CN113696713A

CN113696713A - Self-moving robot and brake mechanism and driving mechanism thereof

Info

Publication number: CN113696713A
Application number: CN202110966960.3A
Authority: CN
Inventors: 翟德山; 严骋; 孙鹏
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-26

Abstract

The application discloses from mobile robot and brake mechanism and actuating mechanism thereof contains the organism from mobile robot, and bottom of the body sets up actuating mechanism and brake mechanism, and actuating mechanism sets up on actuating mechanism including directly driving motor and drive wheel, brake mechanism, and actuating mechanism fixes in bottom of the body. Because the driving mechanism adopts the direct drive motor which has silence, the noise can be reduced; meanwhile, the use of a gear reduction box is omitted, so that the space can be saved, the structure is simple, the assembly is easy, and the cost is low. And under the condition that the direct drive motor is powered off or damaged, the self-moving robot is locked by the brake mechanism, so that the self-moving robot can stably stand on a plane or a slope, and the safety performance is high.

Description

Self-moving robot and brake mechanism and driving mechanism thereof

Technical Field

The application relates to the technical field of intelligent tools, in particular to a self-moving robot and a brake mechanism and a driving mechanism thereof.

Background

With the rapid development of Artificial Intelligence (AI) technology, various intelligent robots increasingly enter the lives of people, and great convenience is brought to the lives of people. Common robots include mobile air cleaners, floor sweeping robots, window wiping robots, and the like.

At present, the robot is mainly driven by a driving wheel when running on the ground, and is kept balanced by an auxiliary universal wheel. In the process of advancing, the mode through motor plus reducing gear box provides power for the drive wheel to provide working power for the robot.

The combination of the motor and the reduction box has the problem of high noise.

Disclosure of Invention

The application provides a from mobile robot and brake mechanism and actuating mechanism thereof sets up actuating mechanism and brake mechanism from the bottom of mobile robot organism, and actuating mechanism is including directly driving motor and drive wheel, utilizes directly to drive motor drive from mobile robot and provide operating power, utilizes the brake mechanism control to guarantee the security from mobile device's brake simultaneously from mobile device silence operation.

In a first aspect, the embodiment of the application provides a self-moving robot, contain the organism, set up the actuating mechanism of bottom of the body, actuating mechanism includes the drive wheel and is used for the drive wheel directly drive the motor, self-moving robot still includes brake mechanism, brake mechanism includes brake power component and brake axle, works as when directly driving the motor and being supplied power, directly drive motor drive the drive wheel rotates, works as directly drive motor outage back, brake power component drive the brake axle removes and the butt the drive wheel makes drive wheel stall.

In one possible implementation, the driving mechanism further includes: the supporting structure is used for supporting the driving wheel and the direct drive motor, the driving wheel is fixed on the supporting structure, when the direct drive motor is powered on, the supporting structure is driven to rotate, and the supporting structure drives the driving wheel to roll.

In a feasible implementation manner, the direct drive motor is embedded in the supporting structure, and the driving wheel, the supporting structure and the direct drive motor are coaxially arranged.

In a possible implementation manner, a braking hole is provided on an end surface of the supporting structure facing the braking shaft, and the supporting structure stops rotating when the braking shaft is inserted into the braking hole.

In a possible implementation manner, the braking holes are arranged in the circumferential direction of the end face of the supporting structure facing the braking shaft, and the number of the braking holes is inversely proportional to the braking distance of the self-moving robot.

In a possible implementation manner, the brake hole is circular, square, rectangular or rhombic.

In a possible implementation manner, the brake shaft can reciprocate between the driving mechanism and the brake power assembly, the brake shaft stops rotating when moving towards the driving wheel and abutting against the driving wheel, and the brake shaft cancels the braking effect on the driving wheel when moving reversely and disengaging from the driving wheel.

In a feasible implementation manner, the brake power assembly comprises a brake motor, a rotating shaft of the brake motor is perpendicular to the brake shaft, and the rotating shaft of the brake motor is perpendicular to the rotating shaft of the direct drive motor.

In a feasible implementation mode, the brake power assembly comprises a fixed seat and an eccentric wheel, the motor for the brake is fixedly arranged on the fixed seat, and the eccentric wheel is fixedly arranged on the motor for the brake.

In a feasible implementation manner, before the direct drive motor is powered off and powered again, the motor for the brake drives the eccentric wheel to rotate according to a first direction so that the brake shaft abuts against the driving wheel, after the direct drive motor is powered again, the motor for the brake drives the eccentric wheel to rotate according to a second direction so that the brake shaft is disengaged from the driving wheel, and the first direction is opposite to the second direction.

In one possible implementation, the brake mechanism further includes: and the brake shaft guide sleeve is used for leading to a brake hole on the driving mechanism, and the brake shaft can reciprocate in the brake shaft guide sleeve.

In one possible implementation, the brake mechanism further includes: and the brake spring is sleeved on the brake shaft guide sleeve.

In one possible implementation, the self-moving robot further includes: the driving mechanism and the brake mechanism are arranged on two sides of the fixed end of the support, wherein the directions of the two sides are opposite.

In a possible implementation, when the driving wheel is in contact with the ground, the support is located at a first position, and when the driving wheel in the driving mechanism is not in contact with the ground, the support swings from the first position to a second position.

In a second aspect, an embodiment of the present application provides a brake mechanism, including: brake power component and brake axle, brake power component be used for to the brake axle provides brake power, the brake axle utilizes brake power actuating mechanism with reciprocating motion between the brake power component, the orientation of brake axle make the drive wheel stall when actuating mechanism's one end inserts the brake hole, the brake axle orientation brake power component's one end with brake power component is tangent.

In a third aspect, an embodiment of the present application provides a drive mechanism, including: the supporting structure is used for fixing the driving wheel, the direct-drive motor is embedded in the supporting structure, and the driving wheel, the supporting structure and the direct-drive motor are coaxially arranged and used for driving the driving wheel.

The embodiment of the application provides a from mobile robot and brake mechanism and actuating mechanism thereof contains the organism from mobile robot, and bottom of the body sets up actuating mechanism and brake mechanism, and actuating mechanism sets up on actuating mechanism including directly driving motor and drive wheel, brake mechanism, and actuating mechanism fixes in bottom of the body. Because the driving mechanism adopts the direct drive motor which has silence, the noise can be reduced; meanwhile, the use of a gear reduction box is omitted, so that the space can be saved, the structure is simple, the assembly is easy, and the cost is low. And under the condition that the direct drive motor is powered off or damaged, the self-moving robot is locked by the brake mechanism, so that the self-moving robot can stably stand on a plane or a slope, and the safety performance is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a driving mechanism and a braking mechanism of a self-moving robot provided in an embodiment of the present application;

FIG. 2 is an exploded view of a drive mechanism and a brake mechanism of a self-moving robot provided in an embodiment of the present application;

FIG. 3 is an assembly view of a drive mechanism and a brake mechanism of a self-moving robot provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a wheel seat in a support structure of a self-moving robot provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a brake power assembly of a self-moving robot provided in an embodiment of the present application;

fig. 6 is a schematic view of an air purification robot provided in an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

With the progress of science and technology, robots have advanced into the lives of more and more people and play an important role in the lives of people. Generally, a robot provides motion and working power by adopting a mode of a motor and a reduction gearbox, and the principle is that the reduction gearbox is utilized to realize larger torque and lower rotating speed. The motor is, for example, a brush motor, a brushless motor, or the like. Through the reduction box, the rotating speed of the motor can be reduced, and the driving force can be improved. For example, the rotation speed of the motor is 20000 rpm, and the rotation speed can be reduced to 20 rpm through the reduction gearbox, so that the robot can walk slowly.

However, the reduction gearbox is usually a gear reduction gearbox, and the gear rotation during the operation of the reduction gearbox generates larger noise. In addition, the reduction gearbox is large in size, high in cost, complex in structure and high in assembly difficulty, so that the self-moving robot is complex in structure and high in manufacturing cost.

Based on this, this application embodiment provides a self-moving robot and brake mechanism and actuating mechanism thereof, sets up actuating mechanism and brake mechanism from the bottom of mobile robot organism, and the motor on the actuating mechanism is directly driving the motor, utilizes directly to drive the self-moving robot and provide operating power, utilizes the brake mechanism control to move equipment's brake certainly simultaneously for the silence operation of equipment realizes certainly, practices thrift space and cost.

The self-moving robot in the embodiment of the application includes, but is not limited to, a sweeping robot. For example, the self-moving robot is a floor sweeping robot, a self-moving air cleaning robot, a self-moving mower, a window cleaning robot, a solar panel cleaning robot, a housekeeper robot, an unmanned aerial Vehicle, an Automatic Guided Vehicle (AGV), a security robot, a guest greeting robot, a nursing robot, or the like.

Fig. 1 is a schematic structural diagram of a driving mechanism and a braking mechanism of a self-moving robot according to an embodiment of the present application, fig. 2 is an exploded view of the driving mechanism and the braking mechanism of the self-moving robot according to the embodiment of the present application, and fig. 3 is an assembled view of the driving mechanism and the braking mechanism of the self-moving robot according to the embodiment of the present application. Referring to fig. 1 and 2, in the self-moving robot provided in the embodiment of the present disclosure, a driving mechanism 1 is disposed at a bottom of a body of the self-moving robot, and a braking mechanism 2 is disposed on the driving mechanism 1. The drive mechanism 1 comprises a drive wheel 11 and a direct drive motor 12 for driving said drive wheel 11. The brake mechanism 2 includes a brake power assembly 21 and a brake shaft 22. When the direct drive motor 12 is powered on, the direct drive motor 12 drives the driving wheel 11 to rotate, and after the direct drive motor 12 is powered off, the brake power assembly 21 drives the brake shaft 22 to move and abut against the driving wheel 11, so that the driving wheel 11 stops rotating. The figure is not intended to be taken from the bottom of the mobile robot body.

Referring to fig. 1 and 2, in the embodiment of the present application, a direct drive motor 12 is used instead of a high rotation speed motor. When the direct drive motor 12 is powered, the direct drive motor 12 rotates and has a low rotation speed ratio, so that a reduction gearbox is not required to reduce the rotation speed of the direct drive motor 12. Also, the direct drive motor 12 can provide a large driving force to drive and power the self-moving robot. Based on the driving force, the self-moving robot can travel at a speed of 0.1 m/sec or 0.2 m/sec. In addition, the self-moving robot is also provided with a working motor, the working motor and the direct drive motor are two independent motors, and the working motor provides working power for sweeping, mopping, purifying and the like for the self-moving robot.

The combination of the traditional motor and the reduction gearbox can prevent the self-moving equipment from sliding down a slope, sliding and the like when the motor is powered off. The resistance is related to the type of the reduction gearbox. When the slope is larger, if the resistance provided by the reduction gearbox is smaller, the slope slipping phenomenon still occurs. In the embodiment of the application, the motor of the driving mechanism 1 is the direct drive motor 12, and when the direct drive motor 12 is powered off, the autonomous mobile device has no self-locking function. In this case, when the autonomous moving apparatus is on a slope, an accident such as slipping is likely to occur.

For this purpose, in the embodiment of the present application, the self-moving robot further includes a brake mechanism 2, and the brake mechanism 2 includes a brake power assembly 21 and a brake shaft 22. When the direct drive motor 12 is powered, the direct drive motor 12 drives the driving wheel 11 of the self-moving robot to rotate. When the direct drive motor 12 is powered off, the brake mechanism 2 controls the driving wheel 11 to stop rotating. That is, when the power supply stops supplying power to the direct drive motor 12, the brake mechanism 2 operates so that the drive wheel 11 does not rotate any more, thereby locking the autonomous moving apparatus and preventing the autonomous moving apparatus from slipping off.

Referring to fig. 3, the driving mechanism and the braking mechanism are assembled into a whole through screws and the like, and the driving mechanism and the braking mechanism are simple in assembly, small in size and low in cost.

The self-moving robot that this application embodiment provided contains the organism, and bottom of the body sets up actuating mechanism, and actuating mechanism is including directly driving motor and drive wheel, and brake mechanism sets up on actuating mechanism, and actuating mechanism fixes in bottom of the body. Because the driving mechanism adopts the direct drive motor which has silence, the noise can be reduced; meanwhile, the use of a gear reduction box is omitted, so that the space can be saved, the structure is simple, the assembly is easy, and the cost is low. And under the condition that the direct drive motor is powered off or damaged, the self-moving robot is locked by the brake mechanism, so that the self-moving robot can stably stand on a plane or a slope, and the safety performance is high.

Optionally, in the above embodiment, the driving mechanism 1 further includes: the supporting structure 13 is used for supporting the driving wheel 11 and the direct drive motor 12, the driving wheel 11 is fixed on the supporting structure 13, when the direct drive motor 12 is powered, the supporting structure 13 is driven to rotate, and the supporting structure 13 drives the driving wheel 11 to roll.

Referring again to fig. 1 and 2, the support structure 13 includes two portions, which are respectively located at two ends of the driving wheel 11. One part of the wheel cover is called as a wheel cover 131, the other part of the wheel cover is called as a wheel seat 132, and a braking hole 133 and the like are arranged on the wheel seat 132. The wheel cover 131 and the wheel seat 132 are fixedly connected through a screw 14 and the like, the driving wheel 11 is arranged between the wheel cover 131 and the wheel seat 132, the wheel cover 131 and the wheel seat 132 are clamped and fixed, and the direct drive motor 12 is fixed on the wheel seat 132. For example, the direct drive motor 12 and the wheel base 132 are fixed by screws, so that when the direct drive motor 12 rotates, the wheel base 132 rotates synchronously, i.e. the wheel base 132 and the direct drive motor 12 are fixed and do not rotate relatively.

The drive wheel 11 may be a rubber covered wheel, a track wheel, or the like. When the working power supply supplies power to the direct drive motor 12, the direct drive motor 12 drives the driving wheel 11, the wheel cover 131 and the wheel seat 132 to rotate, so that the self-moving robot is driven to move integrally.

By adopting the scheme, the driving mechanism is realized by directly driving the motor, the driving wheel, the supporting structure and the like, and the structure is simple and the cost is low.

Optionally, in the above embodiment, the direct drive motor 12 is embedded in the support structure 13, and the driving wheel 11, the support structure 13 and the direct drive motor 12 are coaxially disposed.

Referring to fig. 1 again, the central axis of the direct drive motor 12, the central axis of the driving wheel 11, and the central axis of the supporting structure 13 are on the same straight line, and the central axis of the supporting structure 13 is the central axis of the wheel cover 131 and the wheel base 132. By adopting the design, all the components of the driving mechanism 1 are tightly connected, the structure is compact, and the occupied space is small.

Alternatively, in the above embodiment, a braking hole 133 is provided on an end surface of the support structure 13 facing the braking shaft 22, and the rotation of the support structure 13 is stopped when the braking shaft 22 is inserted into the braking hole 133.

Referring to fig. 1 again, the end surface of the supporting structure 13 facing the braking axle 22 is the wheel seat 132, the braking hole 133 is disposed on the circumferential direction of the wheel seat 132, and the braking axle 22 can be inserted into the braking hole 133 to realize braking when moving toward the driving wheel 11. When the brake shaft 22 moves in the reverse direction, it is pulled out of the brake hole 133 to release the braking effect.

Optionally, in the above embodiment, the braking holes 133 are disposed in the circumferential direction of the end surface of the support structure 13 facing the braking shaft 22, and the number of the braking holes 133 is inversely proportional to the braking distance of the self-moving robot.

Fig. 4 is a schematic view of a wheel seat in a support structure of a self-moving robot provided in an embodiment of the present application. Referring to fig. 4, braking holes 133 and blocking arms 134 are formed in the circumferential direction of the wheel seat 132, the braking holes 133 are formed between two adjacent blocking arms 134, and the number of the braking holes 133 is inversely proportional to the braking distance of the self-moving robot.

For example, if only one braking hole 133 is provided on the wheel seat 132, the driving wheel 11 rotates one circle, that is, 360 degrees, during braking, so that the braking shaft 22 is aligned and inserted into the braking hole 133, and the self-moving robot is locked. If the number of the braking holes 133 is large, the braking shaft 22 can be aligned and inserted into a certain braking hole 133 by a small angle, i.e. the braking distance is small. For example, 20 braking holes 133 are uniformly formed in the circumferential direction of the wheel seat 132, so that the driving wheel 11 can be braked only by rotating 18 degrees during braking, and the self-moving robot is locked. For another example, if 40 braking holes 133 are uniformly formed in the circumferential direction of the wheel seat 132, the driving wheel 11 can be braked only by rotating 9 degrees in the braking process, so that the self-moving robot is locked.

In addition, the wheel seat 132 is further provided with a mounting hole 135, and the direct drive motor 12 can be fixed to the wheel seat 132 through the mounting hole 135.

By adopting the scheme, small-angle locking is realized by arranging a plurality of brake holes, and the purpose of quickly locking the self-moving robot is realized.

Alternatively, the braking holes 133 may be circular, square, rectangular, diamond-shaped, or irregular. In practice, the shape of the brake hole 133 can be flexibly set.

Alternatively, in the above embodiment, the braking shaft 22 can reciprocate between the driving mechanism 1 and the braking power assembly 21, the braking shaft 22 stops the rotation of the driving wheel 11 when moving toward the driving wheel 11 and abutting against the driving wheel 11, and the braking action on the driving wheel 11 is cancelled when the braking shaft 22 moves in the opposite direction and disengages from the driving wheel 11.

Referring again to fig. 1, when the autonomous moving apparatus is traveling or working normally, the brake shaft 22 is not inserted into the brake hole 133 of the driving mechanism 1. When the autonomous moving apparatus receives a stop command or the power supply fails to supply power to the direct drive motor 12, the brake shaft 22 moves toward the driving wheel 11 using the power supplied from the brake power assembly 21, thereby being inserted into the brake hole 133, so that the driving wheel 133 stops rotating.

In order to enable the brake power assembly 21 to provide the brake power to the brake shaft 22 in time, one end of the brake shaft 22 faces the driving wheel 11, and the other end of the brake shaft 22 faces the brake power assembly 21 and is always tangent to the brake power assembly 21. Thus, once the brake power assembly 21 is operated, the brake shaft 22 is pushed to move so as to be inserted into the brake hole 133, thereby stopping the self-moving robot from moving. When the power source supplies power to the direct drive motor 12, the brake shaft 22 moves in the reverse direction. When the brake shaft 22 is pulled out from the brake hole 133, the braking action on the driving wheel 11 is canceled, and the self-moving robot travels and works.

In fig. 1, the braking hole 133 is disposed in the same direction as the driving wheel 11, i.e., the center axis of the braking hole 133 is parallel to the center axis of the driving wheel 11. During braking, the brake shaft 22 reciprocates in the axial direction, and for the sake of clarity, the reciprocating motion of the brake shaft 22 in this configuration is referred to as left-right motion, and the arrangement of the brake shaft 22 is referred to as transverse arrangement.

In other embodiments, the center axis of the brake hole 133 is perpendicular to the center axis of the driving wheel 11. At this time, the direction of the brake shaft 22 needs to be adjusted, that is, the brake shaft 22 is vertically arranged, and the reciprocating motion of the brake shaft 22 is called up-and-down motion.

By adopting the scheme, the brake and the cancellation of the brake are realized by the reciprocating motion of the brake shaft between the driving mechanism and the brake power assembly, the structure is simple, and the occupied space is small.

Fig. 5 is a schematic structural diagram of a brake power assembly of a self-moving robot provided in an embodiment of the present application. Referring to fig. 5, optionally, in the above embodiment, the brake power assembly 21 includes a brake motor 211, a rotating shaft of the brake motor 211 is perpendicular to the brake shaft 22, and the rotating shaft of the brake motor 211 is perpendicular to the rotating shaft of the direct drive motor 12.

Referring to fig. 5, when the brake shaft 22 is horizontally disposed, the rotation axis of the brake motor 211 is perpendicular to the brake shaft 22, i.e. a plane perpendicular to the brake shaft 22 is formed in space, and the rotation axis of the brake motor 211 is located on the plane, which is indicated by a finger in the figure, and actually, the rotation axis of the brake motor 211 may be oriented in any one of 360 ° directions in the plane. During operation of the brake motor 211, the eccentric wheel 213 is driven, so that the eccentric wheel 213 presses the brake shaft 22, and the end of the eccentric wheel 213 and the brake shaft 22 facing the brake mechanism 2 is tangential. Obviously, an axis drawn from the tangential plane, i.e. the axis of rotation, must be perpendicular to the brake axis.

By adopting the design mode, the rotating shafts of the direct drive motor and the brake motor are not on the same straight line, and the rapid brake can be realized in the brake process.

Optionally, in the above embodiment, the braking power assembly 21 further includes a fixing base 212 and an eccentric wheel 213, the braking motor 211 is fixedly disposed on the fixing base 212, and the eccentric wheel 213 is fixedly disposed on the braking motor 211. One end of the brake shaft 22 facing the brake power assembly 21 is tangent to the eccentric wheel 213, before the direct drive motor 12 is powered off and powered again, the brake motor 211 drives the eccentric wheel 213 to rotate according to a first direction, after the direct drive motor 12 is powered again, the brake motor 211 drives the eccentric wheel 213 to rotate according to a second direction, and the first direction is opposite to the second direction.

For example, the eccentric wheel 213 is connected to the braking motor 211 through a screw, and the braking motor 211 is connected to the fixing base 212 through a screw 23. Alternatively, the eccentric wheel 213 and the braking motor 211 may be fixed in other manners, and the embodiment of the present application is not limited thereto. The end of the brake shaft 22 facing the brake power assembly 21 is tangent to the eccentric 213.

When the working power supply supplies power to the direct drive motor 12, the direct drive motor 12 provides advancing power and working power for the self-moving robot, so that the self-moving robot advances and works. When the working power supply is cut off, the direct drive motor 12 stops working, and the brake mechanism 2 is started. During the start-up process, the standby power supplies power to the braking motor 211. The motor 211 for braking drives the eccentric wheel 213 to rotate according to the first direction, and the eccentric wheel 213 pushes the brake shaft 22 to reciprocate in the brake shaft guide sleeve 24 through the eccentric design.

Referring to fig. 1, when the brake shaft 22 moves to the leftmost end, the brake shaft 22 is inserted into the brake hole 133, thereby restricting the rotation of the driving wheel 11.

When the working power supply supplies power to the direct drive motor 12 again, the braking motor 211 rotates reversely to drive the eccentric wheel 213 to rotate according to the second direction, and the braking shaft 22 moves reversely under the action of the braking spring 25 to exit the braking hole 133. The drive wheel 12 is then free to rotate.

In addition, the eccentric wheel 213 is also provided with a rotation stopping limit lug, and the rotation stopping limit lug is utilized to realize the angle limitation of positive and negative rotation, so that electronic components can be reduced.

By adopting the scheme, the brake power assembly is realized through the fixing seat, the brake motor, the eccentric wheel and the like, and the brake power assembly has the advantages of simple structure and high reliability.

Optionally, referring to fig. 1 again, the brake mechanism 2 further includes a brake shaft guide 24, the brake shaft guide 24 is used for leading to the brake hole 133, and the brake shaft 22 can reciprocate in the brake shaft guide 24.

Illustratively, the brake shaft guide 24 is, for example, a hollow cylinder, a prism, etc., the brake shaft guide 24 and the brake mechanism 2 form an integral structure, one end of the brake shaft guide 24 is embedded into the brake mechanism 2 through plastic molding, so as to form a through hole for the brake shaft 22 to pass through on the brake mechanism 2, and the other end of the brake shaft guide 24 extends out for the brake shaft 22 to reciprocate in the brake shaft guide 24. It can be seen that the brake shaft guide 24 serves a guiding function, so that the brake shaft 22 can be inserted into the brake shaft more easily.

Optionally, a flange may be disposed at the end of the brake shaft 22 facing the brake power assembly 21, and the diameter of the flange is larger than that of the brake shaft guide 24. When the brake shaft 22 moves towards the brake hole, the flange plate is used for limiting the brake shaft 22, and the brake shaft 22 is prevented from moving towards the brake hole without limitation.

Referring to fig. 1 again, the brake mechanism 2 further includes a brake spring 25, and the brake spring 25 is sleeved on the brake shaft guide sleeve 24. Under the action of the braking spring 25, the end of the braking shaft 22 facing the braking power assembly 21 is always tangent to the eccentric wheel 213 of the braking power assembly 21, so that the eccentric wheel 213 and the end of the braking shaft 22 facing the braking power assembly 21 can freely slide relative to each other.

By adopting the scheme, one end of the brake shaft, which faces the brake power assembly, is always tangent to the eccentric wheel by arranging the brake spring, so that the brake power provided by the brake power assembly can timely reach the brake shaft, and the brake efficiency is improved.

Optionally, in the above embodiment, the driving mechanism 1 further includes a bracket 15 for fixing other parts of the driving mechanism 21 and the braking mechanism 2, and the bracket 15 is disposed at the bottom of the machine body.

Referring to fig. 1 again, a limiting member is disposed on the bracket 15, and the limiting member is used to limit the movement of the brake shaft 22. That is, when the brake shaft 22 reciprocates, the brake shaft 22 moves toward one end of the drive wheel 11, and the other end is restrained by the bracket 15.

By adopting the scheme, the bracket is arranged, and the driving mechanism and the brake mechanism are fixed by the bracket, so that the structure is compact and the occupied space is small.

Optionally, the bracket 15 may be fixed and fixed to be unable to swing; alternatively, the support 15 may be swingably provided at the bottom of the body. When the support 15 swings, the driving mechanism 1 and the brake mechanism 2 swing synchronously.

When the support 15 is arranged to swing, the bottom of the machine body is provided with a pin hole which is also used for arranging the driving mechanism 1 at the bottom of the machine body. One end of the bracket 15 is positioned on the pin hole, and the other end of the bracket 15 can swing, so that the bracket 15 can swing like a pendulum, and other parts of the driving mechanism 1 and the brake mechanism 2 are fixed at the end of the bracket 15, which can swing, so that the driving mechanism 1 and the brake mechanism 2 synchronously swing when the bracket 15 swings. When the driving wheel 11 in the driving mechanism 1 is in contact with the ground, the bracket 15 is located at a first position, and when the driving wheel 11 in the driving mechanism 1 is not in contact with the ground, the bracket 15 swings from the first position to a second position by a preset angle.

Illustratively, the support 15 has two states, when the self-moving robot works normally or is stationary, the driving wheel 11 of the self-moving robot is in contact with the ground, and the support 15 is in a first state, and in the first state, the support 15 is in a first position. When an abnormality occurs in the self-moving robot, for example, the self-moving robot is manually transported so that the driving wheels do not contact the ground, or the self-moving robot moves to a hollow area, so that the driving wheels do not contact the ground. At this time, the holder 15 is in the second state in which the holder 15 is located at the second position.

When the self-moving robot works normally or is static, the gravity of the whole self-moving robot enables the driving wheel 11 to contact the ground, the ground provides a reaction force for the driving wheel 11, and the driving mechanism 1 transmits the reaction force to the support 15, so that the support 15 cannot swing. When an abnormality occurs in the self-moving robot, that is, the driving wheel 11 is not in contact with the ground, the driving wheel 11 cannot provide a reaction force, so that the stand 15 swings to reach the second position, and the angle between the first position and the second position is, for example, 10 degrees, 15 degrees, 9 degrees, or the like. After the self-moving robot detects that the support 15 swings to the second position, the self-moving robot is determined to be abnormal, and the direct drive motor 12 is indicated to stop working. For example, after the robot is manually lifted, the bracket 15 swings to the second position, and the direct drive motor 12 stops working, so that the driving wheel 11, the sweeping brush and the like are prevented from hurting a user, and energy is saved. For another example, after the self-moving robot falls into the pit, the bracket 15 swings to the second position, and the direct drive motor 12 stops working, thereby preventing the driving wheel 11 of the self-moving robot from idling.

The support 15 automatically stops swinging after swinging to the second position due to self gravity and the like; or, a limiting device can be further arranged on the brake mechanism 2, and after the support 15 swings to the second position, the support 15 stops swinging due to the action of the limiting device. When the driving wheel 11 of the self-moving robot contacts the ground, the bracket 15 is restored to the first position by the reaction force of the driving wheel.

According to the above, it can be seen that: the driving wheel 11, the wheel cover 131 and the wheel base 132 of the driving mechanism 1 are fixed to form a combination which is fixed to the direct drive motor 12. The brake power assembly 21 is fixed on the bracket 15, and the bracket 15 is also used for fixing the driving mechanism 1. The bracket 15 can be arranged at the bottom of the machine body in a swinging way. Other parts of the driving mechanism 1 and the brake mechanism 2 can move along with the support in a rotating mode, and the brake function is achieved under the condition that the suspension detection of the self-moving robot is not influenced.

Optionally, in the above embodiment, the shock absorbing pad 26 is disposed between the support 15 and the bottom of the machine body, and when the support 15 is in the first position, due to the shock absorbing effect of the shock absorbing pad 26, the pressure between the support 15 and the bottom of the machine body can be reduced, so as to avoid damaging the support 15.

Fig. 6 is a schematic view of an air purification robot provided in an embodiment of the present application. Referring to fig. 6, a brake mechanism and a driving mechanism are respectively disposed on the left and right sides of the bottom of the air cleaning robot, and the air cleaning robot travels and brakes by using the two brake mechanisms and the driving mechanism. In addition, the bottom of the machine body is also provided with universal wheels and other functional components, wherein the number of the universal wheels is 3, and the 3 universal wheels are arranged in a triangular shape.

The embodiment of the application further provides a driving mechanism, which comprises a direct drive motor, a driving wheel and a supporting structure, wherein the supporting structure is used for fixing the driving wheel, the direct drive motor is embedded in the supporting structure, and the driving wheel, the supporting structure and the direct drive motor are coaxially arranged and used for driving the driving wheel. For the structure of the driving mechanism of the present embodiment and the technical effects thereof, please refer to the description of the above embodiments, which is not repeated herein.

The embodiment of this application still provides a brake mechanism, and it includes brake power component and brake axle, brake power component be used for to the brake axle provides brake power, the brake axle utilizes brake power actuating mechanism with reciprocating motion between the brake power component, the orientation of brake axle make the drive wheel stall when actuating mechanism's one end inserts the brake hole, the brake axle orientation brake power component's one end with brake power component is tangent. For the structure and the corresponding technical effects of the brake mechanism of this embodiment, please refer to the description of the above embodiments, which is not repeated herein.

The self-moving robot will be described in detail below, taking as an example a self-moving robot, specifically, an air cleaning robot and a lawnmower.

The bottom of the air purification robot body is provided with the driving mechanism 1 and the brake mechanism 2. The air cleaning robot is used for cleaning air in each room. During the cleaning process, the direct drive motor 12 of the driving mechanism 1 provides a driving force, and the driving force drives the air cleaning robot to move at a speed of, for example, 0.1 meter per second. In the process of advancing, air purification machine people utilizes the work power that the work produced with the motor to absorb the air, and the air obtains the air after purifying after filtering layer upon layer, and air purification machine people releases the air after purifying in the room. Due to the silence of the direct drive motor 12, the noise of the air cleaning robot in the process of traveling is extremely low.

When the electric quantity of the air purification robot is insufficient or the air purification robot receives a control instruction for stopping working; or, when the air purification robot is charged, the brake mechanism 2 of the air purification robot is started, and the brake power assembly 21 of the brake mechanism 2 provides brake power for the brake shaft 22. Specifically, the motor 211 for braking drives the eccentric wheel 213 to rotate according to a first direction, and the eccentric wheel 213 pushes the brake shaft 22 to move towards the brake hole in the brake shaft guide sleeve 24 through the eccentric design, so as to lock the air cleaning robot. When the air cleaning robot is powered on or receives a working command, the braking motor 211 rotates reversely to drive the eccentric wheel 213 to rotate according to the second direction, and the braking shaft 22 moves reversely under the action of the braking spring 25 to exit the braking hole 133. After that, the drive wheel 11 rotates freely.

In the braking process, the air purification robot can be positioned on a slope or a flat ground. When the air purification robot is positioned on a slope, the air purification robot can be prevented from sliding down the slope and falling through the brake mechanism 2. When the air purification robot is located on the flat ground, the brake mechanism 2 can work, so that the air purification robot can stand stably, and the product safety is improved.

When the self-moving robot is a mower, if a user lifts the mower, the driving wheel is not attached to the ground, or the mower falls into a pit, so that the driving wheel is not attached to the ground. At the moment, the support 15 swings by a certain angle, and after the mower detects that the support 15 swings to the second position, the working power supply is cut off, so that the working power supply does not supply power to the direct drive motor 12 any more, the driving wheel 11 of the mower does not rotate any more, the safety is improved, and energy is saved.

In the above embodiment, the user may also control the brake of the self-moving robot by using an Application (APP) installed on a terminal device such as a mobile phone. For example, during the moving process of the self-moving robot, the APP interface displays the surrounding environment, the real-time position of the self-moving robot and a brake button, and when the user finds that the self-moving robot moves on a slope, the user clicks the brake button. After the terminal equipment identifies the brake instruction, the brake instruction is sent to the APP server, and the APP server sends the brake instruction to the self-moving robot so that the self-moving robot brakes, so that the remote control self-moving robot brakes.

The user can also preset the brake position through voice, APP and the like. For example, a user says for a self-moving robot: "brake on a slope" and "brake when the charging station stops charging". The information is identified and stored from the mobile device. And then, in the process of traveling, if the current position of the slope is detected or the vehicle is parked at a charging station for charging, the brake is started.

For another example, the user opens the setting interface of the APP, enters the setting interface of the braking position, and inputs "braking on a slope", "braking when the charging station stops charging", and the like on the setting interface of the braking position. And the terminal equipment sends the information to the self-moving robot through the APP server. The information is identified and stored from the mobile device. And then, in the process of traveling, if the current position of the slope is detected or the vehicle is parked at a charging station for charging, the brake is started.

In another example, the user opens the APP and calls up an environment map, and a position where braking is needed is identified on the environment map. And then, after the self-moving robot moves to the position, the brake is automatically started.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. The utility model provides a self-moving robot, contains the organism, sets up the actuating mechanism of bottom of the body, a serial communication port, actuating mechanism includes the drive wheel and is used for the drive the motor that directly drives of drive wheel, self-moving robot still includes brake mechanism, brake mechanism includes brake power component and brake axle, works as when directly driving the motor and being supplied power, directly drive motor drive the drive wheel rotates, works as directly drive motor outage back, brake power component drive the brake axle removes and the butt the drive wheel makes the drive wheel stall.

2. The self-moving robot of claim 1, wherein the drive mechanism further comprises: the supporting structure is used for supporting the driving wheel and the direct drive motor, the driving wheel is fixed on the supporting structure, when the direct drive motor is powered on, the supporting structure is driven to rotate, and the supporting structure drives the driving wheel to roll.

3. The self-propelled robot of claim 2, wherein the direct drive motor is embedded in the support structure, and the drive wheel, the support structure and the direct drive motor are coaxially disposed.

4. The self-propelled robot of claim 2, wherein a braking hole is provided on an end surface of the support structure facing the braking shaft, and the braking shaft is inserted into the braking hole to stop rotation of the support structure.

5. The self-propelled robot as claimed in claim 4, wherein the braking holes are arranged in a circumferential direction of an end surface of the support structure facing the braking shaft, and the number of the braking holes is inversely proportional to a braking distance of the self-propelled robot.

6. A self-moving robot according to any of claims 1 to 5,

the brake shaft can reciprocate between the driving mechanism and the brake power assembly, the brake shaft makes the driving wheel stop rotating when moving towards the driving wheel and abutting against the driving wheel, and the brake shaft cancels the braking effect on the driving wheel when moving in the opposite direction and separating from the driving wheel.

7. The self-moving robot as claimed in claim 6, wherein the brake power assembly comprises a brake motor, a rotating shaft of the brake motor is arranged perpendicular to the brake shaft, and the rotating shaft of the brake motor is arranged perpendicular to the rotating shaft of the direct drive motor.

8. The self-moving robot as claimed in claim 6, wherein the braking power assembly comprises a fixed seat and an eccentric wheel, the motor for the brake is fixedly arranged on the fixed seat, and the eccentric wheel is fixedly arranged on the motor for the brake.

9. The self-moving robot according to claim 8,

before the direct-drive motor is powered off and then powered on again, the motor for the brake drives the eccentric wheel to rotate according to a first direction so that the brake shaft abuts against the driving wheel, after the direct-drive motor is powered on again, the motor for the brake drives the eccentric wheel to rotate according to a second direction so that the brake shaft is separated from the driving wheel, and the first direction is opposite to the second direction.

10. The self-moving robot of claim 6, wherein the brake mechanism further comprises: and the brake shaft guide sleeve is used for leading to a brake hole on the driving mechanism, and the brake shaft can reciprocate in the brake shaft guide sleeve.

11. The self-moving robot of claim 6, wherein the brake mechanism further comprises: and the brake spring is sleeved on the brake shaft guide sleeve.

12. The self-moving robot according to any one of claims 1 to 5, wherein the driving mechanism further comprises: the direct drive motor and the brake mechanism are arranged on the support, and the support is arranged at the bottom of the machine body.

13. The self-moving robot as claimed in claim 12, wherein the support is pivotally disposed at a bottom of the body, the support is located at a first position when the driving wheel contacts the ground, the support is pivoted from the first position to a second position when the driving wheel of the driving mechanism does not contact the ground, and the brake mechanism and the direct drive motor are pivoted with the support during the pivoting of the support from the first position to the second position.

14. A brake mechanism, comprising:

brake power component and brake axle, brake power component be used for to the brake axle provides brake power, the brake axle utilizes brake power actuating mechanism with reciprocating motion between the brake power component, the orientation of brake axle make the drive wheel stall when actuating mechanism's one end inserts the brake hole, the brake axle orientation brake power component's one end with brake power component is tangent.

15. A drive mechanism, comprising:

the supporting structure is used for fixing the driving wheel, the direct-drive motor is embedded in the supporting structure, and the driving wheel, the supporting structure and the direct-drive motor are coaxially arranged and used for driving the driving wheel.