CN206548448U - A kind of sweeping robot transfer - Google Patents
A kind of sweeping robot transfer Download PDFInfo
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- CN206548448U CN206548448U CN201621349459.3U CN201621349459U CN206548448U CN 206548448 U CN206548448 U CN 206548448U CN 201621349459 U CN201621349459 U CN 201621349459U CN 206548448 U CN206548448 U CN 206548448U
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- wheel
- steering
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- controller
- sweeping robot
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Abstract
The utility model is related to a kind of sweeping robot transfer, including the chassis provided with a front-wheel and two trailing wheels, by controller motor, wherein：Described front-wheel is equipped with preceding stepper motor, front-wheel is fixed on steering spindle lower end, steering spindle is arranged on firm banking by bearing, described firm banking is fixed on chassis, steering shaft upper portion is fixed with the tooth sector of belt sensor, and tooth sector is engaged with steering motor gear, and steering motor gear is connected with steering motor, the direction information of tooth sector, to controller, steering motor is controlled by controller through sensor feedback.The utility model has the advantage of：Using front-wheel drive and front-wheel steer integration, it is easy to control and turn to flexible；Gear drive, it is transmission efficiency, reliable, beneficial to control；Closed-system provided with sensor feedback information, it is accurate to turn to；It is simple in construction, it is adaptable to most of three-wheel sweeping robot.
Description
Technical field
The utility model is related to a kind of sweeping robot transfer, is mainly used in small-sized sweeping robot, belongs to house
Electrical appliance field.
Background technology
With the development of modern science and technology, the robot for cleaning floor of automation gradually comes into general family life,
Part housework has not only been shared, family life enjoyment is also added.In order that sweeping robot adapts to various indoor and outdoor surroundingses, sweep
Floor-washing robot needs independently to advance, retreated, left and right turn.
The drive pattern of current sweeping robots most of on the market is mostly rear wheel drive, and steering mode has two kinds, is led to
Band turning function front-wheel steer is crossed, trailing wheel is driving wheel；Two driving trailing wheel differential steerings, front-wheel is driven guide wheel.Two kinds turn
Respectively there are advantage and disadvantage to mode, former structure is simple, it is easy to control, and cost is relatively low, but the radius of gyration is big, turns to dumb；Afterwards
Person's radius of gyration is small, turns to flexibly, but calculates complexity and easily produce cumulative errors, and whard to control, cost is higher.
Such as China Patent No. CN201110028676.8, a kind of robot for cleaning floor, cleaning solution reclaims circulation member
Negative pressure generator connects water tank, and filter connects water by sewage pipe and scraped;Clear water pipe scrubs work by water pump, drainpipe connection
Tool;Scrubbing tool connects motor, and motor cabinet both sides carry linear bearing, form the pair that is slidably connected with guide rod, another both sides are provided with
The lifting connecting rod being connected with electric pushrod;Water is scraped to be fixedly connected with rotatable central lever;The trailing wheel of driving part and walking
Motor is connected;The distance measuring sensor of control system part is placed in the front-end and back-end left and right sides, the edge of floor board framing
Place direction over the ground, minisize pick-up head is arranged on the edge of floor board framing direction over the ground, and monitoring camera is installed in rotation on top
Portion.The present invention is simple to operate, energy-efficient, and alternative manpower carries out the ground cleaning work of large area, can be in dangerous or dirt
Used in the environment of dye, be a reliable and practical new-modernization cleaning equipment.
Rear wheel drive has been used in above-mentioned patent, and has included above two forward method simultaneously.
The content of the invention
Technical problem to be solved in the utility model is：A kind of sweeping robot transfer is provided, it is simple in construction,
Easily controllable and steering is flexible accurate.
The utility model solves above-mentioned technical problem and adopted the technical scheme that：A kind of sweeping robot transfer,
Including the chassis provided with a front-wheel and two trailing wheels, by controller motor, wherein：Described front-wheel is equipped with the electricity that advances
Machine, front-wheel is fixed on steering spindle lower end, and steering spindle is arranged on firm banking by bearing, and described firm banking is fixed on bottom
On disk, steering shaft upper portion is fixed with the tooth sector of belt sensor, and tooth sector is engaged with steering motor gear, steering motor tooth
Wheel is connected with steering motor, and the direction information of tooth sector, to controller, steering motor is controlled by controller through sensor feedback.
On the basis of such scheme, described sensor includes angular-rate sensor and angular transducer.
On the basis of such scheme, described angular-rate sensor is the code-disc with code-disc gear, and code-disc gear is with turning
It is intermeshed to gear, code-disc is connected with controller.
On the basis of such scheme, described angular transducer is, with the steering potentiometer for turning to potentiometer gear, to turn
It is intermeshed to potentiometer gear and tooth sector, turns to potentiometer and be connected with controller.
The utility model has the advantage of：Using front-wheel drive and front-wheel steer integration, it is easy to control and turn to flexible；
Gear drive, it is transmission efficiency, reliable, beneficial to control；Closed-system provided with sensor feedback information, it is accurate to turn to；Structure
Simply, it is adaptable to most of three-wheel sweeping robot.
Brief description of the drawings
Fig. 1 is the front view of the utility model front-wheel part；
Fig. 2 is Fig. 1 A-A sectional views；
Fig. 3 is Fig. 1 B-B sectional views；
Label declaration in accompanying drawing：
1 --- front-wheel；
2 --- preceding stepper motor；
3-steering spindle；31 --- tooth sector；
4-firm banking；
5 --- steering motor；51 --- steering motor gear；
6-code-disc；61 --- code-disc gear；
7-turn to potentiometer；71-potentiometer gear；
81st, 82-bearing one, two；
9 --- chassis.
Embodiment
Such as the B-B that front view that Fig. 1 is the utility model front-wheel part, Fig. 2 A-A sectional views for being Fig. 1 and Fig. 3 are Fig. 1
Shown in sectional view：
A kind of sweeping robot transfer, including the chassis 9 provided with a front-wheel and two trailing wheels, are driven by controller
Motor, wherein：Described front-wheel 1 is equipped with preceding stepper motor 2, and front-wheel 1 is fixed on the lower end of steering spindle 3, steering spindle 3 by bearing one,
2 81,82 are arranged on firm banking 4, and described firm banking 4 is fixed on chassis 9, and the top of steering spindle 3 is fixed with band sensing
The tooth sector 31 of device, tooth sector 31 is engaged with steering motor gear 51, and steering motor gear 51 is connected with steering motor 5,
The direction information of tooth sector 31, to controller, is turned to through sensor feedback by controller control steering motor 5.
Described sensor includes angular-rate sensor and angular transducer.
Described angular-rate sensor is the code-disc 6 with code-disc gear 61, and code-disc gear 61 and tooth sector 31 are mutual
Engagement, the connection controller of code-disc 6.
Described angular transducer is, with the steering potentiometer 71 for turning to potentiometer gear 71, to turn to potentiometer gear 71
It is intermeshed with tooth sector 31, turns to potentiometer 7 and be connected with controller.
During advance, the preceding driving of stepper motor 2 front-wheel 1 advances；
During steering, steering motor 5 drives 31 turns of tooth sector being fixed in steering spindle 3 by steering motor gear 51
Dynamic, front-wheel 1 is turned to steering spindle 3.
Tooth sector 31 drives code-disc gear 61, turns to potentiometer gear 71, drives to code-disc 6, turns to potentiometer 7, leads to
The angular speed of steering can be measured by crossing code-disc 6, the specific place angle of steering can be measured by turning to potentiometer 7, by this two item data
Controller is fed back to, controller control steering motor 5 obtains the turning velocity and specific steering angle needed.
Claims (4)
1. a kind of sweeping robot transfer, including the chassis provided with a front-wheel and two trailing wheels, electricity is driven by controller
Machine, it is characterised in that：Described front-wheel is equipped with preceding stepper motor, and front-wheel is fixed on steering spindle lower end, and steering spindle is installed by bearing
On firm banking, described firm banking is fixed on chassis, and steering shaft upper portion is fixed with the tooth sector of belt sensor, is turned
Engaged to gear with steering motor gear, steering motor gear is connected with steering motor, the direction information of tooth sector is through sensing
Device feeds back to controller, and steering motor is controlled by controller.
2. a kind of sweeping robot transfer according to claim 1, it is characterised in that：Described sensor includes angle
Velocity sensor and angular transducer.
3. a kind of sweeping robot transfer according to claim 2, it is characterised in that：Described angular-rate sensor
For the code-disc with code-disc gear, code-disc gear is intermeshed with tooth sector, and code-disc is connected with controller.
4. a kind of sweeping robot transfer according to claim 2, it is characterised in that：Described angular transducer is
With the steering potentiometer for turning to potentiometer gear, turn to potentiometer gear and tooth sector and be intermeshed, turn to potentiometer with
Controller is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621349459.3U CN206548448U (en) | 2016-12-09 | 2016-12-09 | A kind of sweeping robot transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621349459.3U CN206548448U (en) | 2016-12-09 | 2016-12-09 | A kind of sweeping robot transfer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206548448U true CN206548448U (en) | 2017-10-13 |
Family
ID=60369736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621349459.3U Active CN206548448U (en) | 2016-12-09 | 2016-12-09 | A kind of sweeping robot transfer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206548448U (en) |
-
2016
- 2016-12-09 CN CN201621349459.3U patent/CN206548448U/en active Active
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