CN113247140B - Self-moving robot - Google Patents
Self-moving robot Download PDFInfo
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- CN113247140B CN113247140B CN202110476986.XA CN202110476986A CN113247140B CN 113247140 B CN113247140 B CN 113247140B CN 202110476986 A CN202110476986 A CN 202110476986A CN 113247140 B CN113247140 B CN 113247140B
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- universal wheel
- self
- moving robot
- driving
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses a self-moving robot, comprising: the universal wheel and the driving wheel are arranged in the universal wheel fixing seat and the driving wheel fixing seat respectively, and a universal wheel support and a push rod for ejecting the universal wheel and the driving wheel are arranged in the universal wheel fixing seat and the driving wheel fixing seat respectively. Through above-mentioned scheme, set up ejecting push rod downwards in the drive wheel top, set up ejecting universal wheel support downwards in the universal wheel top, when the terrain clearance that needs to rise from mobile robot, utilize the push rod ejecting to mobilizable drive wheel, compact structure moreover occupies that the volume is less, is particularly suitable for the narrow and small robot in inner space to use.
Description
Technical Field
The invention relates to the field of robots, in particular to a self-moving robot.
Background
At present, with the development of intelligent robots such as a transfer robot, a sweeping robot, and a commercial reception robot, more and more industrial and commercial application scenarios start to use the robots. However, in the moving process of the robot, new challenges may be presented to the moving capability of the robot according to different use scenes. For example, if there are obstacles such as wires and doorsills in the driving space, the robot cannot pass through the obstacle because the height above the ground is too low, and even the robot is stuck and cannot get out of position, which affects the use. In view of the above, the present inventors have found that the above-described problem of the height from the ground of the robot main body cannot be solved by adjusting the height of the robot main body by using the height-adjustable link, but the link mechanism has a large volume, and therefore, the present invention is not applicable to a robot having a high space requirement, such as a floor sweeping robot and a transfer robot.
Therefore, there is a need for a self-moving robot to solve the problem that the height of the robot body above the ground cannot be adjusted and the size of the robot body cannot be adjusted in the prior art.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a self-moving robot capable of adaptively adjusting the height above the ground.
The technical scheme is as follows: a self-moving robot, comprising:
the device comprises a main body, a universal wheel arranged at the bottom of the main body and used for controlling the advancing direction of the self-moving robot, and a driving wheel arranged at the bottom of the main body and used for driving the self-moving robot to advance or retreat, wherein the driving wheel is connected with a power mechanism used for driving the driving wheel to rotate in a driving way;
the driving wheel is arranged in the driving wheel fixing seat, a baffle plate partially covering the top of the driving wheel is arranged above the driving wheel, the power mechanism is arranged in a shell, one end of the shell is movably connected with the bottom of the accommodating cavity through a hinge assembly, the other end of the shell is elastically connected with the side wall of the inner side of the driving wheel fixing seat through an elastic piece which is horizontally arranged, the shell is obliquely arranged, a push rod capable of extending downwards along the vertical direction is arranged above the baffle plate, and when the push rod is pushed downwards, the shell rotates around the hinge assembly and drives the driving wheel to move downwards;
the universal wheel top is equipped with the universal wheel support, just in the universal wheel fixing base is located to the universal wheel, be equipped with the pillar that can follow vertical direction downwardly extending in the universal wheel fixing base, pillar fixed connection the universal wheel top.
Furthermore, the push rod, the first screw rod and the first motor are sequentially arranged above the baffle, and the push rod, the first screw rod and the first motor are sequentially in driving connection.
Furthermore, a first telescopic cylinder is further arranged in the containing cavity, the first screw rod is arranged in the first telescopic cylinder, the first telescopic cylinder is connected with the first screw rod through threads, and the push rod is fixedly connected to the bottom of the telescopic cylinder.
Furthermore, a plurality of first racks which are arranged oppositely are arranged in the first telescopic cylinder, a plurality of first gears are arranged corresponding to the first racks, and the first gears are also respectively meshed with the first screw rods.
Further, still the cover is equipped with first cylinder body outside the first telescoping cylinder, first cylinder body fixed connection the drive wheel fixing base just the cylinder body inboard is equipped with a plurality of second racks, the second rack meshing is connected with the second gear, be equipped with on the first telescoping cylinder surface and correspond the third rack that the second gear set up.
Furthermore, a second screw and a second motor which is in driving connection with the second screw are sequentially arranged above the universal wheel support.
Furthermore, a second telescopic cylinder is further arranged in the universal wheel fixing seat, the second screw rod is arranged in the second telescopic cylinder, and the second telescopic cylinder is connected with the second screw rod through threads and movably connected with the bottom of the second telescopic cylinder through a universal wheel support.
Furthermore, a plurality of fourth racks which are arranged oppositely are arranged in the second telescopic cylinder, a plurality of third gears are arranged corresponding to the fourth racks, and the third gears are also respectively meshed with the second screw.
Further, a second cylinder body is further sleeved outside the second telescopic cylinder, the second cylinder body is fixedly connected with the driving wheel fixing seat, a plurality of fifth racks are arranged on the inner side of the second cylinder body, the fifth racks are connected with a fourth gear in a meshed mode, and fifth racks corresponding to the fourth gear are arranged on the outer surface of the second telescopic cylinder.
Further, the casing is rectangular shape, and is equipped with third motor and drive connection in proper order along casing length direction the transmission assembly of third motor, transmission assembly is used for the drive wheel rotates.
Has the advantages that: according to the self-moving robot, the movable driving wheel is arranged on the main body, the push rod capable of being ejected downwards is arranged above the driving wheel, the universal wheel support capable of being ejected downwards is arranged above the universal wheel, when the ground clearance of the self-moving robot needs to be raised, the push rod and the universal wheel support are used for ejecting the driving wheel and the universal wheel respectively, so that the ground clearance of the self-moving robot is raised, the structure is compact, the occupied size is small, and the self-moving robot is particularly suitable for robots with narrow internal space.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of a self-moving robot according to the present invention;
FIG. 2 is a first cross-sectional structural schematic view of the self-moving robot of FIG. 1;
fig. 3 is a second cross-sectional structural view of the self-moving robot shown in fig. 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is 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 at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 3, one embodiment of the self-moving robot of the present invention includes a main body 1, universal wheels 3, and driving wheels 2. The universal wheel 3 is arranged at the bottom of the main body 1 and used for controlling the advancing direction of the self-moving robot, the driving wheel 2 is arranged at the bottom of the main body 1 and used for driving the self-moving robot to advance or retreat, and the driving wheel 2 is connected with a power mechanism 202 used for driving the driving wheel 2 to rotate in a driving mode.
The bottom of main part 1 still is equipped with drive wheel fixing base 22, drive wheel 2 is located in drive wheel fixing base 22, 2 tops of drive wheel are equipped with the part and cover the baffle 201 at 2 tops of drive wheel, power unit 202 sets up in a casing 203, 21 swing joint are passed through to casing 203 one end hold the intracavity bottom, and the other end passes through the elastic component 204 elastic connection that the level set up the inboard lateral wall of drive wheel fixing base 22, just casing 203 is the slope setting, baffle 201 top is equipped with the push rod 24 that can follow vertical direction and stretch out downwards, works as when push rod 24 pushes away downwards, casing 203 winds articulated subassembly 21 rotates and drives 2 downstream of drive wheel.
1 bottom of main part still is equipped with universal wheel fixing base 32, 3 tops of universal wheel are equipped with universal wheel support 31, just in universal wheel 3 locates universal wheel fixing base 32, be equipped with the pillar that can follow vertical direction and stretch out downwards in the universal wheel fixing base 32, pillar fixed connection 3 tops of universal wheel.
Through set up mobilizable drive wheel 2 in main part 1 to set up push rod 24 that can push down in drive wheel 2 top, set up universal wheel support 31 that can push down in universal wheel 3 top, when the terrain clearance from mobile robot need rise, utilize push rod 24 and universal wheel support 31 to respectively ejecting drive wheel 2 and universal wheel 3, thereby rise from mobile robot's terrain clearance, and compact structure, the occupation volume is less, is particularly suitable for the narrow and small robot of inner space and uses.
Specifically, the push rod 24, the first screw 231 and the first motor 23 are sequentially arranged above the baffle 201, and the push rod 24, the first screw 231 and the first motor 23 are sequentially in driving connection. In some embodiments, the first motor 23 rotates to drive the first screw 231 to ascend or descend, the bottom of the first screw 231 is fixedly connected with the push rod 24 to push the push rod 24 to ascend or descend, after the push rod 24 descends to contact with the baffle 201, the push rod 24 pushes the baffle 201 to descend, the housing 203 rotates to gradually face the vertical direction, and thus the distance between the bottom of the main body 1 and the ground is increased.
As a further optimization of this embodiment, a first telescopic cylinder 26 is further disposed in the accommodating cavity, the first screw 231 is disposed in the first telescopic cylinder 26, the first telescopic cylinder 26 is connected to the first screw 231 through a thread, and the push rod 24 is fixedly connected to the bottom of the first telescopic cylinder 26. In some embodiments, the first motor 23 drives the first screw 231 to rotate, and the first screw 231 is connected with the first telescopic cylinder 26 by a screw thread, so that the first telescopic cylinder 26 can reciprocate along the direction of the first screw 231, and the push rod 24 is lifted or lowered by the first telescopic cylinder 26.
Specifically, a plurality of first racks 262 are oppositely arranged in the first telescopic cylinder 26, a plurality of first gears 261 are arranged corresponding to the first racks 262, and the first gears 261 are further respectively engaged with the first screws 231, that is, the first telescopic cylinder 26 is connected with the first screws 231 through the first gears 261 in a threaded engagement manner. When the first screw 231 rotates, the first gear 261 is driven to ascend or descend, so as to push the first telescopic cylinder 26 to ascend or descend. In this way, the rotation of the first screw 231 is converted into the movement between the rack and pinion, and a larger stroke of the first telescopic cylinder 26 is obtained, thereby forming a larger ground clearance adjustment capability with a small space.
As a further optimization of the present embodiment, a first cylinder 25 is further sleeved outside the first telescopic cylinder 26, the first cylinder 25 is fixedly connected to the fixed seat, a plurality of second racks 252 are disposed inside the first cylinder 25, the second racks 252 are engaged with a second gear 251, and a third rack (not shown) corresponding to the second gear 251 is disposed on an outer surface of the first telescopic cylinder 26. In this way, the cooperation of the first gear 261 and the second gear 251 provided inside and outside the first telescopic cylinder 26 provides the first telescopic cylinder 26 with a certain guiding function, and also acts to disperse the pressure applied to the first telescopic cylinder 26.
In this embodiment, a second screw 34 and a second motor 35 driving and connecting the second screw 34 are sequentially disposed above the universal wheel bracket 31. The second motor 35 rotates to drive the second screw rod 34 to ascend or descend, the bottom of the second screw rod 34 is fixedly connected with the universal wheel bracket 31 through a support column, so that the universal wheel bracket 31 is pushed to ascend or descend, the universal wheel 3 is driven to ascend or descend, and the distance between the bottom of the main body 1 and the ground is adjusted.
Specifically, still be equipped with second telescopic cylinder 33 in the universal wheel fixing base 32, second screw rod 34 is located in the second telescopic cylinder 33, second telescopic cylinder 33 is through threaded connection second screw rod 34 just universal wheel support 31 swing joint the second telescopic cylinder 33 bottom, thereby second telescopic cylinder 33 constitutes can stretch out downwards the pillar.
As a further optimization of this embodiment, a plurality of fourth racks 331 are oppositely disposed in the second telescopic cylinder 33, a plurality of third gears 36 are disposed corresponding to the fourth racks 331, and the third gears 36 are also respectively engaged with the second screws 34. In this way, the rotation of the second screw 34 is converted into the movement between the rack and pinion, and a larger stroke of the second telescopic cylinder 33 is obtained, thereby forming a larger ground clearance adjustment capability with a small space.
As a further optimization of the embodiment, a second cylinder 32 is further sleeved outside the second telescopic cylinder 33, the second cylinder 32 is fixedly connected to the driving wheel fixing seat 22, a plurality of fifth racks 321 are arranged on the inner side of the second cylinder 32, the fifth racks 321 are engaged with a fourth gear 37, and a fifth rack 321 corresponding to the fourth gear 37 is arranged on the outer surface of the second telescopic cylinder 33. In this way, the second gear 251 and the second gear 251 provided inside and outside the second telescopic cylinder 33 provide a certain guiding function to the second telescopic cylinder 33, and also play a role of dispersing the pressure applied to the second telescopic cylinder 33.
Specifically, the casing 203 is rectangular shape, and is equipped with third motor 202 and drive connection in proper order along casing 203 length direction the transmission assembly of third motor 202, the transmission assembly is used for driving drive wheel 2 rotates. One end at the short side both ends of the shell 203 is movably connected with the bottom in the accommodating cavity through a hinge assembly 21, the other end is elastically connected with the side wall of the accommodating cavity through an elastic piece 204 arranged horizontally, the shell 203 is obliquely arranged to form a lever structure, and when the push rod 24 is ejected downwards, the shell 203 rotates around the hinge assembly 21.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides a self-moving robot, includes the main part, locates the main part bottom and be used for controlling the universal wheel from self-moving robot direction of advance and locate the main part bottom and be used for driving the drive wheel that self-moving robot gos forward or backward, the drive wheel drive is connected with and is used for driving drive wheel pivoted power unit, its characterized in that:
the driving wheel is arranged in a driving wheel fixing seat, a baffle plate partially covering the top of the driving wheel is arranged above the driving wheel, the power mechanism is arranged in a shell, one end of the shell is movably connected with the bottom in the driving wheel fixing seat through a hinge assembly, the other end of the shell is elastically connected with the side wall of the inner side of the driving wheel fixing seat through an elastic piece horizontally arranged, the shell is obliquely arranged, a push rod capable of extending downwards along the vertical direction is arranged above the baffle plate, and when the push rod is pushed downwards, the shell rotates around the hinge assembly and drives the driving wheel to move downwards;
the top of the universal wheel is provided with a universal wheel bracket, the universal wheel is arranged in a universal wheel fixing seat, a support column which can extend downwards along the vertical direction is arranged in the universal wheel fixing seat, and the support column is fixedly connected with the top of the universal wheel;
the push rod, the first screw rod and the first motor are sequentially arranged above the baffle and are sequentially in driving connection;
a first telescopic cylinder is further arranged in the driving wheel fixing seat, the first screw rod is arranged in the first telescopic cylinder, the first telescopic cylinder is connected with the first screw rod through threads, and the push rod is fixedly connected to the bottom of the telescopic cylinder;
a plurality of first racks which are arranged oppositely are arranged in the first telescopic cylinder, a plurality of first gears are arranged corresponding to the first racks, and the first gears are also respectively meshed with the first screw rods.
2. The self-moving robot according to claim 1, wherein: still the cover is equipped with first cylinder body outside the first telescoping cylinder, first cylinder body fixed connection the drive wheel fixing base just the cylinder body inboard is equipped with a plurality of second racks, the second rack meshing is connected with the second gear, be equipped with on the first telescoping cylinder surface and correspond the third rack that the second gear set up.
3. The self-moving robot according to claim 1, wherein: and a second screw and a second motor which is in driving connection with the second screw are sequentially arranged above the universal wheel bracket.
4. The self-moving robot according to claim 3, wherein: still be equipped with the second telescoping cylinder in the universal wheel fixing base, the second screw rod is located in the second telescoping cylinder, the second telescoping cylinder passes through threaded connection the second screw rod just universal wheel support swing joint the second telescoping cylinder bottom.
5. The self-moving robot according to claim 4, wherein: a plurality of fourth racks which are arranged oppositely are arranged in the second telescopic cylinder, a plurality of third gears are arranged corresponding to the fourth racks, and the third gears are respectively meshed with the second screw.
6. The self-moving robot according to claim 5, wherein: still the cover is equipped with the second cylinder body outside the second telescoping cylinder, second cylinder body fixed connection the drive wheel fixing base just the second cylinder body inboard is equipped with a plurality of fifth racks, fifth rack toothing is connected with the fourth gear, be equipped with on the second telescoping cylinder surface and correspond the fifth rack that the fourth gear set up.
7. The self-moving robot according to any one of claims 1-6, wherein: the casing is rectangular shape, and is equipped with third motor and drive connection in proper order along casing length direction the transmission assembly of third motor, transmission assembly is used for the drive wheel rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476986.XA CN113247140B (en) | 2021-04-29 | 2021-04-29 | Self-moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476986.XA CN113247140B (en) | 2021-04-29 | 2021-04-29 | Self-moving robot |
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| Publication Number | Publication Date |
|---|---|
| CN113247140A CN113247140A (en) | 2021-08-13 |
| CN113247140B true CN113247140B (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110476986.XA Active CN113247140B (en) | 2021-04-29 | 2021-04-29 | Self-moving robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102464034A (en) * | 2010-11-16 | 2012-05-23 | 中冶宝钢技术服务有限公司 | Lifting transport vehicle for hinged frames |
| CN106828663A (en) * | 2017-02-23 | 2017-06-13 | 青岛霍博智能设备有限公司 | A kind of radio gang formula omnibearing ambulation hoistable platform transport vehicle |
| CN108945153A (en) * | 2018-09-10 | 2018-12-07 | 安克创新科技股份有限公司 | Drive wheel assemblies and intelligence are from mobile device |
| CN210612030U (en) * | 2019-03-29 | 2020-05-26 | 深圳市杉川机器人有限公司 | Mobile device and indoor cleaning robot |
| CN210822525U (en) * | 2019-08-19 | 2020-06-23 | 浙江大华机器人技术有限公司 | Mobile device |
-
2021
- 2021-04-29 CN CN202110476986.XA patent/CN113247140B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102464034A (en) * | 2010-11-16 | 2012-05-23 | 中冶宝钢技术服务有限公司 | Lifting transport vehicle for hinged frames |
| CN106828663A (en) * | 2017-02-23 | 2017-06-13 | 青岛霍博智能设备有限公司 | A kind of radio gang formula omnibearing ambulation hoistable platform transport vehicle |
| CN108945153A (en) * | 2018-09-10 | 2018-12-07 | 安克创新科技股份有限公司 | Drive wheel assemblies and intelligence are from mobile device |
| CN210612030U (en) * | 2019-03-29 | 2020-05-26 | 深圳市杉川机器人有限公司 | Mobile device and indoor cleaning robot |
| CN210822525U (en) * | 2019-08-19 | 2020-06-23 | 浙江大华机器人技术有限公司 | Mobile device |
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| Publication number | Publication date |
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| CN113247140A (en) | 2021-08-13 |
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