CN114454681B - Vehicle body with adjustable wheel height and sweeping robot - Google Patents
Vehicle body with adjustable wheel height and sweeping robot Download PDFInfo
- Publication number
- CN114454681B CN114454681B CN202210173284.9A CN202210173284A CN114454681B CN 114454681 B CN114454681 B CN 114454681B CN 202210173284 A CN202210173284 A CN 202210173284A CN 114454681 B CN114454681 B CN 114454681B
- Authority
- CN
- China
- Prior art keywords
- left wheel
- wheel
- height adjusting
- adjusting mechanism
- driving device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000000034 method Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a vehicle body with adjustable wheel height and a sweeping robot, wherein the vehicle body comprises a chassis, universal wheels, left wheels, a left wheel height adjusting mechanism and right wheels and a right wheel height adjusting mechanism; the universal wheels are connected with the chassis; the left wheel is connected with the left side on the chassis through the left wheel height adjusting mechanism, the left wheel height adjusting mechanism is used for adjusting the height of the left wheel on the chassis, and the rotating shaft of the left wheel is used for being connected with the left wheel motor; the right wheel is connected with the right side on the chassis through the right wheel height adjusting mechanism, the right wheel height adjusting mechanism is used for adjusting the height of the right wheel on the chassis, and the rotating shaft of the right wheel is used for being connected with the right wheel motor. In the technical scheme, the vehicle body with the adjustable wheel height can operate on outdoor severe road conditions, reduces the probability that the vehicle body needs assistance, and has stronger product competitiveness.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a vehicle body with adjustable wheel height and a sweeping robot.
Background
The vehicle body comprises a chassis, universal wheels, left wheels, a left wheel motor, right wheels and a right wheel motor, wherein the universal wheels, the left wheels and the right wheels are respectively arranged on the chassis. The left wheel is connected with a left wheel motor, and the left wheel motor is used for driving the left wheel to rotate; the right wheel is connected with a right wheel motor, and the right wheel motor is used for driving the right wheel to rotate; i.e. the left and right wheels as the driving wheels of the vehicle body and the universal wheel as the driven wheels of the vehicle body. When the road Kuang Aotu is uneven, particularly has a pit, the left wheel and the right wheel have a certain probability of being separated from the ground, and the separated driving wheel cannot act on the ground, so that the vehicle body cannot move forward.
Disclosure of Invention
Therefore, it is necessary to provide a vehicle body with an adjustable wheel height and a sweeping robot, which solve the problem that the robot is easy to sink into a pit when driving on uneven ground.
In order to achieve the above object, the present embodiment provides a vehicle body with adjustable wheel height, including a chassis, universal wheels, left wheels, a left wheel height adjusting mechanism, and right wheels and a right wheel height adjusting mechanism;
the universal wheels are connected with the chassis;
the left wheel is connected with the left side on the chassis through the left wheel height adjusting mechanism, the left wheel height adjusting mechanism is used for adjusting the height of the left wheel on the chassis, and the rotating shaft of the left wheel is used for being connected with the left wheel motor;
the right wheel is connected with the right side on the chassis through the right wheel height adjusting mechanism, the right wheel height adjusting mechanism is used for adjusting the height of the right wheel on the chassis, and the rotating shaft of the right wheel is used for being connected with the right wheel motor.
Further, the left wheel height adjusting mechanism comprises a left wheel connecting plate, a left wheel guide rod and a left wheel lifting driving device;
the left wheel connecting plate is connected with the left wheel, and the left wheel can rotate on the left wheel connecting plate;
the left wheel guide rod is connected with the chassis, the left wheel connecting plate is connected to the left wheel guide rod in a sliding manner, and the left wheel connecting plate can slide up and down in a reciprocating manner along the left wheel guide rod;
the telescopic end of the left wheel lifting driving device is connected with the left wheel connecting plate, and the telescopic end of the left wheel lifting driving device is used for driving the left wheel connecting plate to slide up and down in a reciprocating manner along the left wheel guide rod.
Further, the left wheel height adjusting mechanism further comprises a left wheel elastic member;
the telescopic end of the left wheel lifting driving device is connected with the left wheel connecting plate through the left wheel elastic piece.
Further, the left wheel elastic piece is a spiral spring, and the spiral spring is sleeved on the left wheel guide rod.
Further, the number of the left wheel guide rods is two, and the two left wheel guide rods are parallel; the left wheel height adjusting mechanism further comprises a height adjusting plate, and the telescopic end of the lifting driving device is connected with the left wheel elastic piece on each left wheel guide rod through the height adjusting plate.
Further, the left wheel connecting plate is provided with a sliding bearing, and the left wheel connecting plate is in sliding sleeve connection with the outer wall of the left wheel guide rod through the sliding bearing.
Further, the structure of the right wheel height adjusting mechanism is the same as that of the left wheel height adjusting mechanism, and the connection mode of the right wheel and the right wheel height adjusting mechanism is the same as that of the left wheel and the left wheel height adjusting mechanism.
Further, the right wheel lifting driving device of the right wheel height adjusting mechanism is the same as the left wheel lifting driving device of the left wheel height adjusting mechanism, and the left wheel lifting driving device is used for adjusting the heights of the left wheel and the right wheel on the chassis at the same time.
Further, the universal wheels are multiple, and the universal wheels are uniformly distributed on two sides of the chassis.
In order to achieve the above object, the present embodiment further provides a sweeping robot, including a vehicle body with an adjustable wheel height according to any one of the above embodiments.
In the above technical scheme, if the wheel base of the front and rear wheels of the vehicle body is too long and the vehicle cannot move forward on uneven road surface, the left wheel height adjusting mechanism lowers the height of the left wheel to increase the ground grabbing force of the left wheel or the right wheel height adjusting mechanism lowers the height of the right wheel to increase the ground grabbing force of the right wheel to the ground, and the vehicle body can be further driven to move forward after the left wheel or the right wheel lands. Therefore, the vehicle body with the adjustable wheel height can work on outdoor severe road conditions, the probability that the vehicle body needs assistance is reduced, and the vehicle body has stronger product competitiveness.
Drawings
Fig. 1 is a schematic structural view of a left wheel and a left wheel height adjusting mechanism in the present embodiment;
fig. 2 is a schematic structural view of a right wheel and a right wheel height adjusting mechanism in the present embodiment;
fig. 3 is a schematic structural diagram of a left wheel lifting driving device and a right wheel lifting driving device in the present embodiment;
fig. 4 is one of schematic structural diagrams of the left wheel lifting driving device and the right wheel lifting driving device in this embodiment;
fig. 5 is a second schematic structural view of the left wheel lifting driving device and the right wheel lifting driving device in the present embodiment.
Reference numerals illustrate:
1. a chassis;
2. a universal wheel;
3. a left wheel;
4. a left wheel height adjustment mechanism;
41. a left wheel connecting plate; 42. left wheel guide bar; 43. left wheel elastic member;
44. left wheel lifting driving device; 45. a left wheel height adjusting plate;
5. a right wheel;
6. a right wheel height adjustment mechanism;
61. a right wheel connection plate; 62. a right wheel guide bar; 63. a right wheel elastic member;
64. a right wheel lifting driving device; 65. right wheel height adjusting plate.
Detailed Description
In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples and are not intended to limit the scope of protection of the present application.
Referring to fig. 1 to 5, the present embodiment provides a vehicle body with adjustable wheel height, which can adapt to uneven road conditions by adjusting the heights of the left wheel and the right wheel, so as to avoid the vehicle body from sinking into the pit and being unable to move forward.
The vehicle body with the adjustable wheel height comprises a chassis 1, universal wheels 2, left wheels 3, a left wheel height adjusting mechanism 4, right wheels 5 and a right wheel height adjusting mechanism 6.
The universal wheel 2 is connected with the chassis 1, and the universal wheel 2 can horizontally rotate on the chassis 1.
The left wheel 3 is connected with one side of the chassis 1 through the left wheel height adjusting mechanism 4, and the left wheel height adjusting mechanism 4 is used for adjusting the height of the left wheel 3 on the chassis 1. The left wheel height adjusting mechanism 4 causes the height of the left wheel 3 on the chassis 1 to be changed by lifting or lowering the left wheel 3. The rotation shaft of the left wheel 3 is used for being connected with a left wheel motor, and the left wheel motor is used for driving the left wheel to rotate so as to drive the vehicle body to advance.
The right wheel 5 is connected with the other side of the chassis 1 through the right wheel height adjusting mechanism 6, and the right wheel height adjusting mechanism 6 is used for adjusting the height of the right wheel 5 on the chassis 1. The right wheel height adjusting mechanism 6 causes the height of the right wheel 5 on the chassis 1 to be changed by lifting or lowering the right wheel 5. The rotation shaft of the right wheel 5 is used for being connected with a right wheel motor, and the right wheel motor is used for driving the right wheel to rotate so as to drive the vehicle body to advance.
According to the technical scheme, when the vehicle body passes through uneven road conditions, if the wheelbase of the front wheel and the rear wheel of the vehicle body is too long, the vehicle body is extremely easy to sink into uneven road surfaces and cannot move forward, the left wheel height adjusting mechanism descends the height of the left wheel to increase the ground grabbing force of the left wheel, or the right wheel height adjusting mechanism descends the height of the right wheel to increase the ground grabbing force of the right wheel to further drive the vehicle body to move forward after the left wheel or the right wheel lands on the ground. Therefore, the vehicle body with the adjustable wheel height can work on outdoor severe road conditions, the probability that the vehicle body needs assistance is reduced, and the vehicle body has stronger product competitiveness.
Referring to fig. 1, 3 and 4, in the present embodiment, the left wheel height adjusting mechanism 4 includes a left wheel connecting plate 41, a left wheel guiding rod 42 and a left wheel lifting driving device 44. The left wheel connecting plate 41 is connected with the left wheel, the left wheel can rotate on the left wheel connecting plate 41, the left wheel can circumferentially rotate under the drive of a left wheel motor, and the left wheel can rotate towards the left side and the right side of the vehicle body, so that the vehicle body can rotate left and right.
The left wheel guide rod 42 is connected to the chassis 1, and the left wheel connecting plate 41 is slidably connected to the left wheel guide rod 42. The left wheel guiding rod 42 is straight, the layout trend of the left wheel guiding rod 42 is the same as the telescopic direction of the telescopic end of the left wheel lifting driving device 44, and the left wheel connecting plate 41 can slide up and down along the left wheel guiding rod 42.
The telescopic end of the left wheel lifting driving device 44 is connected with the left wheel connecting plate 41, the telescopic end of the left wheel lifting driving device 44 is a part capable of moving telescopically on the left wheel lifting driving device 44, and the telescopic end of the left wheel lifting driving device 44 is used for driving the left wheel connecting plate 41 to slide up and down in a reciprocating manner along the left wheel guide rod 42.
The left wheel lifting driving device 44 may be mounted on the chassis 1 and located above the left wheel, and the telescopic end of the lifting driving device is located at the bottom of the left wheel lifting driving device 44 and connected to the left wheel connecting plate 41 below. The telescopic end of the lifting driving device extends downwards to drive the left wheel connecting plate 41 and the left wheel to descend; the telescopic end of the lifting driving device is retracted upwards to drive the left wheel connecting plate 41 and the left wheel to ascend. Or: the left wheel lifting driving device 44 may be located on the right side of the left wheel, the telescopic end of the lifting driving device is located on the top of the left wheel lifting driving device 44, and the telescopic end of the lifting driving device is connected with the left wheel connecting plate 41 beside. The telescopic end of the lifting driving device is retracted downwards and drives the left wheel connecting plate 41 and the left wheel to descend; the telescopic end of the lifting driving device extends upwards to drive the left wheel connecting plate 41 and the left wheel to ascend.
In this embodiment, the left wheel lifting driving device 44 may be a linear driving device such as a telescopic cylinder, an electric push rod, a screw nut device, or the like, and may reciprocally drive the left wheel along a straight line. It should be noted that, when the left wheel lifting driving device 44 is a telescopic cylinder, the telescopic end of the left wheel lifting driving device 44 is a piston rod or a cylinder body; when the left wheel lift drive 44 is an electric putter, the telescoping end of the left wheel lift drive 44 is a telescoping tube of the electric putter.
Referring to fig. 1, 3 and 4, in this embodiment, there are two left wheel guide rods 42, and the two left wheel guide rods 42 are parallel. Preferably, the tops of the two left wheel guide rods 42 are connected by a cross rod, so that the two left wheel guide rods 42 form a portal frame structure, stability of the left wheel guide rods 42 is enhanced, and the left wheel tends to be stable in the lifting process.
Referring to fig. 1, 3 and 4, in the present embodiment, the left wheel height adjusting mechanism 4 further includes a left wheel height adjusting plate 45, and the telescopic end of the left wheel lifting driving device 44 is connected to the left wheel connecting plate 41 on each left wheel guiding rod 42 through the left wheel height adjusting plate 45. The left wheel height adjusting plate 45 is a member that serves to connect the left wheel lift driving device 44 with the left wheel connecting plate 41; or: the left wheel height adjusting plate 45 is a member that serves as the left wheel lift driving device 44 and is connected to the left wheel elastic member 43.
Referring to fig. 1, 3 and 4, in this embodiment, in order to reduce the impact force transmitted from the uneven road surface to the vehicle body, the vehicle body is ensured to stably run for transporting some important objects. The left wheel height adjusting mechanism 4 further includes a left wheel elastic member 43. The telescopic end of the left wheel lifting driving device 44 is connected with the left wheel connecting plate 41 through the left wheel elastic member 43, that is, the telescopic end of the left wheel lifting driving device 44 is connected with one end of the left wheel elastic member 43, and the other end of the left wheel elastic member 43 is connected with the left wheel connecting plate 41. The left wheel elastic member 43 is a member which works by using elasticity, and deforms under the action of external force, and returns to its original shape after the external force is removed, so that the left wheel elastic member 43 can buffer the impact force received by the vehicle body in the running process, reduce the inclination and vibration of the vehicle body, and the compression degree (i.e. the suspension rigidity) of the left wheel elastic member 43 can change the square acting force (friction force) of the left wheel on the ground, so as to prevent the left wheel from being suspended or jacked up.
Referring to fig. 1, 3 and 4, in the present embodiment, the left wheel elastic member 43 is a coil spring, and the coil spring is sleeved on the left wheel guiding rod 42. The coil spring is made of metal. In other embodiments, the left wheel elastic member 43 may be an air spring or elastic rubber.
Referring to fig. 1, 3 and 4, in this embodiment, in order to reduce the friction between the left wheel connecting plate 41 and the left wheel guiding rod 42, the left wheel connecting plate 41 has a sliding bearing, and the left wheel connecting plate 41 is slidably sleeved on the outer wall of the left wheel guiding rod 42 through the sliding bearing. The sliding bearing is a bearing working under sliding friction and has the characteristics of stable and reliable working and no noise. In addition, friction loss and surface wear can be greatly reduced under liquid lubrication conditions.
Referring to fig. 1, 2, 3 and 4, in this embodiment, the structure of the right wheel height adjusting mechanism 6 is the same as that of the left wheel height adjusting mechanism 4, and the connection mode of the right wheel and the right wheel height adjusting mechanism 6 is the same as that of the left wheel and the left wheel height adjusting mechanism 4. When the left wheel height adjusting mechanism 4 includes the left wheel connecting plate 41, the left wheel guide bar 42, and the left wheel lift driving device 44, the right wheel height adjusting mechanism 6 also includes the right wheel connecting plate 61, the right wheel guide bar 62, and the right wheel lift driving device 64; when the left wheel height adjusting mechanism 4 includes the left wheel connecting plate 41, the left wheel guide lever 42, the left wheel lift driving device 44, and the left wheel elastic member 43, the right wheel height adjusting mechanism 6 also includes the right wheel connecting plate 61, the right wheel guide lever 62, the right wheel lift driving device 64, and the right wheel elastic member 63.
Referring to fig. 2, 3 and 4, in the present embodiment, the right wheel height adjusting mechanism 6 includes a right wheel connecting plate 61, a right wheel guiding rod 62 and a right wheel lifting driving device 64. The right wheel connecting plate 61 is connected with the right wheel, the right wheel can rotate on the right wheel connecting plate 61, the right wheel can circumferentially rotate under the drive of a right wheel motor, and the right wheel can rotate towards the left side and the right side of the vehicle body, so that the vehicle body can rotate left and right.
The right wheel guide bar 62 is connected to the chassis 1, and the right wheel connecting plate 61 is slidably connected to the right wheel guide bar 62. The right wheel guide rod 62 is straight, the layout trend of the right wheel guide rod 62 is the same as the telescopic direction of the telescopic end of the right wheel lifting driving device 64, and the right wheel connecting plate 61 can slide up and down along the right wheel guide rod 62.
The telescopic end of the right wheel lifting driving device 64 is connected with the right wheel connecting plate 61, the telescopic end of the right wheel lifting driving device 64 is a part capable of moving telescopically on the right wheel lifting driving device 64, and the telescopic end of the right wheel lifting driving device 64 is used for driving the right wheel connecting plate 61 to slide up and down reciprocally along the right wheel guide rod 62.
In this embodiment, the right wheel lifting driving device 64 may be a linear driving device such as a telescopic cylinder, an electric push rod, a screw nut device, or the like, and may reciprocally drive the right wheel along a straight line.
Referring to fig. 2, 3 and 4, in this embodiment, two right wheel guide rods 62 are provided, and two right wheel guide rods 62 are parallel. Preferably, the tops of the two right wheel guide rods 62 are connected by a cross rod, so that the two right wheel guide rods 62 form a portal frame structure, stability of the right wheel guide rods 62 is enhanced, and the right wheel tends to be stable in the lifting process.
Referring to fig. 2, 3 and 4, in the present embodiment, the right wheel height adjusting mechanism 6 further includes a right wheel height adjusting plate 65, and the telescopic end of the right wheel lifting driving device 64 is connected to the right wheel connecting plate 61 on each right wheel guiding rod 62 through the right wheel height adjusting plate 65. The right wheel height adjusting plate 65 is a member that serves to connect the right wheel lift drive 64 with the right wheel connecting plate 61; or: the right wheel height adjusting plate 65 is a member that serves as the right wheel lift driving device 64 and is connected to the right wheel elastic member 63.
Referring to fig. 2, 3 and 4, in this embodiment, in order to reduce the impact force transmitted from the uneven road surface to the vehicle body, the vehicle body is ensured to stably run for transporting some important objects. The right wheel height adjustment mechanism 6 further includes a right wheel elastic member 63. The telescopic end of the right wheel lifting driving device 64 is connected with the right wheel connecting plate 61 through the right wheel elastic member 63, that is, the telescopic end of the right wheel lifting driving device 64 is connected with one end of the right wheel elastic member 63, and the other end of the right wheel elastic member 63 is connected with the right wheel connecting plate 61. The right wheel elastic member 63 is a member which works by using elasticity, and deforms under the action of external force, and returns to the original state after the external force is removed, so that the right wheel elastic member 63 can buffer the impact force received by the vehicle body in the running process, the inclination and vibration of the vehicle body are reduced, the compression degree (namely the rigidity of suspension) of the right wheel elastic member 63 can change the square acting force (friction force) of the right wheel on the ground, and the right wheel is prevented from being suspended or jacked up.
Referring to fig. 2, 3 and 4, in the present embodiment, the right wheel elastic member 63 is a coil spring, and the coil spring is sleeved on the right wheel guiding rod 62. In other embodiments, the right wheel elastic member 63 may be an air spring or elastic rubber.
Referring to fig. 2, 3 and 4, in this embodiment, in order to reduce the friction between the right wheel connecting plate 61 and the right wheel guiding rod 62, the right wheel connecting plate 61 has a sliding bearing, and the right wheel connecting plate 61 is slidably sleeved on the outer wall of the right wheel guiding rod 62 through the sliding bearing.
As is clear from the above, the left wheel height adjusting mechanism 4 (left wheel connecting plate 41, left wheel guide bar 42, left wheel lift driving device 44, left wheel elastic member 43) and the right wheel height adjusting mechanism 6 are independent, and are structured as shown in fig. 3. The left wheel height adjusting mechanism 4 can independently act on the left wheel to adjust the height of the left wheel, and the right wheel height adjusting mechanism 6 can independently act on the right wheel to adjust the height of the right wheel.
Referring to fig. 4 and 5, in a further embodiment, the right wheel lifting driving device 64 of the right wheel height adjusting mechanism 6 is identical to the left wheel lifting driving device 44 of the left wheel height adjusting mechanism 4, the left wheel lifting driving device 44 (which is a common wheel lifting driving device in this case) is used for adjusting the heights of the left wheel and the right wheel on the chassis 1 at the same time, that is, the left wheel height adjusting mechanism 4 and the right wheel height adjusting mechanism 6 share one wheel lifting driving device, and the left height adjusting plate is connected with the right height adjusting plate and forms a whole. The left wheel lift driving device 44 (common wheel lift driving device) is connected to each of the left wheel connecting plates 41 and each of the right wheel connecting plates 61 through a left height adjusting plate (common height adjusting plate). For example, when the number of left wheel connecting plates 41 is 2 and the number of right wheel connecting plates 61 is 2, the left height adjusting plate and the right height adjusting plate are connected to form an i-shape.
Preferably, the left wheel driving motor and the right wheel driving motor are hub motors. The hub motor is designed for integrating a power system, a transmission system and a brake system of a vehicle. The hub motor can omit a large number of transmission parts, so that the vehicle structure is simpler.
Referring to fig. 4, in this embodiment, in order to further improve the running stability of the vehicle body, the number of universal wheels 2 is plural, and the universal wheels 2 are uniformly distributed on two sides of the chassis 1. The chassis is provided with two rows of wheels, the first row of wheels are positioned on the left side of the chassis, the first row of wheels are internally provided with a plurality of universal wheels 2 and 1 left wheel, the second row of wheels are positioned on the right side of the chassis, and the second row of wheels are internally provided with a plurality of universal wheels 2 and 1 right wheel. For example, the first row of wheels has 2 universal wheels 2 and 1 left wheel, and the second row of wheels has 2 universal wheels 2 and 1 right wheel, so that the vehicle body has 4 universal wheels 2, 1 left wheel and 1 right wheel; the first row of wheels are internally provided with 3 universal wheels 2 and 1 left wheel, and the second row of wheels are internally provided with 3 universal wheels 2 and 1 right wheel, so that the vehicle body is provided with 6 universal wheels 2, 1 left wheel and 1 right wheel; the first row of wheels is provided with 4 universal wheels 2 and 1 left wheel, and the second row of wheels is provided with 4 universal wheels 2 and 1 right wheel, so that the vehicle body is provided with 8 universal wheels 2, 1 left wheel and 1 right wheel.
In this embodiment, the vehicle body can particularly travel on a road having a pit outdoors, and the left and right wheels are easily separated from each other when the vehicle body passes through the pit. Please refer to fig. 1, 3, 4 and 5, taking left wheel lift as an example: at this time, the telescopic end of the left wheel lifting driving device 44 is contracted downwards, the upper end of the left wheel elastic piece 43 is pressed downwards, the left wheel connecting plate 41 is descended by the downward pressure of the left wheel elastic piece 43, the left wheel descends and the grabbing force of the left wheel to the bottom surface is increased, and then the problem that the grabbing force is poor when the six-wheel vehicle body passes through a slope angle due to overlong front-rear wheelbase is solved; after the slope is formed, the telescopic end of the left wheel lifting driving device 44 extends upwards, the downward pushing force of the left wheel motor when the vehicle passes through the threshold is reduced, the posture pitching variation of the vehicle body is reduced, and when the vehicle body distributes objects, the vehicle body is kept at better stability, so that the objects are prevented from being toppled and damaged.
Referring to fig. 2, 3, 4 and 5, the right wheel is lifted as an example: at this time, the telescopic end of the right wheel lifting driving device 64 is contracted downwards, the upper end of the right wheel elastic member 63 is pressed downwards, the right wheel connecting plate 61 is descended by the downward pressure of the right wheel elastic member 63, the right wheel descends and the grip of the right wheel on the bottom surface is increased, so that the problem that the grip of a six-wheel vehicle body is poor when a slope angle is crossed due to overlong front and rear wheelbases is solved; after the slope is formed, the telescopic end of the right wheel lifting driving device 64 extends upwards, the downward pushing force of the right wheel motor when the vehicle passes through the threshold is reduced, the posture pitching variation of the vehicle body is reduced, and when the vehicle body distributes objects, the vehicle body is kept at better stability, and the objects are prevented from being toppled and damaged.
In some embodiments, the number of the universal wheels 2 is 1, and a triangle shape is formed among 1 universal wheel 2, 1 left wheel and 1 right wheel. Preferably, 1 universal wheel 2 is located on the middle line of the left and right wheels.
In this embodiment, the vehicle body with the height of the wheels adjustable further includes a processing unit. The processing unit is connected with the left wheel lifting driving device 44, and the processing unit is used for driving the left wheel lifting driving device 44 to operate, namely driving the telescopic end of the left wheel lifting driving device 44 to stretch out and draw back so as to drive the left wheel to lift. And the processing unit is connected with the left wheel motor and is used for driving the left wheel motor to operate so as to drive the left wheel to rotate. And the processing unit is connected with the right wheel lifting driving device 64, and the processing unit is used for driving the right wheel lifting driving device 64 to operate, namely driving the telescopic end of the right wheel lifting driving device 64 to stretch and retract so as to drive the right wheel to lift. And the processing unit is connected with the right wheel motor and is used for driving the left wheel motor to operate so as to drive the right wheel to rotate.
In this embodiment, the vehicle body is configured on a robot, and the robot is an intelligent machine capable of semi-autonomous or fully autonomous working, and can assist or even replace human beings to complete dangerous, heavy and complex work, improve working efficiency and quality, serve human life, and expand or extend the activity and capability range of the human beings. Preferably, the robot may be a sweeping robot, an express robot, a navigation robot, or the like. It is worth mentioning that the robot of sweeping floor can rely on certain artificial intelligence, adopts the brush to sweep and the vacuum mode voluntarily, absorbs the rubbish receiver of getting into self earlier with ground debris to accomplish the function of ground clearance. After the express robot loads goods from the site, the express robot automatically navigates and runs according to a set line. After arriving at the customer appointed delivery place, the delivery robot informs the customer to receive goods in a telephone, short message and other modes, and supports various man-machine interaction modes such as face recognition, short message verification codes and the like to rapidly take goods. The navigation robot may be used to meet the guest and direct the guest to a destination.
The embodiment also provides a sweeping robot, which comprises the vehicle body with the height-adjustable wheels, wherein the vehicle body is structured as shown in fig. 1-5, and the vehicle body can drive the sweeping robot to travel forwards, leftwards, rightwards and backwards.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in the embodiments may be combined in any manner to form a corresponding implementable technical solution.
Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the description of specific embodiments only and is not intended to limit the present application.
In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that there may be three relationships, e.g., a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.
In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.
Without further limitation, the use of the terms "comprising," "including," "having," or other like terms in this application is intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.
As in the understanding of the "examination guideline," the expressions "greater than", "less than", "exceeding", and the like are understood to exclude the present number in this application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of groups", "a plurality of" and the like, unless specifically defined otherwise.
In the description of the embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as terms of orientation or positional relationship based on the specific embodiments or figures, and are merely for convenience of description of the specific embodiments of the present application or ease of understanding of the reader, and do not indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation, and therefore are not to be construed as limiting of the embodiments of the present application.
Unless specifically stated or limited otherwise, in the description of the embodiments of the present application, the terms "mounted," "connected," "affixed," "disposed," and the like are to be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to the specific circumstances.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.
Claims (5)
1. The sweeping robot is characterized by comprising a vehicle body with adjustable wheel heights, wherein the vehicle body with the adjustable wheel heights comprises a chassis, universal wheels, left wheels, a left wheel height adjusting mechanism and a right wheel and right wheel height adjusting mechanism;
the universal wheels are connected with the chassis;
the left wheel is connected with the left side on the chassis through the left wheel height adjusting mechanism, the left wheel height adjusting mechanism is used for adjusting the height of the left wheel on the chassis, and the rotating shaft of the left wheel is used for being connected with the left wheel motor;
the right wheel is connected with the right side on the chassis through the right wheel height adjusting mechanism, the right wheel height adjusting mechanism is used for adjusting the height of the right wheel on the chassis, and the rotating shaft of the right wheel is used for being connected with a right wheel motor;
the left wheel height adjusting mechanism comprises a left wheel connecting plate, a left wheel guide rod and a left wheel lifting driving device;
the left wheel connecting plate is connected with the left wheel, and the left wheel can rotate on the left wheel connecting plate;
the left wheel guide rod is connected with the chassis, the left wheel connecting plate is connected to the left wheel guide rod in a sliding manner, and the left wheel connecting plate can slide up and down in a reciprocating manner along the left wheel guide rod;
the telescopic end of the left wheel lifting driving device is connected with the left wheel connecting plate, and the telescopic end of the left wheel lifting driving device is used for driving the left wheel connecting plate to slide up and down in a reciprocating manner along the left wheel guide rod;
the left wheel height adjusting mechanism further comprises a left wheel elastic piece;
the telescopic end of the left wheel lifting driving device is connected with the left wheel connecting plate through the left wheel elastic piece;
the left wheel guide rods are two and are parallel; the left wheel height adjusting mechanism further comprises a height adjusting plate, the telescopic end of the lifting driving device is connected with the left wheel elastic piece on each left wheel guide rod through the height adjusting plate, the telescopic end of the left wheel lifting driving device is contracted downwards, the upper end of the left wheel elastic piece is pressed downwards, the left wheel connecting plate is pressed downwards by the pressing force of the left wheel elastic piece, the left wheel descends, and the grabbing force of the left wheel to the bottom surface is increased; the telescopic end of the left wheel lifting driving device extends upwards, so that the downward pushing force of the left wheel motor when the vehicle passes over a threshold is reduced, and the posture pitching variation of the vehicle body is reduced;
the structure of the right wheel height adjusting mechanism is the same as that of the left wheel height adjusting mechanism, and the connection mode of the right wheel and the right wheel height adjusting mechanism is the same as that of the left wheel and the left wheel height adjusting mechanism;
the right wheel lifting driving device of the right wheel height adjusting mechanism and the left wheel lifting driving device of the left wheel height adjusting mechanism are the same.
2. The robot cleaner of claim 1, wherein the left wheel elastic member is a coil spring that is sleeved on the left wheel guide bar.
3. The robot cleaner of claim 1, wherein the left wheel connection plate has a sliding bearing, and the left wheel connection plate is slidably coupled to the outer wall of the left wheel guide bar through the sliding bearing.
4. The robot cleaner of claim 1, wherein the left wheel lift drive is configured to adjust the heights of the left and right wheels on the chassis simultaneously.
5. The robot cleaner of claim 1, wherein the plurality of universal wheels are uniformly distributed on both sides of the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210173284.9A CN114454681B (en) | 2022-02-24 | 2022-02-24 | Vehicle body with adjustable wheel height and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210173284.9A CN114454681B (en) | 2022-02-24 | 2022-02-24 | Vehicle body with adjustable wheel height and sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114454681A CN114454681A (en) | 2022-05-10 |
| CN114454681B true CN114454681B (en) | 2024-03-19 |
Family
ID=81414891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210173284.9A Active CN114454681B (en) | 2022-02-24 | 2022-02-24 | Vehicle body with adjustable wheel height and sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114454681B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002046670A (en) * | 2000-08-02 | 2002-02-12 | Yanmar Agricult Equip Co Ltd | Six-wheel work vehicle |
| CN205905760U (en) * | 2015-12-11 | 2017-01-25 | 成都德善能科技有限公司 | An electric motor car |
| CN108032918A (en) * | 2017-12-13 | 2018-05-15 | 哈尔滨莫迪科技有限责任公司 | A kind of liftable wheel, which is carried out, combines full landform chassis |
| CN209921459U (en) * | 2019-04-02 | 2020-01-10 | 北京猎户星空科技有限公司 | Chassis assembly and robot |
| CN210555251U (en) * | 2019-08-15 | 2020-05-19 | 纳恩博（北京）科技有限公司 | Robot and chassis thereof |
| CN111977559A (en) * | 2020-06-02 | 2020-11-24 | 湖南佑安智能装备有限公司 | Device for automatically lifting height of AGV (automatic guided vehicle) carrying platform and keeping horizontal position |
| CN212243602U (en) * | 2020-04-03 | 2020-12-29 | 卢恩光 | Tire track convertible car |
| CN214267764U (en) * | 2021-01-06 | 2021-09-24 | 合肥瓦力觉启机器人科技有限公司 | Robot chassis structure |
| CN214324829U (en) * | 2020-11-10 | 2021-10-01 | 苏州凯莱特自动化设备有限公司 | AGV dolly crosses hole wheel device |
| CN113500884A (en) * | 2021-06-30 | 2021-10-15 | 端点星科技(深圳)有限公司 | All-terrain mobile robot with lifting function |
| CN214822440U (en) * | 2021-03-05 | 2021-11-23 | 福建首松智能科技有限公司 | Agv wheel capable of automatically adjusting height |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447001C (en) * | 2005-04-06 | 2008-12-31 | 肖国 | Car shock-buffering method utilizing vibration between wheel and car body for power supply |
-
2022
- 2022-02-24 CN CN202210173284.9A patent/CN114454681B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002046670A (en) * | 2000-08-02 | 2002-02-12 | Yanmar Agricult Equip Co Ltd | Six-wheel work vehicle |
| CN205905760U (en) * | 2015-12-11 | 2017-01-25 | 成都德善能科技有限公司 | An electric motor car |
| CN108032918A (en) * | 2017-12-13 | 2018-05-15 | 哈尔滨莫迪科技有限责任公司 | A kind of liftable wheel, which is carried out, combines full landform chassis |
| CN209921459U (en) * | 2019-04-02 | 2020-01-10 | 北京猎户星空科技有限公司 | Chassis assembly and robot |
| CN210555251U (en) * | 2019-08-15 | 2020-05-19 | 纳恩博（北京）科技有限公司 | Robot and chassis thereof |
| CN212243602U (en) * | 2020-04-03 | 2020-12-29 | 卢恩光 | Tire track convertible car |
| CN111977559A (en) * | 2020-06-02 | 2020-11-24 | 湖南佑安智能装备有限公司 | Device for automatically lifting height of AGV (automatic guided vehicle) carrying platform and keeping horizontal position |
| CN214324829U (en) * | 2020-11-10 | 2021-10-01 | 苏州凯莱特自动化设备有限公司 | AGV dolly crosses hole wheel device |
| CN214267764U (en) * | 2021-01-06 | 2021-09-24 | 合肥瓦力觉启机器人科技有限公司 | Robot chassis structure |
| CN214822440U (en) * | 2021-03-05 | 2021-11-23 | 福建首松智能科技有限公司 | Agv wheel capable of automatically adjusting height |
| CN113500884A (en) * | 2021-06-30 | 2021-10-15 | 端点星科技(深圳)有限公司 | All-terrain mobile robot with lifting function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114454681A (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114454681B (en) | Vehicle body with adjustable wheel height and sweeping robot | |
| CN204848161U (en) | Three degree of freedom hydraulic pressure assembly dolly | |
| CN209797402U (en) | Reverse telescopic system and automatic handling equipment | |
| CN109877799B (en) | Omnidirectional movement formula container pile up neatly machine people | |
| CN215208282U (en) | Tray closing mechanism for combination of goods and trays on conveying line | |
| CN216464725U (en) | Collaboration robot mobile platform | |
| CN112723250A (en) | Tray closing mechanism for combination of goods and trays on conveying line | |
| CN211393743U (en) | Transport vehicle | |
| US6443836B1 (en) | Apparatus for lifting and laterally supporting a cotton receiving basket of a cotton harvester | |
| CN112124004B (en) | Forklift wheel tread adjusting device and forklift | |
| CN214356233U (en) | Mobile platform with steering and lifting functions | |
| CN109551989B (en) | Heavy electric-driven steering wheel | |
| CN210133846U (en) | Hand fork truck | |
| CN109501885B (en) | Mecanum wheel vehicle suitable for multiple working conditions | |
| CN109515546B (en) | Wheel-leg combined horizontal attitude object carrying stair climbing robot | |
| CN208585276U (en) | A kind of telescopic logistics transport pushing cart | |
| CN113086883A (en) | Movable freight transport elevating platform | |
| CN220009822U (en) | Thrust trolley for assembling driving wheels | |
| CN217672578U (en) | Trolley and mechanical arm trolley | |
| CN217397497U (en) | Commodity circulation letter sorting robot and letter sorting system | |
| CN216781802U (en) | Inspection robot capable of lifting at multiple speeds | |
| CN219603178U (en) | Automatic conveying device | |
| CN221295077U (en) | AGV assembly vehicle | |
| CN215101794U (en) | Fixing device of unsaturated polyester paint | |
| CN219524766U (en) | Anti-collision structure of artificial intelligent robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |