CN113428258B

CN113428258B - Control pedal structure and sweeping robot

Info

Publication number: CN113428258B
Application number: CN202110580194.7A
Authority: CN
Inventors: 李振; 王生贵; 苗凯; 曾亚骏; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2023-04-11
Anticipated expiration: 2041-05-26
Also published as: CN113428258A

Abstract

The invention relates to a control pedal structure and a sweeping robot. The control pedal structure comprises a fixed base, a pedal, a driving mechanism and a clutch mechanism, wherein the pedal is connected to the fixed base in a sliding manner; the driving mechanism comprises a driving piece, a first gear, a second gear in meshing transmission with the first gear and a connecting arm connected to the second gear, and the other end of the connecting arm is movably connected to the fixed base; the first gear drives the connecting arm to swing through the second gear under the driving force of the driving part, and the connecting arm drives the pedal to slide relative to the fixed base; the clutch mechanism comprises a handle and a supporting plate connected with the handle, and the driving piece and the first gear are arranged on the supporting plate; the handle can drive the backup pad and move towards the one side that deviates from the second gear, and the relative second gear of first gear is kept away from. According to the control pedal structure provided by the invention, the support plate is driven to move by the movable handle so as to release the meshing state of the first gear and the second gear, so that the pedal can be conveniently and manually moved relative to the fixed base.

Description

Control pedal structure and sweeping robot

Technical Field

The invention relates to the technical field of cleaning tools, in particular to a control pedal structure and a sweeping robot.

Background

With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive, and the existing production and manufacturing modes and the human life style are better changed. For example, an intelligent sweeping robot is suitable for various outdoor environments, and is generally provided with a control pedal convenient for manual standing driving operation in order to facilitate manual operation. However, the control pedal configured by the existing partial sweeping robot can seriously affect the use of the pedal when a driving fault occurs, and only the machine can be stopped for maintenance.

Disclosure of Invention

Therefore, a control pedal structure is needed to solve the technical problem that in the prior art, the pedal is inconvenient to operate when the control pedal is in failure, so that the use of the pedal is influenced.

A control pedal structure comprising:

the fixed base is provided with an accommodating cavity;

the pedal is connected to the fixed base in a sliding mode and can be accommodated in the accommodating cavity;

the driving mechanism is arranged on the pedal and comprises a driving piece, a first gear, a second gear in meshing transmission with the first gear and a connecting arm connected to the second gear, and the other end of the connecting arm is movably connected to the fixed base; the first gear drives the connecting arm to swing through the second gear under the driving force of the driving piece, and the connecting arm drives the pedal to slide relative to the fixed base;

the clutch mechanism is arranged on the pedal and comprises a handle and a supporting plate connected to the handle, and the driving piece and the first gear are arranged on the supporting plate; when the handle drives the supporting plate to move towards one side departing from the second gear, the first gear is far away from the second gear relatively.

In one embodiment, the supporting plate is provided with a limiting hole;

the clutch mechanism comprises a limiting column, one end of the limiting column is connected to the pedal, and the other end of the limiting column penetrates through the support hole; when the supporting plate moves, the limiting column moves in the limiting hole relative to the supporting plate.

In one embodiment, the limiting holes are elongated holes, the number of the limiting holes is two, the two limiting holes are arranged at intervals along a first direction, and each limiting hole corresponds to one limiting column; the first direction and the moving direction of the supporting plate are arranged at an angle.

In one embodiment, the clutch mechanism further includes a first elastic member having one end connected to the pedal and the other end connected to the support plate, the first elastic member being configured to apply a force to the support plate to move toward the first gear.

In one embodiment, the clutch mechanism further comprises a clamping column and a clamping arm;

the joint post with one in the joint arm connect in the handle, another connect in the backup pad, the joint arm is constructed with the joint groove, the joint post passes through the joint groove joint in the joint arm.

In one embodiment, one side of the second gear extends radially outward on itself to configure the connecting arm;

the driving mechanism further comprises a connecting rod, one end of the connecting rod is hinged to the fixed base, and the other end of the connecting rod is hinged to the extending tail end of the connecting arm.

In one embodiment, the pedal is configured with a mounting cavity, the clutch mechanism and the driving mechanism are both disposed in the mounting cavity, and the handle extends out of the mounting cavity.

In one embodiment, the fixed base comprises opposite and spaced slide rails, and the pedal is provided with a slide cavity connected with the slide rails in a sliding manner.

In one embodiment, the pedal is provided with an opening communicating with the mounting cavity;

the control pedal structure further comprises an accelerator mechanism, the accelerator mechanism is installed in the installation cavity, and part of the accelerator mechanism can extend out of the opening to the outer side of the pedal.

In one embodiment, the throttle mechanism comprises a supporting arm, a treading piece, a second elastic piece and a Hall element;

one end of the supporting arm is hinged to one side, facing the mounting cavity, of the pedal through a hinge shaft, and the other end of the supporting arm is connected to the treading piece; the second elastic piece is sleeved on the hinge shaft and connected between the supporting arm and the pedal; the Hall element is arranged on the treading piece and is used for being connected with a robot control system.

In one embodiment, a baffle is arranged on the edge of the fixed base facing the opening;

the accelerator mechanism also comprises a roller wheel, and the roller wheel is connected with the treading piece;

when the pedal extends into the accommodating cavity, the roller is accommodated in the mounting cavity and abuts against the baffle; when the pedal extends out of the accommodating cavity, the roller extends out of the mounting cavity of the pedal along with the treading piece from the opening.

The invention also provides a sweeping robot which can solve at least one technical problem.

The floor sweeping robot comprises the control pedal structure and a cleaning structure, wherein the control pedal structure is arranged on the cleaning structure.

The invention has the beneficial effects that:

the invention provides a control pedal structure which comprises a fixed base, a pedal, a driving mechanism and a clutch mechanism, wherein the driving mechanism and the clutch mechanism are both arranged on the pedal, and the pedal is connected to the fixed base in a sliding mode and can be accommodated in an accommodating cavity of the fixed base. The driving mechanism comprises a driving piece, a first gear, a second gear in meshing transmission with the first gear and a connecting arm connected to the second gear, and the other end of the connecting arm is connected to the fixed base. The driving piece can drive the first gear to rotate, the first gear drives the second gear to move, and the second gear drives the pedal to slide relative to the fixed base through the connecting arm, so that the pedal can stretch out and retract relative to the accommodating cavity of the fixed base. Clutching mechanism includes the handle and connects in the backup pad of handle, and driving piece and first gear all set up in the backup pad. Can drive the backup pad through the handle and move towards the one side that deviates from the second gear to drive the relative second gear of first gear and keep away from. That is, in the control pedal structure provided by the present invention, when the driving member fails to drive the first gear to rotate, the connecting arm connected to the second gear cannot rotate, so that the pedal cannot move relative to the fixed base. At the moment, the handle can be moved to drive the supporting plate to move, so that the meshing state of the first gear and the second gear is relieved, the limitation of the first gear to the second gear is eliminated, and the second gear and the connecting arm can be in a free state. Then the pedal is directly pulled to realize the movement of the pedal relative to the fixed base, so that the pedal can be used continuously.

The sweeping robot provided by the invention comprises the control pedal structure and a cleaning structure, wherein the control pedal structure is arranged on the cleaning structure so as to facilitate sweeping operation, and at least one technical effect can be realized.

Drawings

FIG. 1 is a first schematic view of the control pedal structure with pedal retraction provided in accordance with an embodiment of the present invention;

FIG. 2 is a second schematic illustration of the pedal retraction in a control pedal configuration according to an embodiment of the present invention;

FIG. 3 is a schematic view of pedal extension in a control pedal configuration provided in accordance with an embodiment of the present invention;

FIG. 4 is a partial schematic view of pedal extension in the control pedal configuration provided in FIG. 3;

FIG. 5 is a partial schematic view of the retraction of the pedals in the control pedal configuration provided by the present embodiment of the invention;

FIG. 6 is a first schematic illustration of the throttle mechanism in the control pedal configuration provided in FIG. 5;

fig. 7 is a second schematic diagram of the throttle mechanism in the control pedal configuration provided in fig. 5.

Reference numerals: 10-a fixed base; 11-a containment chamber; 12-a slide rail; 13-a baffle; 15-fourth opening; 16-a connecting frame; 20-a pedal; 21-second opening; 22-a mounting cavity; 23-a third opening; 24-a sliding cavity; 25-opening; 30-a drive mechanism; 31-a drive member; 32-a first gear; 33-a second gear; 34-a connecting arm; 35-a connecting rod; 36-gear box; 37-a sensing element; 40-a clutch mechanism; 41-a handle; 42-a support plate; 43-a limiting column; 44-a mounting substrate; 45-reinforcing bars; 46-a first resilient member; 47-a snap-fit post; 48-a snap arm; 50-throttle mechanism; 51-a support arm; 52-a tread element; 54-a hall element; 55-articulated shaft; 56-a roller; 57-a fixed support; 58-channel steel base; 331-a first opening; 371-a resilient contact; 421-limiting hole; 431-a rib; 481-clamping groove; 521-a frame body; 561-rotating shaft.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As shown in fig. 1 to 5, a control pedal structure according to an embodiment of the present invention includes a fixed base 10, a pedal 20, a driving mechanism 30, and a clutch mechanism 40. Wherein, the fixed base 10 has a containing cavity 11, and the pedal 20 is slidably connected to the fixed base 10 and can be contained in the containing cavity 11. The drive mechanism 30 and the clutch mechanism 40 are both mounted to the pedal 20. The driving mechanism 30 includes a driving member 31, a first gear 32, a second gear 33 engaged with the first gear 32, and a connecting arm 34 connected to the second gear 33, and the other end of the connecting arm 34 is movably connected to the fixed base 10. The first gear 32 is driven by the driving member 31 to swing the connecting arm 34 through the second gear 33, and the connecting arm 34 drives the pedal 20 to slide relative to the fixed base 10. The clutch mechanism 40 comprises a handle 41 and a supporting plate 42 connected to the handle 41, and the driving member 31 and the first gear 32 are both arranged on the supporting plate 42; the handle 41 can drive the support plate 42 to move towards the side away from the second gear 33, and the first gear 32 is far away from the second gear 33.

As shown in fig. 4 and 5, in actual use, the step plate 20 is in an initial state, that is, the step plate 20 is first received in the receiving cavity 11. When the pedal is required to be used, the driving member 31 is activated to drive the first gear 32 to rotate, the first gear 32 is in meshed transmission with the second gear 33, the second gear 33 drives the connecting arm 34 to swing, and the pedal 20 is pushed out of the accommodating cavity 11 of the fixed base 10 through the connecting arm 34. When the pedal 20 needs to be retracted into the accommodating cavity 11 again, the driving member 31 is started again to drive the first gear 32 to rotate reversely, and the second gear 33 drives the connecting arm 34 to swing reversely, so as to retract the pedal 20 into the accommodating cavity 11. Moreover, during the extension and retraction of the pedal 20, or the complete extension and retraction of the pedal 20 into the receiving chamber 11, if the drive member 31 fails to drive, the first gear 32 no longer rotates. At this time, the user can hold the handle 41 by hand, and the handle 41 drives the supporting plate 42 to move towards the side away from the second gear 33, because the driving member 31 and the first gear 32 are both mounted on the supporting plate 42, the supporting plate 42 can be synchronously moved along with the supporting plate, so that the first gear 32 is separated from the second gear 33. In this way, the second gear 33 is in a free state and is no longer subjected to the force exerted by the first gear 32. The pedal 20 is then manually pulled or the pedal 20 is pushed to effect extension or retraction of the pedal 20. When the pedal 20 is moved to a certain target position, the support plate 42 can be moved in the opposite direction by the external force, so that the first gear 32 approaches the second gear 33 and returns to the engaged state. At this time, the second gear 33 cannot rotate freely because of the engagement limit of the first gear 32, and the connecting arm 34 connected thereto cannot swing freely, so that the position of the pedal 20 with respect to the fixed base 10 does not change, that is, the pedal 20 is in a stable state.

That is to say, the control pedal structure provided by the present invention can drive the first gear 32 to separate from the second gear 33 through the cooperation of the handle 41 and the support plate 42 when the driving element 31 fails, so as to recover the free state of the second gear 33, and facilitate the manual operation of the pedal 20, thereby ensuring that the control pedal structure can still be used normally, and reducing the operation influence on the sweeping robot equipped with the control pedal structure. In addition, the handle 41 is only required to drive the support plate 42 to move towards the side away from the second gear 33 during operation, and the operation is very simple.

As shown in fig. 4 and 5, in some embodiments, the support plate 42 is provided with a stopper hole 421; the clutch mechanism 40 comprises a limit column 43, one end of the limit column 43 is connected with the pedal 20, and the other end of the limit column 43 passes through the support hole; when the supporting plate 42 moves, the limiting column 43 moves in the limiting hole 421 relative to the supporting plate 42. That is, when the supporting plate 42 moves relative to the pedal 20 under the action of the handle 41, the limiting column 43 fixed to the pedal 20 moves relative to the supporting plate 42 in the limiting hole 421, so as to limit the moving distance of the supporting plate 42 and improve the safety. Meanwhile, the matching of the limiting column 43 and the limiting hole 421 not only guides the movement of the supporting plate 42 relative to the second gear 33, but also realizes the reliable installation of the supporting plate 42 relative to the pedal 20. Specifically, the stopper hole 421 is provided as a long hole. One end of the limiting column 43 penetrating through the limiting hole 421 is provided with a rib 431, and the rib 431 axially limits the supporting plate 42 along the limiting column 43, so that the supporting plate 42 is prevented from shaking relative to the limiting column 43. Meanwhile, the rib 431 is provided to prevent the supporting plate 42 from being separated from the limiting column 43, so as to improve the moving stability. The first gear 32 has a gear box 36, the gear box 36 is mounted on the support plate 42 by screws, and the driving member 31 is mounted on the support plate 42 by a motor base so that the support plate 42 moves synchronously. In a specific embodiment, the driving member 31 is a motor, the output of the motor is a worm gear mechanism, and the worm gear is connected with the first gear 32, so that the locking performance of the pedal when the motor stops running is ensured by utilizing the self-locking characteristic of the worm gear.

As shown in fig. 4 and 5, in a specific embodiment, the number of the limiting holes 421 is two, two limiting holes 421 are disposed at intervals along the first direction, and each limiting hole 421 corresponds to one limiting column 43. The first direction is disposed perpendicular to the moving direction of the support plate 42. With the first direction as the width direction of the support plate 42, the two stopper holes 421 are arranged at intervals along the width direction of the support plate 42. At this time, it is assumed that the longitudinal direction of the support plate 42 is the moving direction of the support plate 42 with respect to the second gear 33. Each limiting hole 421 is correspondingly provided with one limiting hole 421, so that the connection reliability and the moving stability of the supporting plate 42 relative to the pedal 20 are improved. Specifically, taking fig. 5 as an example, rotating the handle 41 counterclockwise moves the supporting plate 42 toward a side away from the second gear 33, thereby separating the first gear 32 from the second gear 33. At this time, the supporting plate 42 is engaged with the position-limiting post 43 through the position-limiting hole 421 thereon, so that the position-limiting post 43 moves along the length direction of the position-limiting hole 421 relative to the position-limiting hole 421, thereby playing a guiding role.

In another embodiment, a mounting substrate 44 is further fixed on the pedal 20, and the position-limiting post 43 is fixed on the mounting substrate 44. Through the setting of mounting substrate 44 for spacing post 43 and backup pad 42 need not direct and footboard 20 contact, just also need not to carry out more structural transformation to footboard 20 oneself, thereby improves the structural strength of footboard 20. In addition, in order to further improve the mounting reliability, a reinforcing strip 45 is further provided on the side of the mounting substrate 44 away from the support plate 42, so that the reinforcing strip 45 can improve the structural strength of the pedal 20 and the supporting performance of the mounting substrate 44. The reinforcing bar 45 is internally provided with a sliding groove, and the mounting substrate 44 is slidably mounted on the reinforcing bar 45, so that the mounting position of the clutch mechanism 40 can be finely adjusted, and the clutch mechanism can be locked after being adjusted.

In a further embodiment, as shown in fig. 4 and 5, the clutch mechanism 40 further includes a first elastic member 46, one end of the first elastic member 46 is connected to the pedal 20, and the other end is connected to the support plate 42, and the first elastic member 46 is used for applying a force to the support plate 42 to move toward the first gear 32. Specifically, the support plate 42 has a tendency to move closer to the second gear 33 by the provision of the first elastic member 46, that is, the support plate 42 can be automatically returned to a state close to the second gear 33 without applying a force to the handle 41, so that the first gear 32 and the second gear 33 are again in a meshed state. At this time, since the first gear 32 is engaged with the second gear 33 and the first gear 32 cannot rotate when the driving member 31 fails, the free state of the second gear 33 is limited, so that the second gear 33 cannot rotate, and the connecting arm 34 cannot freely swing. In this way, it is ensured that the position of the footplate 20 relative to the fixed base 10 is no longer changed.

As shown in fig. 4 and 5, in one specific embodiment, the first elastic member 46 employs a tension spring to apply a restoring force to the support plate 42. Of course, it is also possible to manually move the handle 41 in the reverse direction after the pedal 20 is moved to the target position, to urge the support plate 42 close to the second gear 33, thereby achieving the meshed state of the first gear 32 and the second gear 33. In another specific embodiment, a first column is disposed on a side of the supporting plate 42 away from the second gear 33, a second column is disposed on a side of the mounting substrate 44 opposite to the first column and facing the second gear 33, and the first column and the second column are both provided with through holes, so that the hooks at two ends of the first elastic element 46 respectively pass through the through holes at the corresponding sides to mount the first elastic element 46.

In yet another embodiment, as shown in fig. 4 and 5, the clutch mechanism 40 further includes a snap post 47 and a snap arm 48; the clamping arm 48 is connected to the handle 41, the clamping column 47 is connected to the support plate 42, the clamping arm 48 is provided with a clamping groove 481, and the clamping column 47 is clamped to the clamping arm 48 through the clamping groove 481. Through the arrangement, the handle 41 is connected with the support plate 42, so that the handle 41 drives the support plate 42 to move relative to the second gear 33. In a specific embodiment, one end of the handle 41 is provided with a connection column, one end of the connection column facing away from the handle 41 is fixedly arranged on the mounting substrate 44, and the handle 41 can rotate around the axis of the connection column. The engagement arm 48 is fixedly connected to the handle 41 so as to rotate in synchronization with the handle 41. The catching arm 48 extends along a side facing away from the handle 41 to catch with the catching column 47 through a catching groove 481 extending along a length direction of the catching arm 48. At this time, when the handle 41 is rotated, the supporting plate 42 is moved away from the second gear 33 by the force of the engaging arm 48 acting on the engaging post 47. Taking the orientation of fig. 5 as an example, it is necessary to rotate the handle 41 counterclockwise. In another embodiment, a clamping hole may be formed in the clamping arm 48, and one end of the clamping column 47 is fixedly disposed on the clamping arm 48 through the clamping hole. Meanwhile, a connection post for mounting the handle 41 is slidably connected to the mounting base plate 44. At this time, the supporting plate 42 can be pulled to move by pulling the handle 41 through the engagement of the engaging arm 48 and the engaging post 47. In another embodiment, the latch arm 48 is fixed to the support plate 42, and the latch post 47 is fixed to the handle 41, as long as the support plate 42 can be moved by the handle 41.

As shown in fig. 4 and 5, in some embodiments, one side of the second gear 33 extends radially outward on itself to configure a connecting arm 34; the driving mechanism 30 further comprises a connecting rod 35, one end of the connecting rod 35 is hinged to the fixed base 10, and the other end is hinged to the extending tail end of the connecting arm 34. Specifically, the second gear 33 is provided with teeth for meshing with the first gear 32 except for the edge of the extension connecting arm 34, so that reliable meshing transmission of the second gear 33 and the first gear 32 is ensured. The connecting arm 34 is connected with the fixed base 10 through the connecting rod 35, so that the degree of freedom of connection between the connecting arm 34 and the fixed base 10 is increased firstly, and the risk of clamping between the connecting arm 34 and the fixed base 10 is reduced. Secondly, the connecting rod 35 increases the connecting arm of force between the connecting arm 34 and the fixed base 10, and when the second gear 33 outputs the same moment, the acting force acting on the pedal 20 is slightly reduced, so that the pedal 20 can move more stably relative to the fixed base 10, and the movement protection of the pedal 20 is improved.

As shown in fig. 2, 3 and 5, in a specific embodiment, the pedal 20 is provided with a second opening 21, and the fixed base 10 is provided with a fourth opening 15 at a position corresponding to the second opening 21. The fourth opening 15 is communicated with the accommodating cavity 11, a connecting frame 16 is arranged outside the fourth opening 15, and one end of the connecting rod 35 departing from the connecting arm 34 penetrates through the second opening 21 and the fourth opening 15 to be hinged to the connecting frame 16. When the connecting rod 35 moves under the action of the connecting arm 34, the connecting rod 35 can move in the second opening 21 and the fourth opening 15, so that the movement of the connecting rod 35 plays a limiting role, and correspondingly plays a limiting role in the sliding of the pedal 20 relative to the fixed base 10, and the pedal 20 is ensured to be always in a safe movement range relative to the fixed base 10 and cannot be completely separated from the fixed base 10.

In yet another embodiment, as shown in fig. 5, the second gear 33 has a first opening 331 in its face. Correspondingly, the pedal 20 is provided with the sensing element 37, and the sensing element 37 is provided with an elastic contact 371, and a part of the elastic contact 371 can extend into the first opening 331, so that the pedal 20 is in the initial state. When the second gear 33 rotates, the elastic contact 371 can be pressed down by the wheel surface. The elastic contact 371 is disposed in an arc shape to reduce the abrasion and interference between the elastic contact 371 and the second gear 33. The second gear 33 is mounted on the mounting substrate 44 through a rotating shaft 561. It should be noted that the sensing element 37 and the driving member 31 are connected to a control system of the sweeping robot for signal transmission.

In yet another specific embodiment, as shown in fig. 5, the wheel diameter of the second gear 33 is much larger than that of the first gear 32. The arrangement is such that the rotation driven by the driving member 31 (in the present embodiment, the motor is used) passes through the rotation speed ratio of the first gear 32 and the second gear 33, so that the output rotation speed of the second gear 33 is smaller, thereby improving the movement stability of the connecting arm 34, the connecting rod 35 and the pedal 20. Wherein the ratio of the rotation speed of the second gear 33 to the first gear 32 is between 6 and 7. For example, the rotation speed ratio is 6.4.

As shown in fig. 2, 4 and 5, in some embodiments, the pedal 20 is configured with a mounting cavity 22, the clutch mechanism 40 and the driving mechanism 30 are disposed in the mounting cavity 22, and the handle 41 extends out of the mounting cavity 22. That is, the installation cavity 22 is provided to accommodate the clutch mechanism 40 and the driving mechanism 30, thereby improving protection of the clutch mechanism 40 and the driving mechanism 30 from direct contamination of external water stains or impurities. Meanwhile, the handle 41 extends out of the installation cavity 22 so that an operator can conveniently carry out handheld operation, and operation convenience is improved. Wherein, a third opening 23 is provided on a side wall of the pedal 20 so that the handle 41 is protruded from the third opening 23.

As shown in fig. 2-5, in one specific embodiment, the fixed base 10 includes opposing and spaced-apart slide rails 12, and the pedal 20 has a slide cavity 24 slidably coupled to the slide rails 12. Specifically, the number of the slide rails 12 is two, and each slide rail 12 corresponds to one slide cavity 24, so as to improve the smoothness of the sliding of the pedal 20 relative to the fixed base 10. The sliding cavity 24 is not communicated with the mounting cavity 22, so that the lubricating substances in the sliding cavity 24 or the lubricating substances stored in the mounting cavity 22 are ensured not to interfere with each other, and the protection of the clutch mechanism 40 and the driving mechanism 30 in the mounting cavity 22 is further improved. In another embodiment, wheels are rotatably connected to both sides of the slide rail 12 in the width direction. When the pedal 20 slides relative to the slide rail 12, the wheel body can rotate in the slide cavity 24, so that the abrasion between the cavity wall of the slide cavity 24 and the slide rail 12 is reduced.

As shown in fig. 1, 3 and 5, in some embodiments, the pedal 20 is provided with an opening 25 communicating with the mounting cavity 22; the control pedal structure further includes a throttle mechanism 50, the throttle mechanism 50 being mounted in the mounting cavity 22, and a portion of the throttle mechanism 50 being capable of extending from the opening 25 to the outside of the pedal 20. Specifically, the accelerator mechanism 50 is connected to a control system of the sweeping robot for signal transmission, so that an operator can control the traveling of the sweeping robot through the accelerator mechanism 50. When the pedal 20 is in the storage state relative to the fixed base 10, the accelerator mechanism 50 extends into the mounting cavity 22 of the pedal 20 from the opening 25, so as to ensure that an operator does not step on the accelerator mechanism 50 by mistake. When the pedal 20 is extended relative to the fixed base 10, the throttle mechanism 50 can be extended from the opening 25 to the outside of the pedal 20, so that the operator can easily step on the pedal.

As shown in fig. 4 to 7, in some embodiments, the throttle mechanism 50 includes a support arm 51, a step member 52, a second elastic member, and a hall element 54; one end of the supporting arm 51 is hinged to one side of the pedal 20 facing the mounting cavity 22 through a hinge shaft 55, and the other end of the supporting arm 51 is connected to the stepping member 52; the second elastic member is sleeved on the hinge shaft 55 and connected between the support arm 51 and the pedal 20; hall element 54 is mounted to treadle 52 for connection with the robot control system.

In practical use, when the pedal 20 is accommodated in the accommodating cavity 11 of the fixed base 10, the supporting arm 51 applies an acting force to the second elastic member, so that the second elastic member is elastically deformed to store elastic potential energy. When the pedal 20 is extended relative to the fixed base 10 under the power of the driving mechanism 30, the supporting arm 51 is extended from the opening 25 of the pedal 20 under the action of the second elastic member, so as to drive the treading member 52 to extend. When the operator steps on the stepping member 52, the hall element 54 transmits the acting force borne by the stepping member 52 to the control system of the sweeping robot, so as to control the forward power of the sweeping robot according to the pressing degree of the stepping member 52. When the pedal 20 is extended into the accommodating cavity 11 by the driving mechanism 30, the step member 52 is pressed downward by the blocking action of the fixing base 10, and drives the supporting arm 51 to be pressed downward to retract into the mounting cavity 22, and the supporting arm 51 presses the second elastic member again. In a specific embodiment, the second elastic member is a torsion spring, and is disposed on a hinge shaft 55 of the support arm 51 hinged to the pedal 20. One end of the torsion spring is connected to the support arm 51 and the other end is connected to the pedal 20.

As shown in fig. 1, 4, 5 and 6, in some embodiments, the fixed base 10 is provided with a baffle 13 on the edge facing the opening 25; the throttle mechanism 50 further includes a roller 56, the roller 56 being connected to the stepping member 52; when the pedal 20 extends into the accommodating cavity 11, the roller 56 is accommodated in the mounting cavity 22 and abuts against the baffle 13; when the pedal 20 extends out of the accommodating cavity 11, the roller 56 extends out of the mounting cavity 22 of the pedal 20 along with the treading member 52 from the opening 25. That is, the extension and retraction of the step 52 with respect to the step 20 is achieved by the interference between the barrier 13 and the roller 56. With this arrangement, interference between the footstep 52 and the fixed base 10 is not required, and the footstep 52 is protected. Specifically, a frame 521 is disposed on a side of the stepping member 52 facing the mounting cavity 22, the roller 56 is connected to the frame 521 through a rotating shaft 561, and the roller 56 can rotate around the axis of the rotating shaft 561. By the cooperation between the rotatable roller 56 and the shutter 13, not only the throttle mechanism 50 is facilitated to be extended and retracted from the opening 25, but also the contact of the roller 56 and the shutter 13 becomes rolling friction, reducing the wear therebetween. Meanwhile, the supporting arm 51 is hinged to the frame 521 through another hinge shaft 55, so that the supporting arm 51 is connected to the stepping member 52.

As shown in fig. 6 and 7, in a specific embodiment, a fixing bracket 57 is disposed on a side of the pedal 20 facing the mounting cavity 22, the fixing bracket 57 is U-shaped, and two sides of the U-shaped opening 25 are provided with flanges extending outwards, so as to be fixed to the pedal 20 with screws. Meanwhile, a channel steel base 58 is fixedly arranged on the inner side of the fixing support 57, the hinge shaft 55 is connected to the channel steel base 58, one end of the second elastic member is fixedly arranged on the channel steel base 58, and the other end of the second elastic member is fixedly arranged on the support arm 51. In yet another specific embodiment, the support arm 51 is arranged in a V-shape. One end of the V-shaped support arm 51 is hinged to the channel steel base 58 through a hinge shaft 55, and the other end is connected to the stepping member 52.

An embodiment of the present invention further provides a floor sweeping robot, including the control pedal structure and a cleaning structure, where the control pedal structure is mounted on the cleaning structure, and the cleaning structure has structures such as a vehicle body and a cleaning roller 56, and is used for cleaning the ground. The control pedal structure is used for controlling the foot stepping of an operator, so that the traveling of the sweeping robot relative to the ground is controlled.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A control pedal structure, comprising:

a fixed base (10) having a housing chamber (11);

the pedal (20) is connected with the fixed base (10) in a sliding manner and can be accommodated in the accommodating cavity (11);

the driving mechanism (30) is arranged on the pedal (20) and comprises a driving piece (31), a first gear (32), a second gear (33) in meshing transmission with the first gear (32) and a connecting arm (34) connected to the second gear (33), and the other end of the connecting arm (34) is movably connected to the fixed base (10); the first gear (32) drives the connecting arm (34) to swing through the second gear (33) under the driving force of the driving part (31), and the connecting arm (34) drives the pedal (20) to slide relative to the fixed base (10);

the clutch mechanism (40) is arranged on the pedal (20) and comprises a handle (41) and a supporting plate (42) connected to the handle (41), and the driving piece (31) and the first gear (32) are arranged on the supporting plate (42); when the handle (41) drives the support plate (42) to move towards the side away from the second gear (33), the first gear (32) is far away from the second gear (33);

the pedal (20) is configured with a mounting cavity (22), and the pedal (20) is provided with an opening (25) communicated with the mounting cavity (22);

the control pedal structure further comprises a throttle mechanism (50), wherein the throttle mechanism (50) is installed in the installation cavity (22), and part of the throttle mechanism (50) can extend out of the pedal (20) from the opening (25);

the accelerator mechanism (50) comprises a supporting arm (51), a stepping piece (52), a second elastic piece and a Hall element (54);

one end of the supporting arm (51) is hinged to one side of the pedal (20) facing the installation cavity (22) through a hinge shaft (55), and the other end of the supporting arm (51) is connected to the stepping piece (52); the second elastic piece is sleeved on the hinge shaft (55) and connected between the supporting arm (51) and the pedal (20); the Hall element (54) is mounted to the treading member (52) for connection with a robot control system.

2. Control pedal structure according to claim 1, characterized in that the support plate (42) is provided with a limit hole (421);

the clutch mechanism (40) comprises a limiting column (43), one end of the limiting column (43) is connected to the pedal (20), and the other end of the limiting column penetrates through the limiting hole (421); when the supporting plate (42) moves, the limiting column (43) moves in the limiting hole (421) relative to the supporting plate (42).

3. The control pedal structure according to claim 2, wherein the limiting holes (421) are elongated holes, the number of the limiting holes (421) is two, two limiting holes (421) are arranged at intervals along a first direction, and each limiting hole (421) corresponds to one limiting column (43); the first direction is disposed at an angle to a direction of movement of the support plate (42).

4. The control pedal structure according to claim 1, wherein the clutch mechanism (40) further includes a first elastic member (46), one end of the first elastic member (46) being connected to the pedal (20) and the other end being connected to the support plate (42), the first elastic member (46) being configured to apply a force to the support plate (42) that moves toward the first gear (32).

5. The control pedal structure according to claim 1, wherein the clutch mechanism (40) further includes a snap-in post (47) and a snap-in arm (48);

one of the clamping column (47) and the clamping arm (48) is connected to the handle (41), the other is connected to the supporting plate (42), the clamping arm (48) is provided with a clamping groove (481), and the clamping column (47) is clamped to the clamping arm (48) through the clamping groove (481).

6. The control pedal structure according to claim 1, wherein one side of the second gear (33) extends radially outward along itself to configure the connecting arm (34);

the driving mechanism (30) further comprises a connecting rod (35), one end of the connecting rod (35) is hinged to the fixed base (10), and the other end of the connecting rod (35) is hinged to the extending tail end of the connecting arm (34).

7. The control pedal structure according to claim 1, wherein the clutch mechanism (40) and the drive mechanism (30) are both disposed in the mounting cavity (22), and the handle (41) protrudes out of the mounting cavity (22).

8. Control pedal structure according to claim 1, characterized in that the fixed base (10) is provided with a baffle (13) towards the edge of the opening (25);

the throttle mechanism (50) further comprises a roller (56), and the roller (56) is connected to the treading piece (52);

when the pedal (20) extends into the accommodating cavity (11), the roller (56) is accommodated in the mounting cavity (22) and abuts against the baffle (13); when the pedal (20) extends out of the accommodating cavity (11), the roller (56) extends out of the mounting cavity (22) of the pedal (20) from the opening (25) along with the stepping piece (52).

9. A sweeping robot comprising the control pedal structure of any one of claims 1-8, and further comprising a cleaning structure, wherein the control pedal structure is mounted to the cleaning structure.