CN205930984U - Running gear of robot sweeps floor - Google Patents

Running gear of robot sweeps floor Download PDF

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Publication number
CN205930984U
CN205930984U CN201620080559.4U CN201620080559U CN205930984U CN 205930984 U CN205930984 U CN 205930984U CN 201620080559 U CN201620080559 U CN 201620080559U CN 205930984 U CN205930984 U CN 205930984U
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CN
China
Prior art keywords
walking
sub
sweeping robot
bar
electric motor
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.)
Withdrawn - After Issue
Application number
CN201620080559.4U
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Chinese (zh)
Inventor
曾胜兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Hongqirui Automation Co Ltd
Original Assignee
Suzhou Hongqirui Automation Co Ltd
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Filing date
Publication date
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Priority to CN201620080559.4U priority Critical patent/CN205930984U/en
Application granted granted Critical
Publication of CN205930984U publication Critical patent/CN205930984U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model relates to a running gear of robot sweeps floor, include that array distribution sets up in each sub - running gear of the the robot that sweeps the floor (1) lower surface, each sub - running gear includes preset length's poor position pole (2) and two electronic round (3) respectively, poor position pole (2) fixed position that corresponds sub - running gear place at the the robot that sweeps the floor (1) lower surface that sets up among each sub - running gear to poor position pole (2) are gone up the one end position that corresponds the robot (1) walking orientation of sweeping the floor and are higher than its other end position, and the both ends to a pole (2) of accepting an assignment are connected respectively in two electronic round (3) among each sub - running gear, the utility model discloses a running gear of robot sweeps floor has improved the trafficability characteristic among the the walking process of robot that sweeps the floor greatly, can realize wider cleaning, has effectively guaranteed the work efficiency that cleans of the robot of sweeping the floor.

Description

A kind of sweeping robot walking mechanism
Technical field
The utility model is related to a kind of sweeping robot walking mechanism, belongs to smart home technology neck Domain.
Background technology
With the continuous development of technical level of science and technology and the continuous improvement of people's living standard, more next More household electrical appliance just develop towards intelligentized direction, such as in the last few years, get more and more Family in occur in that sweeping robot, it can need not any control in the case of, automatically Cleaned for ground, and the continuous improvement with sweeping robot utilization rate, factory Improvement and innovation, the such as patent No. are constantly done also for existing sweeping robot by family: 201320537462.8;Disclose a kind of sweeping robot, including main frame and dirt box, on main frame It is provided with cavity, dirt box is embedded in described cavity, the ash inlet of dirt box and the dust channel of main frame Ash hole is correspondingly arranged, and on the side wall of cavity, is located at the two ends of dust channel ash hole, It is respectively provided with an optical signal transmitter and for exporting dust concentration signal to the one of control unit First optical signal receiver;And dirt box is transparent material.The sweeper of technique scheme design Device people, dust concentration sensor is arranged in cavity side walls, can be same during user's cleaning dirt box When cleaning of the photocell of dust sensor and the light-passing board of light receiving element, solve existing Have technology cannot effective cleaning dust sensor light-passing board problem.
Also has number of patent application:201410752789.6, disclose a kind of Intelligent robot for sweeping floor, Including:With multiple obstacle sensors of preset pitch setting, and each described obstacle sensor pair One steering angle should be set, when obstacle sensor is triggered, the angle that robot is turned to Steering angle association corresponding with the obstacle sensor that this is triggered.Technique scheme design Sweeping robot, angle and the obstacle sensor being triggered that when barrier is detected, it turns to Default steering angle association, such that it is able to optimize robot motion path, improves cleaning efficiency.
Moreover, the patent No.:201520042353.8, disclose a kind of sweeping robot, This sweeping robot includes:Sweeping robot body, described sweeping robot body include shell, Side brush assemblies, motor and elastic construction, described side brush assemblies are located at the bottom of described shell, Described motor with described when brush assemblies are connected and are used for driving described brush assemblies around described The rotation axis of side brush assemblies rotates, and described elastic construction is arranged to flexibly to compress downwards described Side brush assemblies.The sweeping robot of technique scheme design, its robot body can extend Side brush service life, effectively ground-to-ground face is cleaned, thus improving cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot is with rapid changepl. never-ending changes and improvements, Function also update with perfect, operation also more intelligent, but existing sweeping robot In actual application process, still there is a little weak point, such as existing machine of sweeping the floor People pursues on exquisite compact direction continuous, the volume of product itself is constantly done little, so that Adapt to more narrow spaces, espespecially paste ground property among these, need using less road wheel Realize the movement of product, but this kind of design direction, have a strong impact on existing sweeping robot By property, just cannot pass through on the object running into some high point relatively, such as carpet etc., Existing sweeping robot is difficult to pass through, and then cannot be cleaned for carpet surface.
Utility model content
For above-mentioned technical problem, technical problem to be solved in the utility model is to provide one kind Sweeping robot walking mechanism, employs the structure design of brand-new walking mechanism, can significantly carry High sweeping robot by property it is ensured that the operating efficiency of sweeping robot.
The utility model employs the following technical solutions to solve above-mentioned technical problem:This practicality is new Type devises a kind of sweeping robot walking mechanism, including being arranged at sweeping robot body following table The walking mechanism in face;Described walking mechanism includes at least four sub- walking mechanisms, and each sub-line is walked Mechanism's array distribution is arranged on the lower surface of sweeping robot body, wherein, each sub- vehicle with walking machine Structure includes the poor position bar of preset length and two Electric Motor Wheel respectively;In each sub- walking mechanism two Individual Electric Motor Wheel is connected with the control end in sweeping robot body;In each sub- walking mechanism Difference position bar is fixedly installed on the position that the sub- walking mechanism of sweeping robot body lower surface correspondence is located Put, and the poor position bar place straight line in each sub- walking mechanism not with sweeping robot body under Surface is vertical, the poor position bar place straight line in each sub- walking mechanism and sweeping robot body row Walk that direction place straight line is coplanar, and corresponding sweeping robot body direction of travel on the bar of difference position One end position is higher than its other end position, and the position at difference position bar two ends is solid each other Fixed, two Electric Motor Wheel in each sub- walking mechanism connect the two ends of corresponding difference position bar respectively, and Be located at the lower section at difference position bar two ends, and the place face of two Electric Motor Wheel is coplanar, this coplanar with sweep Floor-washing robot body direction of travel place straight line is parallel, two electricity in each sub- walking mechanism The position of driving wheel is with angle setting the dividing in height of corresponding difference position bar, corresponding in two Electric Motor Wheel The position of the Electric Motor Wheel of sweeping robot body direction of travel is higher than the position of another Electric Motor Wheel.
As a kind of optimal technical scheme of the present utility model:In each sub- walking mechanism described Difference in height between two Electric Motor Wheel positions is electronic wheel diameter 1/3 to 1/2.
As a kind of optimal technical scheme of the present utility model:Poor in each sub- walking mechanism described The length of position bar is 3 times to 4 times of electronic wheel diameter.
As a kind of optimal technical scheme of the present utility model:Each in each sub- walking mechanism described Individual Electric Motor Wheel is brushless electric machine driving wheel.
As a kind of optimal technical scheme of the present utility model:In each sub- walking mechanism described Difference position bar is made using aluminum alloy materials.
A kind of sweeping robot walking mechanism described in the utility model adopt above technical scheme with Prior art is compared, and has following technique effect:
(1) the sweeping robot walking mechanism of the utility model design, for existing sweeper Each sub- walking mechanism of device human body's lower surface, designs brand new, using on direction of travel The Electric Motor Wheel Position Design of high and low position difference, can effectively improve for height walking surface in front and back Grab ground effect, substantially increase in sweeping robot walking process by property, be capable of more Clean on a large scale, the cleaning works efficiency of sweeping robot has been effectively ensured;
(2) in the sweeping robot walking mechanism of the utility model design, for each sub-line Walk each Electric Motor Wheel (3) in mechanism, be designed with brushless electric machine driving wheel further so that The sweeping robot walking mechanism of the utility model design, in practical work process, is capable of Quiet work, both ensure that designed sweeping robot walking mechanism had cross-country traveling ability, and energy Ensure that its course of work does not impact to surrounding environment, embody the hommization in design process Design;
(3) in the sweeping robot walking mechanism of the utility model design, for each sub-line Walk the poor position bar in mechanism, be designed with aluminum alloy materials further and make, ensure difference position bar While high intensity, the weight of effective control poor position bar it is ensured that sweeping robot light Property.
Brief description
Fig. 1 is the structural representation that the utility model designs sweeping robot walking mechanism;
Fig. 2 is the side-looking knot that the utility model designs sweeping robot walking mechanism neutron walking mechanism Structure schematic diagram.
Wherein, 1. sweeping robot body, a 2. difference bar, 3. Electric Motor Wheel.
Specific embodiment
It is directed to specific embodiment of the present utility model with reference to Figure of description to make further Detailed description.
As shown in figure 1, a kind of sweeping robot walking mechanism of the utility model design, including It is arranged at the walking mechanism of sweeping robot body 1 lower surface;Described walking mechanism is included at least Four sub- walking mechanisms, each sub- walking mechanism array distribution is arranged on sweeping robot body 1 Lower surface, wherein, as shown in Fig. 2 each sub- walking mechanism includes preset length respectively Difference position bar 2 and two Electric Motor Wheel 3;Two Electric Motor Wheel 3 in each sub- walking mechanism with sweep the floor Control end in robot body 1 is connected;Poor position bar 2 in each sub- walking mechanism is fixing It is arranged on the position that the sub- walking mechanism of sweeping robot body 1 lower surface correspondence is located, and respectively Poor position bar 2 place straight line in individual sub- walking mechanism is not hung down with sweeping robot body 1 lower surface Directly, the poor position bar 2 place straight line in each sub- walking mechanism is walked with sweeping robot body 1 Direction place straight line is coplanar, and corresponding sweeping robot body 1 direction of travel on difference position bar 2 One end position be higher than its other end position, and the position at difference position bar 2 two ends is each other Fixing, two Electric Motor Wheel 3 in each sub- walking mechanism connect the two of corresponding difference position bar 2 respectively End, and it is located at the lower section at difference position bar 2 two ends, and also the place face of two Electric Motor Wheel 3 is coplanar, This is coplanar to be paralleled with sweeping robot body 1 direction of travel place straight line, each sub- vehicle with walking machine The position of two Electric Motor Wheel 3 in structure is in dividing of height with the angle setting of corresponding difference position bar 2, In two Electric Motor Wheel 3, the position of the Electric Motor Wheel 3 of corresponding sweeping robot body 1 direction of travel is high Position in another Electric Motor Wheel 3.The sweeping robot vehicle with walking machine of technique scheme design Structure, for each sub- walking mechanism of existing sweeping robot body 1 lower surface, design is brand-new Structure, using Electric Motor Wheel 3 Position Design of high and low position difference before and after on direction of travel, Neng Gouyou Effect improve for height walking surface grab ground effect, substantially increase sweeping robot walking process In by property, be capable of larger range of cleaning, sweeping robot clear be effectively ensured Sweep operating efficiency.
On basis based on above-mentioned design sweeping robot walking mechanism technical scheme, this practicality New also devise following optimal technical scheme further:For each in each sub- walking mechanism Individual Electric Motor Wheel 3, is designed with brushless electric machine driving wheel further so that the utility model designs Sweeping robot walking mechanism in practical work process, be capable of quiet work, both protected Demonstrate,prove the cross-country traveling ability that designed sweeping robot walking mechanism has, can guarantee that its work again Process does not impact to surrounding environment, embodies the human oriented design in design process;And For the poor position bar 2 in each sub- walking mechanism, it is designed with aluminum alloy materials further and makes, While ensureing difference position bar 2 high intensity, the weight of effective control poor position bar 2 it is ensured that The portability of sweeping robot.
The sweeping robot walking mechanism of the utility model design, in the middle of actual application, is wrapped Include the walking mechanism being arranged at sweeping robot body 1 lower surface;Described walking mechanism include to Few four sub- walking mechanisms, each sub- walking mechanism array distribution is arranged on sweeping robot body 1 lower surface, wherein, each sub- walking mechanism includes poor position bar 2 He of preset length respectively Two brushless electric machine driving wheels;In each sub- walking mechanism, the length of difference position bar 2 is brushless electric machine Drive 3 times to 4 times of wheel diameter, and difference position bar 2 is made using aluminum alloy materials;Each height Two brushless electric machine driving wheels in walking mechanism and the control end in sweeping robot body 1 It is connected;Poor position bar 2 in each sub- walking mechanism is fixedly installed on sweeping robot body 1 The position that the sub- walking mechanism of lower surface correspondence is located, and the poor position bar in each sub- walking mechanism 2 place straight lines are not vertical with sweeping robot body 1 lower surface, in each sub- walking mechanism Difference position bar 2 place straight lines are coplanar with sweeping robot body 1 direction of travel place straight line, and On difference position bar 2, one end position of corresponding sweeping robot body 1 direction of travel is higher than that it is another One end position, and the position at difference position bar 2 two ends is fixed to one another, in each sub- walking mechanism Two brushless electric machine driving wheels connect the two ends of corresponding difference position bar 2 respectively, and be located at difference position bar The lower section at 2 two ends, and the place face of two brushless electric machine driving wheels is coplanar, this coplanar with sweep Floor-washing robot body 1 direction of travel place straight line is parallel, two in each sub- walking mechanism The position of brushless electric machine driving wheel is in dividing of height with the angle setting of corresponding difference position bar 2, two In brushless electric machine driving wheel, the brushless electric machine of corresponding sweeping robot body 1 direction of travel drives The position of wheel is higher than the position of another brushless electric machine driving wheel, and in each sub- walking mechanism Difference in height between two brushless electric machine drive wheel position drives wheel diameter 1/3 for brushless electric machine To 1/2.In the middle of actual application, it is arranged at each height of sweeping robot body 1 lower surface The control end in sweeping robot body 1 of two brushless electric machine driving wheels in walking mechanism Rotated under control, when sweeping robot is placed on the ground, each sub- walking mechanism The relatively low brushless electric machine driving wheel in middle position is touched with ground, and sweeping robot body 1 is each Move under the relatively low rotation of brushless electric machine driving wheel in position in sub- walking mechanism, when sweeping the floor Barrier is existed on the ground of robot direction of advance, and barrier relative to the difference in height on ground is When brushless electric machine drives wheel diameter 1/3 to 1/2, along sweeping robot body 1 direction of travel position In each sub- walking mechanism in its lower surface forefront, high position brushless electric machine driving wheel can be in each son Under the control of lower position brushless electric machine driving wheel in walking mechanism, first move to the upper table of barrier Face, now in this each sub- walking mechanism lower position brushless electric machine driving wheel on the ground along sweeping the floor Robot body 1 direction of travel moves, the brushless electricity in high position in this each sub- walking mechanism Machine driving wheel moves along sweeping robot body 1 direction of travel in barrier upper surface, this Sample passes through this each sub- walking mechanism in the movement of floor surface and blocking surfaces, jointly has an effect Make in this each sub- walking mechanism lower position brushless electric machine driving wheel movement to blocking surfaces, Remaining each the sub- walking mechanism being similarly provided at sweeping robot 1 lower surface is all using above-mentioned Moving process movement, to the surface of barrier, finally makes sweeping robot body 1 in its following table Under the control of each sub- walking mechanism of face, movement clears the jumps, and substantially increases sweeping robot By property, be capable of larger range of cleaning, the cleaning of sweeping robot be effectively ensured Operating efficiency.
It is explained in detail for embodiment of the present utility model above in conjunction with Figure of description, But the utility model is not limited to above-mentioned embodiment, is had in those of ordinary skill in the art In standby ken, can also make various on the premise of without departing from the utility model objective Change.

Claims (5)

1. a kind of sweeping robot walking mechanism, including being arranged at sweeping robot body (1) The walking mechanism of lower surface;It is characterized in that:Described walking mechanism includes at least four sub-line and walks Mechanism, each sub- walking mechanism array distribution is arranged on the following table of sweeping robot body (1) Face, wherein, each sub- walking mechanism includes poor position bar (2) of preset length and two respectively Electric Motor Wheel (3);Two Electric Motor Wheel (3) in each sub- walking mechanism are with sweeping robot originally Control end in body (1) is connected;Poor position bar (2) fixation in each sub- walking mechanism sets Put the position being located in the sub- walking mechanism of sweeping robot body (1) lower surface correspondence, and Poor position bar (2) place straight line in each sub- walking mechanism not with sweeping robot body (1) Lower surface is vertical, poor position bar (2) the place straight line in each sub- walking mechanism and machine of sweeping the floor Human body (1) direction of travel place straight line is coplanar, and the upper corresponding sweeper of difference position bar (2) One end position of device human body (1) direction of travel is higher than its other end position, and The position at difference position bar (2) two ends is fixed to one another, two Electric Motor Wheel in each sub- walking mechanism (3) connect the two ends of corresponding difference position bar (2) respectively, and be located at difference position bar (2) two ends Lower section, and the place face of two Electric Motor Wheel (3) is coplanar, and this is coplanar with sweeping robot originally Body (1) direction of travel place straight line is parallel, two Electric Motor Wheel (3) in each sub- walking mechanism Position with corresponding difference position bar (2) angle setting dividing in height, two Electric Motor Wheel (3) The position of the Electric Motor Wheel (3) of middle corresponding sweeping robot body (1) direction of travel is higher than another The position of individual Electric Motor Wheel (3).
2. according to claim 1 a kind of sweeping robot walking mechanism it is characterised in that: The difference in height between two Electric Motor Wheel (3) positions in each sub- walking mechanism described is electronic Wheel (3) diameter 1/3 to 1/2.
3. according to claim 1 a kind of sweeping robot walking mechanism it is characterised in that: In each sub- walking mechanism described, the length of difference position bar (2) is 3 times of Electric Motor Wheel (3) diameter To 4 times.
4. according to claim 1 a kind of sweeping robot walking mechanism it is characterised in that: In each sub- walking mechanism described, each Electric Motor Wheel (3) is brushless electric machine driving wheel.
5. according to claim 1 a kind of sweeping robot walking mechanism it is characterised in that: Poor position bar (2) in each sub- walking mechanism described is made using aluminum alloy materials.
CN201620080559.4U 2016-01-27 2016-01-27 Running gear of robot sweeps floor Withdrawn - After Issue CN205930984U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620080559.4U CN205930984U (en) 2016-01-27 2016-01-27 Running gear of robot sweeps floor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620080559.4U CN205930984U (en) 2016-01-27 2016-01-27 Running gear of robot sweeps floor

Publications (1)

Publication Number Publication Date
CN205930984U true CN205930984U (en) 2017-02-08

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Application Number Title Priority Date Filing Date
CN201620080559.4U Withdrawn - After Issue CN205930984U (en) 2016-01-27 2016-01-27 Running gear of robot sweeps floor

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105480319A (en) * 2016-01-27 2016-04-13 苏州宏奇锐自动化有限公司 Travelling mechanism for floor sweeping robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105480319A (en) * 2016-01-27 2016-04-13 苏州宏奇锐自动化有限公司 Travelling mechanism for floor sweeping robot
CN105480319B (en) * 2016-01-27 2018-11-09 苏州宏奇锐自动化有限公司 A kind of sweeping robot walking mechanism

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AV01 Patent right actively abandoned

Granted publication date: 20170208

Effective date of abandoning: 20181109

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