CN115191869A - Robot chassis and intelligent cleaning robot - Google Patents
Robot chassis and intelligent cleaning robot Download PDFInfo
- Publication number
- CN115191869A CN115191869A CN202110399479.0A CN202110399479A CN115191869A CN 115191869 A CN115191869 A CN 115191869A CN 202110399479 A CN202110399479 A CN 202110399479A CN 115191869 A CN115191869 A CN 115191869A
- Authority
- CN
- China
- Prior art keywords
- driving
- robot
- wheel
- driving wheel
- robot chassis
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- A47L11/28—Floor-scrubbing 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
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- 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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Suction Cleaners (AREA)
Abstract
A robot chassis and intelligent cleaning robot, the robot chassis includes: a main body; the driving units are arranged on two sides of the main body and comprise driving motors, front driving wheels and rear driving wheels, wherein the front driving wheels and the rear driving wheels are driven by the driving motors to operate; the driven wheel is arranged at the bottom of the main body; follow driving wheel, front drive wheel and back drive wheel by preceding set gradually in back the main part bottom, when the robot chassis was marchd on flat ground, back drive wheel bottom is not less than front drive wheel bottom. The robot chassis adopts the independently arranged driving units, each driving unit comprises a front driving wheel for driving the robot to move and a rear driving wheel for assisting the robot to cross obstacles, and the rear driving wheel assists in supporting the robot when crossing obstacles and provides upward and forward driving force, so that the obstacle crossing capability of the cleaning robot is improved.
Description
[ technical field ] A
The invention relates to the technical field of cleaning equipment, in particular to a robot chassis and an intelligent cleaning robot.
[ background of the invention ]
At present, a cleaning robot mostly uses a single driving wheel, only a left driving wheel and a right driving wheel independently provide driving force when an obstacle is crossed, the driving force or the structural arrangement is limited, auxiliary support is not needed when the obstacle is crossed, and the obstacle crossing height is limited. For example, chinese patent CN206105825U, an autonomous robot includes an autonomous robot body, a control unit and a main driving wheel assembly thereon, the main driving wheel assembly includes a driving motor and a main driving wheel, the robot further includes an auxiliary driving wheel assembly, the assembly includes a connecting rod assembly and an auxiliary driving wheel arranged at one end of the connecting rod assembly, the connecting rod assembly is movably arranged on the body or the main driving wheel assembly; the robot also comprises a triggering mechanism connected with the auxiliary driving wheel component, wherein the triggering mechanism at least comprises a triggering end which is positioned in front of the main driving wheel in the advancing direction; the trigger end is lifted after meeting obstacles, so that a downward acting force is generated on the auxiliary driving wheel, and the auxiliary driving wheel does descending motion relative to the body under the downward acting force or improves the positive pressure of the auxiliary driving wheel on the walking surface. Although the self-moving robot has certain obstacle crossing capability, the self-moving robot has a complex structure and high cost, and a complex trigger mechanism is difficult to adapt to a rugged multi-obstacle environment.
Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.
[ summary of the invention ]
The invention aims to provide a robot chassis capable of efficiently crossing obstacles and an intelligent cleaning robot.
The purpose of the invention is realized by the following technical scheme:
a robot chassis, comprising:
a main body;
the driving units are arranged on two sides of the main body and comprise driving motors, front driving wheels and rear driving wheels, wherein the front driving wheels and the rear driving wheels are driven by the driving motors to operate;
the driven wheel is arranged at the bottom of the main body;
the driven wheel, the front driving wheel and the rear driving wheel are sequentially arranged at the bottom of the main body from front to back, when the robot chassis travels on a flat ground, the bottom of the rear driving wheel is not lower than the bottom of the front driving wheel, the driven wheel is in contact with an obstacle to be surged, and the bottom of the rear driving wheel is not higher than the bottom of the front driving wheel.
In one embodiment, the driving device further comprises a transmission assembly connected with the output end of the driving motor, the transmission assembly comprises a gear set, the gear set is respectively connected with a rotating shaft of the front driving wheel and a rotating shaft of the rear driving wheel, and the rotary front driving wheel drives the rear driving wheel to rotate through the transmission of the gear set.
In one embodiment, the radius of the gear fixed on the rotating shaft of the front driving wheel in the gear set is larger than or equal to the radius of the gear fixed on the rotating shaft of the rear driving wheel.
In one embodiment, the transmission assembly further comprises a transmission belt, the transmission belt is respectively connected with the output end of the driving motor and the gear set, and the driving motor drives the front driving wheel to rotate through transmission of the transmission belt and the gear set in sequence.
In one embodiment, the gear set is further connected with an output end of the driving motor, and the driving motor drives the front driving wheel and the rear driving wheel to rotate through transmission of the gear set.
In one embodiment, the front drive wheel radius is greater than or equal to the rear drive wheel radius.
In one embodiment, the front drive wheel radius is equal to the rear drive wheel radius, and the front and rear drive wheels are simultaneously grounded while the robot chassis travels on a flat ground.
In one embodiment, the axle axis of the rear drive wheel is parallel to or lower than the axle axis of the front drive wheel.
In one embodiment, the tread pattern of at least one of the front and rear drive wheels has at least two alternating rows of lugs.
An intelligent cleaning robot, comprising the robot chassis of any one of the above, further comprising: the cleaning device comprises a main body, a control unit and a cleaning unit, wherein the main body is internally provided with the cleaning unit for cleaning the ground, and the control unit is connected with and controls the driving motor and the cleaning unit.
Compared with the prior art, the invention has the following beneficial effects: the robot chassis and the intelligent cleaning robot adopt the independently arranged driving units, each driving unit comprises a front driving wheel for driving the robot to move and a rear driving wheel for assisting the robot to cross obstacles, and the rear driving wheel assists in supporting the robot when crossing obstacles and provides upward and forward driving forces, so that the obstacle crossing capability of the cleaning robot is improved.
[ description of the drawings ]
FIG. 1 is a schematic view of a robot chassis configuration of the present invention;
FIG. 2 is a perspective view of a drive unit in the robot chassis of the present invention;
FIG. 3 is a front view of a drive unit in the robot chassis of the present invention;
FIG. 4 is a partial perspective view of the intelligent cleaning robot of the present invention;
FIG. 5 is a partial front view of the intelligent cleaning robot of the present invention;
FIG. 6 is a schematic view of a tread pattern in a robot chassis of the present invention;
fig. 7 is a schematic view of another embodiment tread pattern in a robot chassis of the present invention.
[ detailed description ] embodiments
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention of the present application, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
FIG. 1 is a schematic view of a robot chassis configuration of the present invention; FIG. 2 is a perspective view of a drive unit in the robot chassis of the present invention; FIG. 3 is a front view of a drive unit in the robot chassis of the present invention; FIG. 4 is a partial perspective view of the intelligent cleaning robot of the present invention; FIG. 5 is a partial front view of the intelligent cleaning robot of the present invention;
FIG. 6 is a schematic view of a tread pattern in the robot chassis of the present invention; fig. 7 is a schematic tread pattern for another embodiment of the robotic chassis of the present invention.
Referring to fig. 1 to 3, a robot chassis includes, but is not limited to, a main body 100, a driving unit 200, and driven wheels. The main body 100 is used as a main structural part of a robot chassis, and is used for bearing parts of the robot and supporting the robot. When the robot is used as a household cleaning robot such as a sweeping robot, the robot chassis is in a disc shape or a square shape and is flat up and down so as to pass through furniture. In order to drive the robot and its chassis, there are driving units 200, and the driving units 200 are provided at both sides of the main body 100 to balance the robot and provide a traveling force to the movable robot.
The driving unit 200 is one of the core components of the mobile robot, and needs to increase power under the condition of stable operation, and when the driving unit 200 is applied to a sweeping robot, the driving unit 200 needs to be further arranged in consideration of the occupied space in order to reduce the volume of the robot and improve the flexibility. In one embodiment, the drive unit 200 includes a drive motor 210, a front drive wheel 220, and a transmission assembly 240 that are positioned as close as possible to each other to reduce the overall volume of the drive unit 200.
In order to improve the obstacle crossing ability of the robot, the driving unit 200 of this embodiment further includes a rear driving wheel 230, the transmission assembly 240 is respectively connected to the rotating shaft of the front driving wheel 220, the rotating shaft of the front driving wheel 220 and the output end of the driving motor 210, and the driving motor 210 outputs work, so that the transmission assembly 240 transmits power to drive the front driving wheel 220 and the front driving wheel 220 to rotate. The driven wheel 300, the front driving wheel 220 and the rear driving wheel 230 of the present embodiment are sequentially disposed at the bottom of the main body 100 from front to back, so that when the robot does not encounter an obstacle, the chassis of the robot travels on a flat ground, the bottom of the rear driving wheel 230 is not lower than the bottom of the front driving wheel 220, the front driving wheel 220 is grounded, the rear driving wheel 230 is grounded or in a suspended state, and no additional thrust is generated when the rear driving wheel 230 is in a suspended state. When the robot encounters an obstacle, the bottom of the rear driving wheel 230 is not higher than the bottom of the front driving wheel 220, that is, when the driven wheel 300 which is forward in the traveling direction of the robot contacts the obstacle to be surmounted, the driven wheel 300 is supported by the obstacle to lift the front part of the main body 100, at this time, the front driving wheel 220 may be lifted up and suspended, the driving capability is lost, and at this time, the grounded rear driving wheel 230 can still provide driving force; if the rear driving wheel 230 is in the suspended state, the rear portion of the main body 100 descends to bring the rear driving wheel 230 into contact with the ground. At this point the rear drive wheels 230 begin to act on the ground and push the robot chassis and its robot forward and upward, helping the robot to negotiate obstacles.
The driving motor 210, the transmission assembly 240, the front driving wheels 220 and the rear driving wheels 230 may be horizontally disposed at the same height to reduce the height of the driving unit 200, thereby reducing the overall height of the robot. In one embodiment, the output shaft of the driving motor 210, the front driving wheels 220 and the rear driving wheels 230 may be located on or near the same horizontal plane.
In one embodiment, the front driving wheel 220 drives the rear driving wheel 230 through the transmission assembly 240, preferably, the transmission assembly 240 includes a gear set 241, the gear set 241 is respectively connected to a rotating shaft of the front driving wheel 220 and a rotating shaft of the rear driving wheel 230, and the rotating front driving wheel 220 drives the rear driving wheel 230 to rotate through the transmission of the gear set 241. The gear set is formed by meshing a plurality of gears together, all of which maintain the same linear velocity. The gear set 241 is used for realizing gear transmission of the front driving wheel 220 and the rear driving wheel 230, is suitable for the front driving wheel 220 and the rear driving wheel 230 which are close to each other, provides stable and high-precision transmission which is not provided by other transmission modes for the rear driving wheel 230, and reduces the influence of dynamic load on the rear driving wheel 230 due to the change of working modes and the obstacle crossing vibration. In some use scenes, when the robot temporarily stops or slowly climbs a slope due to an obstacle, the gear transmission can still maintain high-efficiency transmission power at low peripheral speed, and the climbing capacity is improved.
In one embodiment, the gear radius of the gear set 241 fixed to the rotating shaft of the front driving wheel 220 is greater than or equal to the gear radius of the gear fixed to the rotating shaft of the rear driving wheel 230. The space of the rear driving wheel 230 in the driving unit 200 is saved, and the rotation speed of the rear driving wheel 230 is greater than or equal to that of the front driving wheel 220, so that the design radius of the rear driving wheel 230 can be reduced. In one embodiment, the rear driving wheel 230 is suspended and floats up and down when the robot needs to travel normally and cross obstacles, and the smaller design radius enables a larger movement space, thereby ensuring the function of the rear driving wheel 230.
In one embodiment, the transmission assembly 240 further comprises a transmission belt 242, and the transmission belt 242 is connected to the output end of the driving motor 210 and the gear set 241, respectively, and performs power transmission by using a flexible belt tensioned on a pulley. In this embodiment, the transmission belt 242 is respectively sleeved on the output end of the driving motor 210 and one gear of the gear set 241, and the gear is a gear fixed to the output shaft of the front driving wheel 220 or a gear directly meshed with the gear fixed to the output shaft of the front driving wheel 220. The driving motor 210 is driven by the driving belt 242 and the gear set 241, and the front driving wheel 220 is driven to rotate. The driving belt 242 is directly connected with the driving motor 210 to output the power of the driving motor 210, has the functions of overload slipping and buffering and absorbing shock, and aims at solving the problems of stagnation and shock generated when an obstacle is met, preventing equipment from being damaged and generating noise. Preferably, the transmission belt 242 is a synchronous belt, the working surface of the belt is made into a tooth shape, the rim surface of the pulley is also made into a corresponding tooth shape, and the belt and the pulley are mainly driven by meshing, in this embodiment, the pulleys are respectively a part of the output shaft of the driving motor 210 and a gear in the gear set 241.
In one embodiment, the gear set 241 is further connected to the output end of the driving motor 210, and the driving motor 210 drives the front driving wheel 220 and the rear driving wheel 230 to rotate through the transmission of the gear set 241. In this embodiment, the conveyor belt 242 is not provided, and the driving motor 210 drives the front driving wheel 220 and the rear driving wheel 230 to rotate through a gear, so as to further improve the transmission efficiency and enhance the climbing capability.
In one embodiment, the radius of the front driving wheels 220 is larger than the radius of the rear driving wheels 230, so that the rear driving wheels 230 can keep in a suspended state when the vehicle runs smoothly without obstacles.
In one embodiment, the front drive wheels 220 have a radius equal to the rear drive wheels 230, and the front drive wheels 220 and the rear drive wheels 230 are simultaneously grounded while the robot chassis travels over a flat ground surface. At the moment, the four wheels simultaneously drive the chassis of the robot to walk, so that the stability of walking on the flat ground is improved.
In one embodiment, in different states, the axis of the rotating shaft of the rear driving wheel 230 is lower than the axis of the rotating shaft of the front driving wheel 220, so as to reduce the path of the rear driving wheel 230 descending to the ground, facilitate the rear driving wheel 230 to assist in obstacle crossing quickly, and expand the range of the obstacle crossing assisting capability. In this embodiment, the radius of the rear driving wheel 230 is smaller than that of the front driving wheel 220, and the smaller size can save space, and simultaneously satisfy the condition that the rear driving wheel 230 does not stick to the ground when the robot travels on a horizontal ground.
In order to protect the internal components of the driving unit 200, and prevent dust and water, in one embodiment, the driving unit 200 further includes a sealed housing 210, and the rotating shaft of the front driving wheel 220, the rotating shaft of the rear driving wheel 230, and the transmission assembly 240 are located in the sealed housing 210. The hermetic case 210 is provided as a detachable structure, a part of which is fixed to the main body 100 and which can be opened for easy access and lubrication addition.
The driving unit 200 has good sealing performance and independence, and the sealed shell improves the safety and the service life of the driving unit 200, so that the quality and the service life of the adopted robot are improved; the independent driving unit 200 can be produced in a modularized manner, so that the assembly is convenient, the driving unit is even applied to robots of different models, the application range is expanded, and the design and production cost is saved.
Referring to fig. 4 and 5, in one embodiment, the main body 100 includes a bottom plate 110 and a driving cover plate 120, the sealing housing 210 is disposed on the bottom plate 110, and the driving cover plate 120 covers the sealing housing 210 to limit the upper and lower positions of the driving unit 200, and the driving cover plate 120 and the bottom plate 110 are engaged with each other above and below the sealing housing, so as to prevent frequent movement and vibration, which may cause the driving unit 200 to be accidentally dislocated and cause the robot to fail.
Referring further to fig. 6, in order to further improve the obstacle crossing capability of the robot, in one embodiment, the tread pattern 1 of at least one tire of the front driving wheel 220 and the rear driving wheel 230 has at least two rows of protrusions arranged alternately, and the protrusions rub and block the ground and the surface of an obstacle alternately to generate a partial upward pulling force to improve the obstacle crossing capability. In various embodiments, the tread pattern 1 of the front drive wheel 220 and the rear drive wheel 230 may be the same or different, such as providing a tread pattern 1 on the rear drive wheel 230 that is different from the front drive wheel 220 to further increase friction, considering that the rear drive wheel 230 only acts as an obstacle crossing and does not participate in level walking. Referring to fig. 7, preferably, the protrusions of the tread pattern 1 may further include a plurality of small protrusions, and the interiors of the protrusions may be partially hollow.
The embodiment of this application still discloses an intelligence cleans machine people, including above-mentioned robot chassis, still includes: a control unit and a cleaning unit 10 provided in the main body 100, the cleaning unit 10 being used for cleaning a floor surface waiting for cleaning including sweeping and mopping the floor, etc. The control unit is connected with and controls the driving motor 210 and the cleaning unit, thereby controlling the walking, obstacle crossing and cleaning actions of the intelligent cleaning robot. In different embodiments, the intelligent cleaning robot further comprises a sensor connected with the control unit, and the sensor is used for detecting the condition of the obstacles and planning the motion path of the robot, so that the walking efficiency of the intelligent cleaning robot is improved.
Compared with the prior art, the invention has the following beneficial effects: the robot chassis adopts the independently arranged driving units, each driving unit comprises a front driving wheel for driving the robot to move and a rear driving wheel for assisting the robot to cross obstacles, and the rear driving wheel assists in supporting the robot when crossing obstacles and provides upward and forward driving force, so that the obstacle crossing capability of the cleaning robot is improved.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A robot chassis, comprising:
a main body;
the driving units are arranged on two sides of the main body and comprise driving motors, front driving wheels and rear driving wheels, wherein the front driving wheels and the rear driving wheels are driven by the driving motors to operate;
the driven wheel is arranged at the bottom of the main body;
the driven wheel, the front driving wheel and the rear driving wheel are sequentially arranged at the bottom of the main body from front to back, when the robot chassis travels on a flat ground, the bottom of the rear driving wheel is not lower than the bottom of the front driving wheel, the driven wheel is in contact with an obstacle to be surged, and the bottom of the rear driving wheel is not higher than the bottom of the front driving wheel.
2. The robot chassis of claim 1, further comprising a transmission assembly connected to an output end of the driving motor, wherein the transmission assembly comprises a gear set, the gear set is respectively connected to a rotating shaft of the front driving wheel and a rotating shaft of the rear driving wheel, and the rotating front driving wheel drives the rear driving wheel to rotate through transmission of the gear set.
3. The robot chassis of claim 2, wherein a gear radius fixed to the rotational axis of the front drive wheel within the gear set is greater than or equal to a gear radius fixed to the rotational axis of the rear drive wheel.
4. The robot chassis of claim 2, wherein the transmission assembly further comprises a transmission belt, the transmission belt is respectively connected with an output end of the driving motor and a gear set, and the driving motor drives the front driving wheel to rotate through transmission of the transmission belt and the gear set in sequence.
5. The robot chassis of claim 2, wherein the gear set is further connected to an output end of the driving motor, and the driving motor is driven by the gear set to drive the front driving wheel and the rear driving wheel to rotate.
6. A robot chassis according to claim 1, wherein the front drive wheel radius is greater than or equal to the rear drive wheel radius.
7. A robot chassis according to claim 6, wherein the front drive wheel radius is equal to the rear drive wheel radius, and the front and rear drive wheels are grounded simultaneously when the robot chassis is travelling on a flat ground.
8. A robot chassis according to claim 1, characterised in that the axle axis of the rear drive wheels is parallel or lower than the axle axis of the front drive wheels.
9. A robot chassis according to claim 1, characterized in that the tread pattern of at least one of the front and rear drive wheels has at least two rows of protrusions arranged alternately.
10. An intelligent cleaning robot comprising a robot chassis according to any of claims 1-9, further comprising:
the cleaning device comprises a main body, a control unit and a cleaning unit, wherein the main body is internally provided with the cleaning unit for cleaning the ground, and the control unit is connected with and controls the driving motor and the cleaning unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110399479.0A CN115191869A (en) | 2021-04-14 | 2021-04-14 | Robot chassis and intelligent cleaning robot |
| PCT/CN2021/122258 WO2022217861A1 (en) | 2021-04-14 | 2021-09-30 | Robot chassis and intelligent cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110399479.0A CN115191869A (en) | 2021-04-14 | 2021-04-14 | Robot chassis and intelligent cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115191869A true CN115191869A (en) | 2022-10-18 |
Family
ID=83574059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110399479.0A Pending CN115191869A (en) | 2021-04-14 | 2021-04-14 | Robot chassis and intelligent cleaning robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115191869A (en) |
| WO (1) | WO2022217861A1 (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428291A (en) * | 2015-08-04 | 2017-02-22 | 燕成祥 | displacement mechanism of mobile device |
| CN106741258A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis |
| US20170238778A1 (en) * | 2016-02-22 | 2017-08-24 | Lg Electronic, Inc. | Moving robot and control method thereof |
| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN110507248A (en) * | 2018-05-22 | 2019-11-29 | 科沃斯机器人股份有限公司 | Self-movement robot running gear, self-movement robot and its traveling method |
| CN211918861U (en) * | 2020-03-20 | 2020-11-13 | 深圳市杉川机器人有限公司 | Chassis and mobile robot |
| CN212074255U (en) * | 2020-03-20 | 2020-12-04 | 深圳市杉川机器人有限公司 | Chassis and mobile robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL181208A (en) * | 2007-02-07 | 2011-02-28 | Elbit Systems Ltd | Unmanned robot vehicle with mobility enhancing arm |
| CN109050712A (en) * | 2018-07-13 | 2018-12-21 | 华南理工大学广州学院 | A kind of wheel type barrier-crossing deformation chassis and its working method |
| CN112144901A (en) * | 2020-09-09 | 2020-12-29 | 重庆工程职业技术学院 | Movable wall building machine motion system |
-
2021
- 2021-04-14 CN CN202110399479.0A patent/CN115191869A/en active Pending
- 2021-09-30 WO PCT/CN2021/122258 patent/WO2022217861A1/en active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428291A (en) * | 2015-08-04 | 2017-02-22 | 燕成祥 | displacement mechanism of mobile device |
| US20170238778A1 (en) * | 2016-02-22 | 2017-08-24 | Lg Electronic, Inc. | Moving robot and control method thereof |
| CN106741258A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis |
| CN110507248A (en) * | 2018-05-22 | 2019-11-29 | 科沃斯机器人股份有限公司 | Self-movement robot running gear, self-movement robot and its traveling method |
| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN211918861U (en) * | 2020-03-20 | 2020-11-13 | 深圳市杉川机器人有限公司 | Chassis and mobile robot |
| CN212074255U (en) * | 2020-03-20 | 2020-12-04 | 深圳市杉川机器人有限公司 | Chassis and mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022217861A1 (en) | 2022-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2376051C (en) | Surface-travelling mobile apparatus and cleaning apparatus using the same | |
| CN201261023Y (en) | Crawler wind pipe cleaning robot | |
| WO2021082290A1 (en) | Cleaning robot chassis and cleaning robot | |
| CN109911050A (en) | One kind is from climbing robot omnidirectional barrier getting over mechanism and obstacle-detouring method | |
| CN110293543A (en) | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint | |
| CN212074255U (en) | Chassis and mobile robot | |
| CN212423324U (en) | Deformation wheel device, wheel-track leg walking device and wheel-track leg robot | |
| CN112572642B (en) | Anti-collision chassis for service robot | |
| CN115191869A (en) | Robot chassis and intelligent cleaning robot | |
| CN109008771B (en) | Modular wipe window intelligent robot | |
| CN216602731U (en) | Climbing cleaning robot | |
| CN108042054B (en) | Automatic robot that cleans of step for corridor | |
| CN109383656B (en) | Rotary wheel leg composite type moving mechanism | |
| CN214799399U (en) | Photovoltaic cleaning robot with self-adaptation round brush subassembly | |
| CN114644064A (en) | Inflatable airbag-driven biped wall-climbing robot | |
| CN110329372B (en) | Stair climbing robot | |
| CN113941992B (en) | Wheel train mechanism with adjustable walking mode of robot | |
| CN110182273B (en) | Wall-climbing robot system with obstacle-crossing function and using method thereof | |
| CN210414520U (en) | Extensible mobile robot | |
| CN112998568A (en) | High-altitude glass curtain wall scrubbing robot | |
| CN210455017U (en) | A drive wheel assembly for intelligent robot | |
| CN211324764U (en) | Cleaning robot chassis and cleaning robot | |
| CN106985924A (en) | Compound wheel type robot running gear | |
| CN209972614U (en) | Crawler-type passive self-adaptive robot | |
| CN220800899U (en) | Stair climbing device of sweeping 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 |