CN205148310U - Walking device - Google Patents

Walking device Download PDF

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Publication number
CN205148310U
CN205148310U CN201520228605.6U CN201520228605U CN205148310U CN 205148310 U CN205148310 U CN 205148310U CN 201520228605 U CN201520228605 U CN 201520228605U CN 205148310 U CN205148310 U CN 205148310U
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CN
China
Prior art keywords
mechanical arm
microswitch
running gear
multistage
driving wheel
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Active
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CN201520228605.6U
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Chinese (zh)
Inventor
刘小禹
夏勇峰
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Xiaomi Inc
Beijing Rockrobo Technology Co Ltd
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Xiaomi Inc
Beijing Rockrobo Technology Co Ltd
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Application filed by Xiaomi Inc, Beijing Rockrobo Technology Co Ltd filed Critical Xiaomi Inc
Priority to CN201520228605.6U priority Critical patent/CN205148310U/en
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Publication of CN205148310U publication Critical patent/CN205148310U/en
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Abstract

The utility model discloses a walking device belongs to mechanical automation technical field. Walking device includes: organism and multistage micro -gap switch, multistage micro -gap switch installs on the organism, with the control module electricity that the organism includes is connected, the drive wheel that the organism includes is to keeping away from when the direction of organism pops out the switches at different levels that multistage micro -gap switch includes are triggered step by step, the control module control that the organism includes the control function that the current one -level switch that is triggered corresponds is carried out to the organism. This trafficability characteristic that openly can improve walking device.

Description

A kind of running gear
Technical field
The disclosure relates to technical field of mechanical automation, particularly relates to a kind of running gear.
Background technology
Robot refers to the man-made machine device that can automatically perform task, in order to replace or to assist human work, if sweeping robot is the robot for replacing the mankind to carry out sweeping the floor operation.
Current sweeping robot, by motor driving wheel, drives sweeping robot entirety to move on the ground by wheel turns, the rubbish on ground and dust is taken away in the process that robot moves integrally.
Utility model content
In order to improve running gear by property, present disclose provides a kind of running gear.Described technical scheme is as follows:
A kind of running gear, described running gear comprises:
Body and multistage microswitch;
Described multistage microswitch is arranged on described body, and the control module comprised with described body is electrically connected;
The switches at different levels that when driving wheel that described body comprises ejects to the direction away from described body, described multistage microswitch comprises are triggered step by step;
The control module that described body comprises controls the controlling functions that the current one-level Switch Controller be triggered of described body execution is answered.
One end of the mechanical arm of described body is provided with driving wheel, and the other end extends an extension, and described multistage microswitch is arranged on the race of described body near the side of described extension;
Described extension pressing described multistage microswitch when described driving wheel ejects to the direction away from described body, to trigger described multistage microswitch.
Described extension also establishes salient point, and contact when described driving wheel ejects to the direction away from described body on the described multistage microswitch of described salient point pressing, to trigger described multistage microswitch.
Described multistage microswitch is arranged on the first mechanical arm or the second mechanical arm that described body comprises, one end of described first mechanical arm and one end of described second mechanical arm hinged;
Described multistage microswitch, near described first mechanical arm and described second mechanical arm hinged place, the other end of described first mechanical arm is equipped with driving wheel.
When described driving wheel is packed up to the direction of described body, the contact of the described multistage microswitch of mechanical arm pressing of described multistage microswitch is not installed.
Described multistage microswitch is twin-stage microswitch.
Described driving wheel to away from described body direction eject time, the angle between first mechanical arm and the second mechanical arm of described body of described body reach first preset angle time described twin-stage microswitch first order switch be triggered;
Between described first mechanical arm and described second mechanical arm angle reach second preset angle time described twin-stage microswitch second level switch be triggered, described first preset angle is less than described second preset angle.
The first order Switch Controller of described twin-stage microswitch answers obstacle crossing function, and the second level Switch Controller of described twin-stage microswitch answers warning function.
When described first order switch is triggered, the motor that described control module controls in described body increases the driving force driving described driving wheel.
When described second level switch is triggered, the alarm module that described control module controls in described body carries out alarm.
Described running gear is sweeping robot, dust catcher, wax-polishing machine or floor cleaning machine.
In the disclosed embodiments, running gear runs into obstacle, the body of running gear is lifted by obstacle, driving wheel is ejected by the direction away from body, be arranged on switch at different levels in the multistage microswitch on the first mechanical arm or the second mechanical arm to be triggered gradually, control module can control body and perform the controlling functions that the Switch Controller that is triggered answers.Wherein, an obstacle crossing function can be set, when the switch that obstacle crossing function is corresponding is triggered, control module controls body and performs obstacle crossing function, and can increase in the driving force of the driving driving wheel of obstacle crossing function lower body, running gear can be surmounted obstacles smoothly, carry cross-country traveling ability.
Accompanying drawing explanation
Fig. 1 is the motion structure schematic diagram of a kind of running gear that disclosure embodiment 1 provides;
Fig. 2 is a kind of running gear first structural representation that disclosure embodiment 1 provides;
Fig. 3 is the motion structure schematic diagram of a kind of running gear that disclosure embodiment 1 provides;
Fig. 4 is a kind of running gear second structural representation that disclosure embodiment 1 provides
Fig. 5 is a kind of running gear first structural representation that disclosure embodiment 2 provides;
Fig. 6 is a kind of running gear second structural representation that disclosure embodiment 2 provides;
Fig. 7 is one first mechanical arm that provides of disclosure embodiment and the hinged schematic diagram of the second mechanical arm.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model embodiment is described in further detail.
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the disclosure.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present disclosure are consistent.
Running gear is herein mobile robot, is in particular the robot driven by wheel.Mobile robot is with the walking of constant driving force on level land, and may run into obstacle when mobile robot walks on the ground, when running into obstacle, mobile robot may cause surmounting obstacles because of driving force deficiency.Such as, mobile robot can be sweeping robot, and sweeping robot carries out average rate traveling with constant driving on level land, and sweeping robot may run into obstacle such as picture door or carpet etc. sometimes, possibly cannot cross because driving force is not enough.In the disclosure, can following arbitrary embodiment be passed through, mobile robot is surmounted obstacles.
Embodiment 1
See Fig. 1 and 2, the utility model embodiment provides a kind of running gear, comprising:
Body 1 and multistage microswitch 2;
One end of the mechanical arm 31 of body 1 is provided with driving wheel 13, the other end extends an extension 32, multistage microswitch 2 is arranged on the side of the close extension 32 of the race 33 of body 1, and the control module (not shown in FIG.) that multistage microswitch 2 also comprises with body 1 is electrically connected;
Driving wheel 13 presses multistage microswitch 2, to trigger multistage microswitch 2 to extension 32 when ejecting away from this direction of 1 of machine;
Control module control body 1 performs the controlling functions that the current one-level Switch Controller be triggered is answered.
The other end of mechanical arm 31 also extends upward the first hook 35, and race 33 extends the second hook 36 near the side of driving wheel 13, and the one end of the elastic component 38 that body 1 comprises hangs on the first hook 35, and the other end hangs on the second hook 36.
When running gear is walked on level land, conducted oneself with dignity by body 1 and suppress driving wheel 13 and mechanical arm 31, mechanical arm 31 is packed up in body 1 around rotating shaft 34, and drives driving wheel 13 also to pack up in body 1.Meanwhile, extension 32 under the drive of mechanical arm 31 away from multistage microswitch 2.
See Fig. 3, when running gear runs into barrier, the body 1 of running gear is by barrier lifting gradually, and under the traction of elastic component 37, mechanical arm 31 drives driving wheel 13 to eject gradually to the direction away from body 1; Simultaneously extension 32 under the drive of mechanical arm 31 gradually near multistage microswitch 2; Extension 32 just can press the switches at different levels on multistage microswitch 2 gradually, and this grade of switch is pressed i.e. this grade of switch and is triggered; Multistage microswitch 2 sends to control module the triggering signal that this grade of Switch Controller answer, and control module determines this grade of switch according to this triggering signal of reception, and controls body 1 and perform the controlling functions that this grade of Switch Controller answer.
Wherein, in the disclosed embodiments, can arrange the controlling functions that certain grade of Switch Controller in multistage microswitch 2 answers in advance is obstacle crossing function, can increase hoofing part power at obstacle crossing function lower body 1.Place is when body 1 is lifted to certain altitude, and the one-level switch that the obstacle crossing function in multistage microswitch 2 is corresponding just can be extended part 32 and press, and multistage microswitch 2 sends to control module the triggering signal that this grade of Switch Controller answer; Control module controls body 1 according to this triggering signal and performs the obstacle crossing function that this grade of Switch Controller answer, and makes body 1 increase hoofing part power, surmounts obstacles smoothly.
See Fig. 1, extension 32 is also provided with salient point 38, when driving wheel 13 ejects to the direction away from body 1, this salient point 38 can press the contact on multistage microswitch 2, to trigger multistage microswitch 2.Downward-sloping on the side that multistage microswitch 2 is arranged on race 33, can ensure that salient point 38 can be pressed into multistage microswitch 2 upper contact exactly.
Optionally, multistage microswitch 2 can be twin-stage microswitch.Twin-stage microswitch comprises first order switch and second level switch.The controlling functions of first order switch and second level switch difference correspondence is set in advance.Such as, first Switch Controller can be set in the control module and answer obstacle crossing function, second level Switch Controller is set and answers warning function, namely switch mark as shown in table 1 and the corresponding relation of controlling functions is stored in the control module in advance, wherein, ID1 and ID2 is respectively the switch mark of first order switch and second level switch.
Table 1
Switch mark Controlling functions
ID1 Obstacle crossing function
ID2 Warning function
When running gear runs into barrier, be positioned at driving wheel 13 on mechanical arm 31 when ejecting to the direction away from body 1, the extension 32 extended out from mechanical arm 31 is little by little near multistage microswitch 2; When the salient point 38 on extension 32 presses twin-stage microswitch, the first order switch that twin-stage microswitch comprises is pressed; The triggering signal that twin-stage microswitch transmission first order Switch Controller is answered is to control module; Control module determines first order switch according to this triggering signal, according to the switch mark of first order switch, obtains corresponding controlling functions from switch mark with the corresponding relation of controlling functions, and controls body 1 and perform this controlling functions.Such as, control module, according to the switch mark ID1 of first order switch, is obstacle crossing function from switch mark as shown in table 1 with obtaining corresponding controlling functions the corresponding relation of controlling functions.Then control module controls body 1 and performs obstacle crossing function to increase traveling driving force, to surmount obstacles.
Sometimes running gear may be picked up by user, when user picks up under the traction of elastic component 37, mechanical arm 31 rotates around rotating shaft, extension 32 to rotate and quick close to twin-stage microswitch along with mechanical arm 31, and the salient point 38 that the first order switch of very fast twin-stage microswitch and second level switch are extended in portion 32 presses.After second level switch is pressed, the triggering signal that twin-stage microswitch transmission second level Switch Controller is answered is to control module; Control module determines second level switch according to this triggering signal, according to the switch mark of second level switch, obtains corresponding controlling functions from switch mark with the corresponding relation of controlling functions, and controls body 1 and perform this controlling functions.Such as, control module, according to the switch mark ID2 of second level switch, is warning function from switch mark as shown in table 1 with obtaining corresponding controlling functions the corresponding relation of controlling functions.Then the alarm module that control module controls in body carries out alarm, and the motor controlled in body 1 stops operating.
See Fig. 4, comprise motor 15, drive circuit 16 and power supply 17 in body, drive circuit 16 is electrically connected with motor 15, power supply 17 and control module respectively, and motor 15 is connected with driving wheel 13 by the mode such as belt or gear.
Accordingly, control module control body 1 performs obstacle crossing function to increase the mode travelling driving force and can be: control module can send electric current increases instruction to drive circuit 16, drive circuit 16 receives the supply current that this electric current increases motor 15 of increasing supply after instruction, after supply current increases, motor 15 increases the driving force exported to and drive driving wheel 13, and running gear is surmounted obstacles.
Further, after running gear surmounts obstacles, running gear recovers walking on level land, and the deadweight press mechanical arm 31 of body 1 and driving wheel 13, mechanical arm 31 drives driving wheel 13 to pack up to the direction of body 1 gradually.Simultaneously extension 32 to rotate and away from twin-stage microswitch, the first order switch be pressed is released along with mechanical arm 31.The unlock signal that twin-stage microswitch is answered to control module transmission first order Switch Controller; Control module receives this unlock signal, and control module sends electric current and reduces instruction to drive circuit 16, and drive circuit 16 reduces the supply current of supply motor 15, makes motor 15 reduce to drive the driving force of driving wheel 13.
In the disclosed embodiments, running gear can be sweeping robot, dust catcher, wax-polishing machine or floor cleaning machine.
In the disclosed embodiments, running gear runs into obstacle, the body of running gear is lifted by obstacle, driving wheel is ejected by the direction away from body, extension on mechanical arm can press switch at different levels in multistage microswitch gradually, and control module can control body and perform the controlling functions that the Switch Controller that is pressed answers.Wherein, an obstacle crossing function can be set, when the switch that obstacle crossing function is corresponding is pressed, control module controls body and performs obstacle crossing function, and can increase in the driving force of the driving driving wheel of obstacle crossing function lower body, running gear can be surmounted obstacles smoothly, carry cross-country traveling ability.
Embodiment 1
See Fig. 5, the utility model embodiment provides a kind of running gear, comprising:
Body 1 and multistage microswitch 2;
Multistage microswitch 2 is arranged on the first mechanical arm 11 or the second mechanical arm 12 that body 1 comprises, one end of the first mechanical arm 11 and one end of the second mechanical arm 12 hinged, multistage microswitch 2 is near the first mechanical arm 11 and the second mechanical arm 12 hinged place;
The control module (not shown in Figure 5) that multistage microswitch 2 comprises with body 1 is electrically connected, driving wheel 13 is equipped with in one end of first mechanical arm 11, and the switches at different levels that multistage microswitch 2 comprises when driving wheel 13 ejects to the direction away from body 1 are triggered step by step;
Control module 13 controls body 1 and performs the controlling functions that the current one-level Switch Controller be triggered answers.
Every grade of Switch Controller that can arrange in advance in multistage microswitch should one or more kind of controlling functions.Wherein, can arrange the controlling functions that certain grade of Switch Controller answers is obstacle crossing function, when running gear runs into obstacle, driving wheel 13 ejects to the direction away from body 1, when the one-level switch that obstacle crossing function is corresponding is triggered, control module controls body 1 and performs obstacle crossing function, increases, surmount obstacles smoothly in the driving force of obstacle crossing function lower body 1.Wherein, certain grade of switch in multistage microswitch 2 is triggered and is this grade of switch and is opened.
Optionally, control module in body 1 can be single-chip microcomputer, controller or FPDA (Field-ProgrammableGateArray, field programmable gate array) etc., integrated PCB (PrintedCircuitBoard, the printed circuit board) plate in body of control module is electrically connected with multistage microswitch 2 by holding wire.Store the corresponding relation of the controlling functions that the switch mark of switch at different levels and Switch Controller at different levels are answered in the control module in advance.
When certain grade of switch that multistage microswitch 2 comprises is triggered, the triggering signal that current this grade of Switch Controller be triggered is answered is sent to control module by multistage microswitch 2; Control module receives this triggering signal, current this grade of switch be triggered is determined according to this triggering signal, according to the switch mark of current this grade of switch be triggered, obtain corresponding controlling functions from switch mark with the corresponding relation of controlling functions, then control body 1 and perform this controlling functions.Wherein, can comprise the switch mark of current this grade of switch be triggered in this triggering signal, control module directly can extract the switch mark of current this grade of switch be triggered from this triggering signal.
See Fig. 5 and 6, one end of second mechanical arm 12 is fixed on body 1, one end of the other end and the first mechanical arm 11 is hinged, elastic component 14 is housed in hinged place, extension is respectively stretched out in the two ends of elastic component 14, wherein an extension is fitted on the first mechanical arm 11, and another extension is fitted on the second mechanical arm 12.
Before running gear runs into obstacle, running gear is walked on level land.See Fig. 5, suppress the first mechanical arm 11 and the second mechanical arm 12 in the deadweight of level land upper machine body 1, the driving wheel 13 being positioned at the first mechanical arm 11 is packed up to the direction near body 1.When driving wheel 13 on the first mechanical arm 11 is packed up to the direction near body 1, angle between first mechanical arm 11 and the second mechanical arm 12 diminishes gradually, the contact being arranged on the multistage microswitch 2 on the first mechanical arm 11 or the second mechanical arm 12 is pressed by the mechanical arm not being provided with multistage microswitch 2, and on multistage microswitch 2, switch at different levels is little by little pressed cut out.When angle between the first mechanical arm 11 and the second mechanical arm 12 is retracted to minimum, the switches at different levels on multistage microswitch 2 are all pressed cut out.
Such as, see Fig. 5, multistage microswitch 2 is arranged on the first mechanical arm 11, when running gear is on level land, driving wheel 13 on first mechanical arm 11 is packed up to the direction near body 1 gradually by the deadweight of body 1 compacting, angle between first mechanical arm 11 and the second mechanical arm 12 reduces gradually, and the second mechanical arm 12 presses multistage microswitch 2, and the switches at different levels that multistage microswitch 2 is comprised little by little press cut out; When angle between the first mechanical arm 11 and the second mechanical arm 12 reaches minimum, the driving wheel 13 existence part be positioned on the first mechanical arm 11 is retracted into body 1, also have part to expose outside body 1, the switches at different levels that now multistage microswitch 2 comprises all press cut out.
See Fig. 7, can run into obstacle when running gear is walked on level land, this obstacle is by body 1 lifting gradually of running gear.In the process of body 1 lifting gradually, elastic component 14 draws the first mechanical arm 11, drives the driving wheel 13 be positioned on the first mechanical arm 11 eject to the direction away from body 1 and press ground, driving wheel 11 is had grab frictional force.When driving wheel 13 ejects to the direction away from body 1, angle between first mechanical arm 11 and the second mechanical arm 12 becomes large gradually, make to be arranged on the switches at different levels that the multistage microswitch 2 on the first mechanical arm 11 or the second mechanical arm 12 comprises to be opened gradually, namely triggered gradually, and sent to control module the triggering signal that the one-level Switch Controller that is triggered answers.
Wherein, it should be noted that: the Switch Controller at different levels that multistage microswitch 2 comprises should a rear default angle, when driving wheel 13 ejects to the direction away from body 1, when the angle opened between the first mechanical arm 11 and the second mechanical arm 12 increases to the default angle that certain grade of Switch Controller answers, this grade of switch is triggered.
Optionally, multistage microswitch 2 can twin-stage microswitch.
Twin-stage microswitch comprises first order switch and second level switch.First order Switch Controller answers first to preset angle, and second level Switch Controller answers second to preset angle; First presets angle is less than the second default angle, and second presets angle is less than or equal to the maximum angle that can open between the first mechanical arm 11 and the second mechanical arm 12.Optionally, first presets the stage casing that angle can be the maximum angle that can open between the first mechanical arm 11 and the second mechanical arm 12, and such as, the first size presetting angle can be 50%, 40% or 60% of this maximum angle etc.
The controlling functions of first order switch and second level switch difference correspondence is set in advance.Such as, first Switch Controller can be set in the control module and answer obstacle crossing function, second level Switch Controller is set and answers warning function, namely switch mark as shown in table 2 and the corresponding relation of controlling functions is stored in the control module in advance, wherein, ID1 and ID2 is respectively the switch mark of first order switch and second level switch.
Table 2
Switch mark Controlling functions
ID1 Obstacle crossing function
ID2 Warning function
When running gear runs into barrier, when the driving wheel 13 be positioned on the first mechanical arm 11 ejects to the direction away from body 1, the angle between the first mechanical arm 11 and the second mechanical arm 12 is opened gradually becomes large.When angle between the first mechanical arm 11 and the second mechanical arm 12 opens and reaches the first default angle, the first order switch that twin-stage microswitch is corresponding is triggered; The triggering signal that twin-stage microswitch transmission first order Switch Controller is answered is to control module; Control module determines first order switch according to this triggering signal, according to the switch mark of first order switch, obtains corresponding controlling functions from switch mark with the corresponding relation of controlling functions, and controls body 1 and perform this controlling functions.Such as, control module, according to the switch mark ID1 of first order switch, is obstacle crossing function from switch mark as shown in table 2 with obtaining corresponding controlling functions the corresponding relation of controlling functions.Then control module controls body 1 and performs obstacle crossing function to increase traveling driving force, to surmount obstacles.
When running gear is picked up by user, the driving wheel 13 be positioned on the first mechanical arm 11 ejects to the direction away from body 1, and the angle between the first mechanical arm 11 and the second mechanical arm 12 is opened gradually becomes large.When angle between the first mechanical arm 11 and the second mechanical arm 12 opens and reaches the second default angle, the second level switch that twin-stage microswitch comprises is triggered; The triggering signal that twin-stage microswitch transmission second level Switch Controller is answered is to control module; Control module determines second level switch according to this triggering signal, according to the switch mark of second level switch, obtains corresponding controlling functions from switch mark with the corresponding relation of controlling functions, and controls body 1 and perform this controlling functions.Such as, control module, according to the switch mark ID2 of second level switch, is warning function from switch mark as shown in table 2 with obtaining corresponding controlling functions the corresponding relation of controlling functions.Then the alarm module that control module controls in body carries out alarm, and stops the motor output drive strength of body 1 to driving wheel 13.
See Fig. 4, comprise motor 15, drive circuit 16 and power supply 17 in body, drive circuit 16 is electrically connected with motor 15, power supply 17 and control module respectively, and motor 15 is connected with driving wheel 13 by the mode such as belt or gear.
Accordingly, control module control body 1 performs obstacle crossing function to increase the mode travelling driving force and can be: control module can send electric current increases instruction to drive circuit 16, drive circuit 16 receives the supply current that this electric current increases motor 15 of increasing supply after instruction, after supply current increases, motor 15 increases the driving force exported to and drive driving wheel 13, and running gear is surmounted obstacles.
Further, after running gear surmounts obstacles, running gear recovers walking on level land, the first mechanical arm 11 and the second mechanical arm 12 is suppressed in the deadweight of body 1, first mechanical arm 11 drives driving wheel 13 to pack up to the direction of body 1 gradually, and the angle between the first mechanical arm 11 and the second mechanical arm 12 diminishes gradually.When angle between the first mechanical arm 11 and the second mechanical arm 12 is decreased to the first default angle, the contact of the mechanical arm pressing twin-stage microswitch of twin-stage microswitch is not installed, make the first order switch that twin-stage microswitch cuts out, simultaneously twin-stage microswitch sends to control module the shutdown signal that first order Switch Controller answers; Control module receives this shutdown signal, and control module sends electric current and reduces instruction to drive circuit 16, and drive circuit 16 reduces the supply current of supply motor 15, makes motor 15 reduce to drive the driving force of driving wheel 13.
In the disclosed embodiments, running gear can be sweeping robot, dust catcher, wax-polishing machine or floor cleaning machine.
In the disclosed embodiments, running gear runs into obstacle, the body of running gear is lifted by obstacle, driving wheel is ejected by the direction away from body, be arranged on switch at different levels in the multistage microswitch on the first mechanical arm or the second mechanical arm to be triggered gradually, control module can control body and perform the controlling functions that the Switch Controller that is triggered answers.Wherein, an obstacle crossing function can be set, when the switch that obstacle crossing function is corresponding is triggered, control module controls body and performs obstacle crossing function, and can increase in the driving force of the driving driving wheel of obstacle crossing function lower body, running gear can be surmounted obstacles smoothly, carry cross-country traveling ability.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.

Claims (11)

1. a running gear, is characterized in that, described running gear comprises:
Body and multistage microswitch;
Described multistage microswitch is arranged on described body, and the control module comprised with described body is electrically connected;
The switches at different levels that when driving wheel that described body comprises ejects to the direction away from described body, described multistage microswitch comprises are triggered step by step;
The control module that described body comprises controls the controlling functions that the current one-level Switch Controller be triggered of described body execution is answered.
2. running gear as claimed in claim 1, is characterized in that,
One end of the mechanical arm of described body is provided with driving wheel, and the other end extends an extension, and described multistage microswitch is arranged on the race of described body near the side of described extension;
Described extension pressing described multistage microswitch when described driving wheel ejects to the direction away from described body, to trigger described multistage microswitch.
3. running gear as claimed in claim 2, is characterized in that,
Described extension also establishes salient point, and contact when described driving wheel ejects to the direction away from described body on the described multistage microswitch of described salient point pressing, to trigger described multistage microswitch.
4. running gear as claimed in claim 1, is characterized in that,
Described multistage microswitch is arranged on the first mechanical arm or the second mechanical arm that described body comprises, one end of described first mechanical arm and one end of described second mechanical arm hinged;
Described multistage microswitch, near described first mechanical arm and described second mechanical arm hinged place, the other end of described first mechanical arm is equipped with driving wheel.
5. running gear as claimed in claim 4, is characterized in that,
When described driving wheel is packed up to the direction of described body, the contact of the described multistage microswitch of mechanical arm pressing of described multistage microswitch is not installed.
6. running gear as described in any one of claim 1 to 5 claim, is characterized in that, described multistage microswitch is twin-stage microswitch.
7. running gear as described in any one of claim 6 claim, is characterized in that,
Described driving wheel to away from described body direction eject time, the angle between first mechanical arm and the second mechanical arm of described body of described body reach first preset angle time described twin-stage microswitch first order switch be triggered;
Between described first mechanical arm and described second mechanical arm angle reach second preset angle time described twin-stage microswitch second level switch be triggered, described first preset angle is less than described second preset angle.
8. running gear as claimed in claim 6, it is characterized in that, the first order Switch Controller of described twin-stage microswitch answers obstacle crossing function, and the second level Switch Controller of described twin-stage microswitch answers warning function.
9. running gear as claimed in claim 8, is characterized in that,
When described first order switch is triggered, the motor that described control module controls in described body increases the driving force driving described driving wheel.
10. running gear as claimed in claim 8, is characterized in that,
When described second level switch is triggered, the alarm module that described control module controls in described body carries out alarm.
11. as described in any one of claim 1 to 5 claim running gear, it is characterized in that, described running gear is sweeping robot, dust catcher, wax-polishing machine or floor cleaning machine.
CN201520228605.6U 2015-04-15 2015-04-15 Walking device Active CN205148310U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106142045A (en) * 2015-04-15 2016-11-23 小米科技有限责任公司 A kind of running gear
TWI603700B (en) * 2016-06-15 2017-11-01 好樣科技有限公司 Automatic cleaning machine
CN107616751A (en) * 2017-08-17 2018-01-23 金诚信 A kind of sweeping robot for polishing waxing
US10524630B2 (en) 2016-06-15 2020-01-07 Hobot Technology Inc. Automatic cleaning machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106142045A (en) * 2015-04-15 2016-11-23 小米科技有限责任公司 A kind of running gear
TWI603700B (en) * 2016-06-15 2017-11-01 好樣科技有限公司 Automatic cleaning machine
US10524630B2 (en) 2016-06-15 2020-01-07 Hobot Technology Inc. Automatic cleaning machine
CN107616751A (en) * 2017-08-17 2018-01-23 金诚信 A kind of sweeping robot for polishing waxing

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