mounting the first driving wheel or the second driving wheel respectively, one end of the upper fork arm is hinged with the fixed support, and the other end of the upper fork arm is fixedly connected with the support;

the fixed bracket comprises a first fixed part connected with the chassis and a second fixed part connected with the first fixed part;

the buffer assembly comprises a spring sleeve and a compression spring, one end of the compression spring is connected with the first fixing piece, and the other end of the compression spring is arranged in the spring sleeve;

the second fixing piece is movably connected with the fork arm assembly;

the suspension system adopts a double-fork arm suspension system to realize larger transverse rigidity of the moving mechanism, excellent anti-roll performance and excellent ground-attaching performance.

In a preferred embodiment, the first and second drive wheels each include a motor hub;

the moving mechanism further comprises a hub motor driver arranged on the upper surface of the chassis, and the hub motor driver is connected with the first driving wheel and/or the second driving wheel to control the first driving wheel and the second driving wheel to operate;

the independent control of the running speed and the running direction of each driving wheel is realized by the mode that the first driving wheel and the second driving wheel respectively comprise a motor hub, so that various running modes such as straight running and turning are realized.

In a preferred embodiment, the moving mechanism further comprises a first mounting frame, a second mounting frame;

the first mounting frame is connected between the chassis and the guide wheel set;

the second mounting frame is connected between the chassis and the driven wheel set;

the installation of direction wheelset, driven wheelset is realized through setting up first mounting bracket, second mounting bracket.

In a preferred embodiment, the moving mechanism includes a chassis, a double-fork arm suspension system disposed on a lower surface of the chassis, a driving wheel set, a guiding wheel set, and a driven wheel set;

the center point of the driving wheel set, the center point of the driven wheel set and the center point of the guide wheel set are positioned on the same straight line and are positioned in the same vertical plane with a symmetrical axis of the chassis along the advancing direction of the moving mechanism;

the guide wheel set comprises a guide wheel;

the driven wheel set comprises a first driven wheel and a second driven wheel;

the driving wheel set comprises a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel respectively comprise motor wheel hubs;

the moving mechanism further comprises a hub motor driver arranged on the upper surface of the chassis, and the hub motor driver is connected with the first driving wheel and/or the second driving wheel to control the first driving wheel and the second driving wheel to operate;

through the arrangement of the moving mechanism with five wheels and two driving wheels arranged in the middle, smooth operation is achieved, flexible steering in a narrow space is achieved, and the obstacle crossing capability is improved based on the double-fork-arm suspension system with the driving wheels.

The second aspect of the present invention provides a robot comprising the moving mechanism;

the robot also comprises a first cleaning component and a second cleaning component which are arranged on the chassis;

the first cleaning assembly comprises a first cleaning piece arranged on the lower surface of the chassis;

the second cleaning component comprises a second cleaning piece on the lower surface of the chassis;

the arrangement directions of the first cleaning piece and the second cleaning piece are respectively vertical to the advancing direction of the robot;

the robot can realize the stable operation and the flexible steering of the moving mechanism under the bearing of the moving mechanism, and realize the automatic cleaning by arranging the cleaning piece and the corresponding motor below the chassis of the robot.

In a preferred embodiment, the first cleaning element is a sweeping roller brush, and the first cleaning element is arranged between the guide wheel set and the driving wheel set;

the second cleaning piece is a ground washing rolling brush and is arranged between the driving wheel set and the driven wheel set;

the front side facility of robot sweeps floor the subassembly rear side and sets up and wash ground subassembly, realizes sweeping floor earlier and then washing ground to improve clean dynamics.

In a preferred embodiment, the robot further comprises side brush assemblies which are arranged on two sides of the guide wheel set in pairs; the first cleaning assembly further comprises a first waste bin;

the side brush assembly comprises a pair of side brushes vertically arranged on two sides of the guide wheel set and a side brush motor connected with the side brushes;

the first cleaning piece is embedded in the first garbage box;

the side brush assembly is arranged to be used for sweeping garbage in front of the robot into the lower portion of the robot in a centralized mode, and centralized cleaning is facilitated.

In a preferred embodiment, the side brush assembly further includes a third motor, and a first connecting rod having two ends respectively connected to the side brushes, and the first connecting rod is connected to an output end of the third motor;

the first mounting frame is provided with a channel matched with the first connecting rod;

through set up the passageway in first mounting bracket, can avoid causing the installation to interfere between first mounting bracket and the first connecting rod in the limit brush subassembly.

In a preferred embodiment, the robot further comprises a spraying unit, wherein the spraying unit comprises a water tank and a spray head, and the spray head is matched and connected with the second cleaning piece;

through setting up the unit that sprays, realize the washing to second cleaning member and ground.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

the present invention provides a moving mechanism, including: a chassis; the driving wheel set comprises a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel are oppositely arranged on the lower surface of the chassis; the guide wheel set is arranged on the front side of the driving wheel set along the advancing direction of the moving mechanism; the driven wheel set is arranged on the rear side of the driving wheel set along the advancing direction of the moving mechanism; the driving wheel set, the guide wheel set and the driven wheel set are respectively arranged on the lower surface of the chassis; at least one of the guide wheel set and the driven wheel set comprises two wheels; the moving mechanism realizes moving stability by optimizing the number of wheels below a chassis and the arrangement positions of the driving wheels, and realizes turning in a narrow space by reducing the rotating radius of the first driving wheel and the second driving wheel which are arranged oppositely when the first driving wheel and the second driving wheel rotate, so that the turning flexibility is improved;

the invention also provides a robot, which comprises the moving mechanism, and a first cleaning component and a second cleaning component which are arranged on the chassis, and the robot can stably and flexibly move under the load of the moving mechanism by optimizing the moving mechanism, can flexibly turn to carry out operation even in a small space, improves the coverage range of the motion track of the robot, and improves the practicability and the user experience.

It should be noted that the present invention only needs to achieve at least one of the above technical effects.

Drawings

Fig. 1 is a schematic structural view of a moving mechanism in embodiment 1;

FIG. 2 is a schematic view of a driving wheel set and a driving wheel support in embodiment 1;

fig. 3 is a bottom view of the robot in embodiment 2;

FIG. 4 is a perspective view showing the structure of the robot in one angle in embodiment 2;

FIG. 5 is an enlarged view of a portion a of FIG. 4;

FIG. 6 is a perspective view showing the robot according to another angle in embodiment 2;

FIG. 7 is an angled perspective view of the first cleaning assembly of example 2;

FIG. 8 is a schematic perspective view of a first cleaning assembly of embodiment 2 from another angle;

FIG. 9 is an angled perspective view of a second cleaning assembly of example 2;

FIG. 10 is a schematic perspective view showing another angle of the second cleaning member of embodiment 2;

FIG. 11 is a schematic perspective view showing a second cleaning assembly of embodiment 2 at a still further angle;

FIG. 12 is a schematic view showing the internal structure of a second cleaning unit according to embodiment 2;

fig. 13 is a schematic structural view of a wiper assembly according to embodiment 2.

The mark in the figure is: 100-moving mechanism, 10-chassis, 20-driving wheel set, 21-first driving wheel, 22-second driving wheel, 23-driving wheel support, 11-fixed support, 111-first fixed part, 112-second fixed part, 12-yoke assembly, 121-support, 122-upper yoke, 123-lower yoke, 13-buffer assembly, 131-spring sleeve, 132-compression spring, 30-guide wheel set, 31-guide wheel, 40-driven wheel set, 41-first driven wheel, 42-second driven wheel, 50-first mounting bracket, 60-second mounting bracket, 70-wheel guard, 200-robot, 210-first cleaning assembly, 211-first motor, 212-first cleaning member, 213-first body, 214-a first garbage box, 215-a dust suction pipe, 216-a first transmission synchronous pulley, 217-a first synchronous belt, 218-a first driven end cover, 219-an adjustable tension wheel, 220-a second cleaning component, 221-a second motor, 222-a second cleaning component, 223-a second body, 224-a second garbage box, 2241-a box body, 2242-a lower cover plate, 2243-a self-discharging cover plate linkage plate, 225-a spraying unit, 2251-a spray head, 2252-a water spray pipe joint, 226-a self-cleaning unit, 2261-a self-cleaning rolling brush, 227-a second transmission synchronous pulley, 228-a second synchronous belt, 229 a-an elastic tensioning component, 229 b-an elastic resetting component, 230-an upper component bracket and 231-a second driven end cover, 240-side brush component, 241-side brush, 242-side brush motor, 243-first connecting rod, 2431-connecting rod body, 2432-bending part, 2433-positioning part, 244-elastic plunger pin, 245-third motor, 250-water absorption rake component, 251-water absorption rake, 252-dust push, 253-water absorption rake lifting motor, 254-second connecting rod, 256-water pumping port, 280-first push rod motor and 290-second push rod motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "vertical," "parallel," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In view of the problems of the current cleaning robot or the delivery robot that the running stability and the turning flexibility are poor due to the three-wheel structure, the present embodiment provides a moving mechanism and a robot, which can effectively overcome the problems. A moving mechanism and a robot protected by the present invention will be described in detail with reference to fig. 1 to 13.

Example 1

Referring to fig. 1, the present embodiment provides a moving mechanism 100, where the moving mechanism 100 includes a chassis 10, a driving wheel set 20, a guiding wheel set 30, and a driven wheel set 40 disposed on a lower surface of the chassis 10, and at least one of the guiding wheel set 30 and the driven wheel set 40 includes two wheels.

With continued reference to fig. 1 and 2, the chassis 10 is an elliptical plate-like structure and is aligned with the major axis along the forward and backward directions. It should be noted that the end of the guide wheel set 30 is a forward end, i.e. a forward direction, as indicated by the arrow in fig. 1. The driving wheel set 20 comprises a first driving wheel 21 and a second driving wheel 22 which are oppositely arranged, and the central point of the driving wheel set 20 and the central point of the chassis 10 are located on the same vertical line, so as to realize the stability of the moving mechanism and reduce the turning radius.

Specifically, the first and second driving wheels 21 and 22 are mounted on the chassis 10 through a driving wheel bracket 23 provided on a lower surface of the chassis 10, and the first and second driving wheels 21 and 22 are symmetrically mounted on both sides of the driving wheel bracket 23. Preferably, the driving wheel support 23 is disposed in a direction perpendicular to the advancing direction of the moving mechanism 100, and the center point of the driving wheel support 23 and the center point of the chassis 10 are located on the same vertical line, so as to improve the overall moving stability.

Further, the driving wheel set 20 is located at the middle position of the lower surface of the chassis 10, and the distance between the first driving wheel 21 and the second driving wheel 22 can be actually selected according to the width of the chassis of the robot, which is not limited by the embodiment. It should be noted that, when the turning of the moving mechanism 100 is performed by the differential control of the first driving wheel 21 and the second driving wheel 22, the smaller the distance between the first driving wheel 21 and the second driving wheel 22, the smaller the corresponding turning radius. The embodiment effectively reduces the turning radius by reducing the distance between the first driving wheel 21 and the second driving wheel 22, thereby not only realizing the rotation in a narrow space, but also realizing the arrangement compactness of the surface components on the chassis 10.

With continued reference to fig. 1 and 2, the first driving wheel 21 and the second driving wheel 22 in this embodiment respectively include motor hubs, and the moving mechanism 100 further includes a hub motor driver (not shown) disposed on the upper surface of the chassis 10. The in-wheel motor drive is coupled to the first drive wheel 21 and/or the second drive wheel 22 to control the operation of the first and second drive wheels 21, 22. When one in-wheel motor driver is arranged, the in-wheel motor driver is connected with the first driving wheel 21 and the second driving wheel 22 at the same time and controls the running direction and speed of the first driving wheel and the second driving wheel. Likewise, when two in-wheel motor drivers are provided, each in-wheel motor driver is connected only with the first driving wheel 21 or the second driving wheel 22 to individually control the running direction and speed of the corresponding driving wheel. It should be noted that the connection manner of the hub motor driver and the motor hub of the driving wheel may be one of an electrical connection and a communication connection, which is not limited in this embodiment.

In the embodiment, the first driving wheel 21 and the second driving wheel 22 respectively comprise the motor hubs to realize independent control of the running speed and direction of each driving wheel, so that various running modes such as straight running and turning are realized.

As shown in fig. 1 and 2, the guide wheel set 30 is disposed at the front side of the driving wheel set 20 along the advancing direction of the moving mechanism 100, and the driven wheel set 40 is disposed at the rear side of the driving wheel set 20 along the advancing direction of the moving mechanism 100. Moreover, the center point of the driving wheel set 20, the center point of the driven wheel set 40, and the center point of the guiding wheel set 30 are located on the same straight line, and are all located in the same vertical plane with the symmetry axis of the chassis 10 along the advancing direction of the moving mechanism 100, so the present embodiment further improves the operation stability of the moving mechanism by arranging the wheels in a symmetrical structure.

The moving mechanism 100 further includes a first mounting bracket 50 and a second mounting bracket 60, the first mounting bracket 50 is connected between the chassis 10 and the guide wheel assembly 30 for mounting the guide wheel assembly 30, and the second mounting bracket 60 is connected between the chassis 10 and the driven wheel assembly 40 for mounting the driven wheel assembly 40.

Thus, the moving mechanism 100 includes at least 5 wheels, and includes two driving wheels disposed opposite to each other. In a first possible embodiment, the guide wheel set 30 comprises one guide wheel and the driven wheel set 40 comprises two driven wheels. In a second possible embodiment, the guide wheel set 30 comprises two guide wheels and the driven wheel set 40 comprises one driven wheel. In a third possible embodiment, the guide wheel set 30 comprises two guide wheels and the driven wheel set 40 comprises two driven wheels.

Preferably, the guide wheel and the driven wheel in the embodiment are universal wheels.

The guide wheel set 30 and the driven wheel set 40 further include wheel protection covers 70 respectively disposed on the outer sides of the guide wheel and the driven wheel, and the wheel protection covers 70 are annular structures with openings at the lower portions, so that ground objects can be effectively prevented from being wound or the wheels can be prevented from being moved under the influence.

Taking a first possible embodiment as an example, in this embodiment, the guide wheel set 30 includes one guide wheel 31, the driven wheel set 40 includes a first driven wheel 41 and a second driven wheel 42, and the guide wheel 31 is located in a vertical plane on which a symmetry axis of the chassis 10 along the advancing direction of the moving mechanism 100 is located, and the first driven wheel 41 and the second driven wheel 42 are respectively disposed on two sides of the vertical plane.

Preferably, the driving wheel support 23 is a suspension system, and two sides of the suspension system are movably connected with the first driving wheel 21 and the second driving wheel 22 respectively, so as to improve the climbing and obstacle crossing capability of the moving mechanism 100 by arranging the suspension system. Specifically, the center point of the suspension system and the center point of the chassis 10 are located on the same vertical straight line, so as to meet the installation requirement of installing the driving wheel in the middle of the chassis 10.

Further, as shown in fig. 2, the driving wheel support 23 is embodied as a double-wishbone suspension system, and includes a fixed support 11 connected to the chassis 10, a pair of wishbone assemblies 12 movably connected to both sides of the fixed support 11, respectively, and a pair of buffer assemblies 13 having one end connected to the wishbone assemblies 12 and the other end movably connected to the fixed support 11.

Specifically, the yoke assembly 12 includes a support 121 for mounting the first driving wheel 21 or the second driving wheel 22, an upper yoke 122 and a lower yoke 123, one end of which is hinged to the fixing bracket 11 and the other end of which is fixedly connected to the support 121, and the upper yoke 122 is disposed above the lower yoke 123. The fixed bracket 11 includes a first fixed member 111 connected to the chassis 10 and a second fixed member 112 connected to the first fixed member 111, and the second fixed member 112 is movably connected to the yoke assembly 12.

The cushion assembly 13 includes a spring sleeve 131 and a compression spring 132, wherein one end of the compression spring 132 is connected to the first fixing member 111, and the other end is disposed in the spring sleeve 131.

Illustratively, when the first driving wheel 21 passes through a ground bump (i.e. obstacle crossing), the first driving wheel 21 is pressed upward, the corresponding side yoke assembly 12 is opened upward and outward by a certain angle, the spring sleeve 131 moves upward along with the upward movement and compresses the compression spring 132 therein, the first driving wheel 21 is still in a ground gripping state, the friction force between the first driving wheel 21 and the ground is increased, and the climbing and obstacle crossing capability is enhanced. When the first driving wheel 21 passes through the recess, the pressure applied to the first driving wheel 21 is instantaneously reduced, the corresponding side yoke assembly 12 is folded downward and at a certain angle, the spring sleeve 131 moves downward and the compression spring 132 inside the spring sleeve releases the length, and at this time, the first driving wheel 21 is still in the ground-catching state.

Of course, in the above process, the second driving wheel 22, the guide wheel 31, the first driven wheel 41, and the second driven wheel 42 are still in the ground gripping state if they are still on the flat ground. When the second driving wheel 22 passes over a convex or concave ground, the state coincides with the first driving wheel 21. When any one or two of the guide wheel 31, the first driven wheel 41 and the second driven wheel 42 pass through a convex or concave ground, the rest at least one wheel is still in a ground gripping state with the first driving wheel 21 and the second driving wheel 22, and the running stability can still be kept. Therefore, the moving mechanism 100 provided by the embodiment has better stability by providing at least five wheels, and two of the wheels are driving wheels disposed oppositely, compared with the conventional three-wheel or four-wheel structure, and the two wheels can flexibly steer in a narrow space, and meanwhile, the obstacle crossing capability is further improved based on the double-fork-arm suspension system with the driving wheels.

Example 2

In addition to the moving mechanism 100 described in embodiment 1, the present embodiment provides a robot 200, and the robot 200 uses the moving mechanism 100 as a carrying member and is applied to various types of robots such as cleaning robots and delivery robots, and the present embodiment is not limited thereto.

For further clarity of the structure and operation of the robot 200, the cleaning robot is exemplified in the present embodiment and further described below with reference to fig. 3-13.

As shown in fig. 3-9, the robot 200 includes a moving mechanism 100, a first cleaning assembly 210 and a second cleaning assembly 220 disposed on a chassis 10, an upper assembly bracket 230 connected to the moving mechanism 100, and a housing (not shown) disposed by using the upper assembly bracket 230 as a framework and accommodating the components above the chassis 10, wherein the first cleaning assembly 210 includes a first motor 211 disposed on the lower surface of the chassis 10 and a first cleaning member 212 connected to the first motor 211. The second cleaning assembly 220 includes a second motor 221 provided on the lower surface of the chassis 10 and a second cleaning member 222 connected to the second motor 221. The first motor 211 controls the operation of the first cleaning member 212 to effect cleaning of the floor surface thereof, and the second motor 221 controls the operation of the second cleaning member 222 to effect cleaning of the floor surface thereof. Therefore, the robot 200 in this embodiment automatically cleans the floor by disposing a cleaning member and a corresponding motor under its chassis 10.

Specifically, the first cleaning member 212 and the second cleaning member 222 are perpendicular to the advancing direction of the robot 200, respectively, and when the robot 100 is a floor washing robot, the first cleaning member 212 is a sweeping roller brush, and the second cleaning member 222 is a nylon floor washing roller brush for washing the floor or a circular cloth roller brush for mopping the floor, and may be selectively installed to be suitable for different cleaning purposes. The first cleaning element 212 is disposed between the guide wheel set 30 and the driving wheel set 20, and the second cleaning element 222 is disposed between the driving wheel set 20 and the driven wheel set 40, that is, in the moving direction of the robot 200, the sweeping roller brush is disposed at the front side of the floor washing roller brush, so as to sweep the floor first and then wash the floor, thereby improving the cleaning effect.

Continuing to refer to fig. 7 and 8, the first cleaning assembly 210 further includes a first body 213, a first garbage box 214 detachably embedded in the first body 213, and a dust suction pipe 215 communicated with the first garbage box 214, the first garbage box 214 is a flat box structure with an opening, the first cleaning member 212 is embedded in the first garbage box 214 and is disposed at the opening of the first garbage box 214 to be attached to the ground, and the first cleaning member 212 sweeps the garbage into the opening of the first garbage box 214 and sucks the garbage into the first garbage box 214 under the continuous suction action of the dust suction pipe 215 to clean the garbage. The first motor 211 is a driving motor, and is disposed above the first garbage box 214 and at the driving end of the first cleaning member 212. The first cleaning component 210 further comprises a first transmission synchronous belt wheel 216 and a first synchronous belt 217, the first transmission synchronous belt wheel 217 is connected with an output shaft of the first motor 211 and rotates synchronously therewith, one end of the first cleaning component 212 penetrates through the first garbage box 214 and is connected with the first transmission synchronous belt wheel 216, and synchronous rotation is achieved to clean the ground. Preferably, the tension of the first timing belt 217 can be adjusted by providing an adjustable tension pulley 219 engaged with the first timing belt 217. Correspondingly, the first garbage box 214 corresponding to the driven end of the first cleaning member 212 is provided with a first driven end cap 218 which can be opened and closed, and the first cleaning member 212 can be assembled and disassembled by opening the first driven end cap 218.

Preferably, as shown in fig. 4, the robot 200 further includes a first push rod motor 280 connected to the upper surface of the first body 213 of the first cleaning assembly 210, the first push rod motor 280 is disposed on the chassis 10, and the output end of the first push rod motor 280 drives the first cleaning assembly 210 to ascend and descend integrally when performing telescopic motion, so as to adjust the distance between the first cleaning member 212 and the ground, so that when the robot is in an operating state, the first cleaning member 212 is attached to the ground, and when the robot is not in an operating state, the first cleaning member 212 is at a certain height, such as 20mm, from the ground. Preferably, the robot 200 further includes a lifting guide shaft 281 and a guide passage (not shown) provided on the chassis 10, wherein the lifting guide shaft 281 passes through the chassis 10 and has one end connected to the first body 213 to move up and down in the guide passage.

The robot 200 further includes side brush assemblies 240 provided in pairs at both sides of the guide wheel assembly 30. The side brush assembly 240 includes a pair of side brushes 241 and corresponding side brush motors 242 vertically disposed at both sides of the guide wheel set. The side brush assembly 240 is provided to centrally sweep garbage in front of the robot 200 into the lower part of the robot, facilitating centralized sweeping.

Specifically, the side brush assembly 240 further includes a third motor 245 and a first connecting rod 243 having two ends connected to one side brush 241, the first connecting rod 243 is connected to an output end of the side brush motor 242, and the first connecting rod 243 is lifted under the action of the third motor 245, that is, the side brush 241 is lifted. To this end, the first mounting bracket 50 is provided with a passage to be engaged with the first link 243. Preferably, the first mounting bracket 50 is a hollowed-out bracket. By providing the passage in the first mounting bracket 50, installation interference between the first mounting bracket 50 and the first link 243 of the side brush assembly 240 can be prevented, thereby improving assembly compactness.

Preferably, as shown in fig. 4 and 5, the first link 243 includes a link body 2431 and two bending portions 2432 respectively connected to two ends of the link body 2431, the bending portions 2432 are connected to the link body 2431 by hinges and are provided with a return torsion spring, and the bending portions 2432 can be bent downward and turned over relative to the link body 2431 and automatically return. The side brush assembly 240 further includes an elastic plunger pin 244, the link body 2431 includes a positioning portion 2433 detachably coupled to the elastic plunger pin 244, and the side brush 241 and the side brush motor 242 are connected to the bending portion 2432. Bending the bending part 2432 downwards and inserting the elastic plunger pin 244 into the positioning part 2433 to realize the fixation of the bending part 2432 and realize the ground pasting of the side brush 241; the elastic plunger pin 244 is pulled out from the positioning portion 2433, and the bending portion 2432 is reset and drives the side brush 241 to be turned up under the action of the torsion spring, so that the first garbage box 214 is prevented from being interfered, and the first garbage box 214 can be pulled out for garbage dumping.

As shown in fig. 9-12, similar to the first cleaning assembly 210, the second cleaning assembly 220 further includes a second body 223 and a second garbage box 224 detachably connected to the second body 223, the second body 223 and the second garbage box 224 cooperate to form a cavity for accommodating garbage, the cavity has an opening below, the second cleaning member 222 is embedded in the cavity and attached to the floor at the opening, and the second cleaning member 222 cleans the floor and sends the garbage into the cavity. The second cleaning assembly 220 further comprises a spraying unit 225 and a self-cleaning unit 226, wherein the spraying unit 225 comprises a water tank (not shown), a spray head 2251 disposed in the cavity and connected to the second cleaning member 222, and a spray pipe connector 2252 having one end connected to the water tank and the other end connected to the spray head 2251, and the second cleaning member 222 and the ground are cleaned by the spraying unit 225.

The self-cleaning unit 226 includes a self-cleaning rolling brush 2261, the self-cleaning rolling brush 2261 is a toothed structure made of hard material, the edge of the self-cleaning rolling brush 2261 abuts against the edge of the second cleaning member 222, the self-cleaning rolling brush 2261 rotates under the friction force of the second cleaning member 222, the second cleaning member 222 is cleaned by the self-cleaning rolling brush 2261 through the speed difference between the second cleaning assembly 220 and the self-cleaning rolling brush 2261, and the second garbage box 224 is arranged below the self-cleaning rolling brush 2261 to contain falling garbage.

The second cleaning assembly 220 further comprises a second transmission synchronous pulley 227 and a second synchronous belt 228, the second transmission synchronous pulley 227 is connected with the output shaft of the second motor 221 and rotates synchronously therewith, and one end of the second cleaning member 222 passes through the second garbage box 224 and is connected with the second transmission synchronous pulley 227 to realize synchronous rotation for cleaning the ground.

Preferably, the driving end of the self-cleaning roller brush 2261 passes through the second garbage can 224 and is engaged with the second timing belt 228, and is synchronously rotated by the second timing belt 228. It should be noted that, the diameter of the self-cleaning roller brush 2261 is smaller than that of the second cleaning member 222, and in this state, the linear velocity of the self-cleaning roller brush 2261 is the same as that of the second cleaning member 222, but the angular velocity of the self-cleaning roller brush 2261 is larger, so that the rotation speed difference between the self-cleaning roller brush 2261 and the second cleaning member 222 is achieved, and the purpose of cleaning the second cleaning member 222 by the self-cleaning roller brush 2261 is achieved.

Preferably, as shown in figures 9-12, the second cleaning assembly 220 further comprises a resilient tensioning member 229a and a resilient return member 229b. The second garbage box 224 includes a box 2241, a lower cover 2242 connected to one side of the box 2241 far from the second cleaning member 222 in an openable and closable manner, and a self-discharging cover linkage 2243 connected to one side of the lower cover 2242 close to the driving wheel set 20. The elastic tensioning piece 227 is arranged in the cavity formed by the second body 223 and the second garbage box 224, one end of the elastic tensioning piece is connected with the lower cover plate 2242, the other end of the elastic tensioning piece is connected with the inner wall of the top cover of the second body 223, the elastic resetting piece 229b is hinged with one side, close to the second cleaning piece 222, of the lower cover plate 2242, and under the combined action of the elastic tensioning piece 229a and the elastic resetting piece 229b, the box body 2241 and the lower cover plate 2242 are in a closed state normally. Preferably, the elastic tension member 227 is a tension spring, and the elastic restoring member 229b is a torsion spring.

Similarly, as shown in fig. 3 and 6, the robot 200 further includes a second lifting motor 290 connected to the upper surface of the second body 223 of the second cleaning assembly 220, the second lifting motor 290 is disposed on the chassis 10, and the output end of the second lifting motor 290 is connected to the second body 223, and when the output end performs telescopic motion, the second lifting motor drives the second cleaning assembly 220 to lift integrally, so as to adjust the distance between the second cleaning member 212 and the ground. When the output shaft of the second lifting motor 290 drives the second cleaning component 220 to move upwards, the self-discharging cover plate linkage plate 2243 is tightly abutted to the first fixing part 111 and cannot move upwards along with the second cleaning component 220 under the interference of the first fixing part 111, and under the existence of the elastic reset part 229b, one side of the lower cover plate 2242 is driven by the self-discharging cover plate linkage plate 2243 to stop moving upwards, and then one side is opened, so that the garbage can be automatically poured out. If the robot 200 is in the non-operating state, the second cleaning assembly 220 is lifted upwards by 20mm compared to the operating state, and under the action of the second lifting motor 290, the second cleaning assembly 220 is lifted upwards by 40mm compared to the operating state, at this time, the self-discharging cover plate linkage plate 2243 abuts against the first fixing member 111 and cannot be turned upwards along with the second cleaning assembly 220 to open under the interference of the first fixing member 111, so that the lower cover plate 2242 is opened to automatically pour out the garbage. Preferably, the robot 200 further includes a lifting guide shaft (not shown) and a guide passage provided on the chassis 10, the lifting guide shaft passing through the chassis and having one end connected to the second body 223 to move up and down in the guide passage.

Similarly, the driven end of the second cleaning assembly 220 is provided with a second driven end cap 231 which can be opened and closed, and the second cleaning member 222 and the self-cleaning roll brush 2241 can be assembled and disassembled by opening the second driven end cap 231.

In addition, as shown in fig. 3, 6, and 13, the robot 200 further includes a water absorption rake component 250 disposed at the tail end thereof, the water absorption rake component 250 includes a water absorption rake 251, a dust pusher 252 connected to the rear end of the water absorption rake 251, and a water absorption rake lifting motor 253 disposed on the chassis 10 and having an output end connected to the water absorption rake 251, and the water absorption rake 251 and the dust pusher 252 can be vertically lifted by disposing the water absorption rake lifting motor 253.

Preferably, the water absorbing rake assembly 250 further comprises a second connecting rod 254 connected between the water absorbing rake lifting motor 253 and the water absorbing rake 251, the second connecting rod 254 comprises an ear-shaped structure 255, the middle part of the ear-shaped structure 255 is sleeved at the output end of the water absorbing rake lifting motor 253, and two ends of the ear-shaped structure are respectively connected with two corresponding sides of the water absorbing rake 251. Further preferably, the water sucking and lifting motor 253 is arranged above the second mounting frame 60, the output shaft is movably arranged in the second mounting frame 60 in a penetrating manner through the chassis 10, and a through hole matched with the output shaft is arranged in the middle of the second mounting frame 60, so that installation interference is avoided and assembly compactness is improved.

The suction rake 251 is used for sucking the moisture on the ground, so it is a hollow structure, and has a suction port (not shown) on the ground, and a pumping port 256 on the opposite upper side, which is communicated with a sewage tank (not shown).

When the moving mechanism 100 is applied to a cleaning robot in the embodiment, the first cleaning member 212, the second cleaning member 222, the edge brush 241, the water absorption rake 251 and the dust pusher 252 are required to be in contact with and act on the ground during working, and the cleaning members need to be lifted to reduce friction and facilitate moving during non-working, so that the cleaning members have certain height requirements, the first cleaning component 210 and the second cleaning component 220 are located in the middle of the chassis, the required space is large, and the adjusting space in the vertical direction is small, so that the cleaning members are preferable, two groove structures are arranged at corresponding positions of the chassis 10, and at least parts of the first cleaning component 210 and the second cleaning component 220 are respectively embedded in the corresponding groove structures, so that the height requirements are met and the structural compactness is further improved.

Of course, the robot in this embodiment further includes necessary components for the robot, such as a battery, a power supply, and a sensor for sensing an obstacle, which are all conventional in the art, and this embodiment will not be further described.

The embodiment provides a robot based on a moving mechanism, which can realize overall stable movement and flexible turning under the load of the optimized moving mechanism, can flexibly turn to operate even in a small space, improves the cleaning coverage of the robot, and improves the practicability and the user experience; furthermore, the robot can improve the cleaning effect by cleaning and then cleaning; and furthermore, the automatic dumping of the garbage is realized by optimizing the structure, and the automation is further realized.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present invention, that is, any multiple embodiments may be combined to meet the requirements of different application scenarios, which are within the protection scope of the present application and are not described herein again.

It should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. A robot, comprising:

the moving mechanism comprises a chassis, a driving wheel set, a guide wheel set and a driven wheel set, wherein the driving wheel set, the guide wheel set and the driven wheel set are arranged on the lower surface of the chassis;

the robot also comprises a first cleaning component and a second cleaning component which are arranged on the chassis;

the first cleaning component comprises a first cleaning piece arranged on the lower surface of the chassis, and the first cleaning piece is arranged between the guide wheel set and the driving wheel set;

the second cleaning component comprises a second cleaning piece arranged on the lower surface of the chassis, and the second cleaning piece is arranged between the driving wheel set and the driven wheel set;

the arrangement directions of the first cleaning piece and the second cleaning piece are respectively vertical to the advancing direction of the robot and are sequentially arranged along the advancing direction;

the first cleaning assembly further comprises a first body and a first garbage box which is detachably embedded in the first body;

the second cleaning assembly further comprises a second body, a second garbage box, an elastic tensioning piece and an elastic resetting piece, wherein the second garbage box is detachably connected to the second body;

the second garbage box comprises a box body, a lower cover plate and a self-discharging cover plate linkage plate, the lower cover plate can be connected to one side of the box body, which is far away from the second cleaning piece, in an opening and closing mode, and the self-discharging cover plate linkage plate is connected to one side, which is close to the driving wheel set, of the lower cover plate;

the elastic tensioning piece is arranged in a cavity formed by the second body and the second garbage box, one end of the elastic tensioning piece is connected to the lower cover plate, and the other end of the elastic tensioning piece is connected to the inner wall of the top cover of the second body;

the elastic resetting piece is hinged with one side, close to the second cleaning piece, of the lower cover plate;

the robot also comprises a second lifting motor which is arranged on the chassis and connected with the second cleaning component;

the moving mechanism further comprises a first fixing piece connected with the chassis;

when the second lifting motor drives the clean subassembly of second when upwards, self-discharging apron linkage plate with first mounting supports tightly can't follow the clean subassembly of second upwards elasticity resets and exists down, apron one side is in one side is opened after stopping upwards under the drive of self-discharging apron linkage plate.

2. The robot of claim 1, further comprising a first pusher motor disposed on the chassis and coupled to the first cleaning assembly, the first pusher motor configured to adjust a distance between the first cleaning member and a floor; and/or the second lifting motor is used for adjusting the distance between the second cleaning piece and the ground.

3. A robot as claimed in claim 1, characterized in that the first cleaning member is a sweeping roller brush and the second cleaning member is a floor washing roller brush.

4. The robot of claim 3, further comprising edge brush assemblies disposed in pairs on opposite sides of the guide wheel set;

the side brush assembly comprises a pair of side brushes vertically arranged on two sides of the guide wheel set and a side brush motor connected with the side brushes;

the first cleaning piece is embedded in the first garbage box.

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