CN207940852U - A kind of clean robot having obstacle climbing ability - Google Patents
A kind of clean robot having obstacle climbing ability Download PDFInfo
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- CN207940852U CN207940852U CN201720761894.5U CN201720761894U CN207940852U CN 207940852 U CN207940852 U CN 207940852U CN 201720761894 U CN201720761894 U CN 201720761894U CN 207940852 U CN207940852 U CN 207940852U
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- connecting rod
- traveling wheel
- clean robot
- swing rod
- climbing ability
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- 230000009194 climbing Effects 0.000 title claims abstract description 30
- 230000009184 walking Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 14
- 238000011084 recovery Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 23
- 238000004140 cleaning Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
A kind of clean robot having obstacle climbing ability is disclosed herein, including main body and the walking wheel assembly being arranged in main body, driving device and traveling wheel movable chamber are additionally provided in the main body, the walking wheel assembly includes traveling wheel and swing rod, the traveling wheel is arranged in one end of swing rod, the other end of swing rod connect with driving device and can be rotated in perpendicular around the connecting pin, and the swing rod drives traveling wheel to be rotated in traveling wheel movable chamber so that the traveling wheel component transform posture recaptures earth-grasping force.Present document relates to life field of household appliances, provide a kind of clean robot having obstacle climbing ability, and obstacle clearing capability is increased considerably compared to existing clean robot, improves obstacle climbing ability, more rapidly and efficiently complete to clean.
Description
Technical field
The utility model is related to field of household appliances more particularly to a kind of clean robots having obstacle climbing ability of living.
Background technology
With scientific and technological progress and the improvement of people's living standards, the clean robot that can be automatically performed cleaning work is gradual
Enter people's life.
Clean robot needs to have certain obstacle detouring in cleaning process and gets rid of poverty ability.Existing cleaning machine on the market
People is advanced by traction drive, and main body is easy to be held up and plunged to death by barrier (such as carpet, cable, chair legs etc.),
Clean robot mainly surmounts obstacles by lifting traveling wheel.Specifically, if encountered in clean robot cleaning works
The case where needing climbing (such as carpet), traveling wheel can reduce downwards contact ground, and main body is opposite to be increased, allow machine itself always
Earth-grasping force is kept, the obstacle of certain altitude can be crossed.But the height of traveling wheel oscilaltion it is limited always (generally 15~
20mm), when encountering higher barrier, meeting main body is blocked completely, and traveling wheel is allowed thoroughly to lose earth-grasping force, therefore, existing clear
Clean robot obstacle climbing ability is general, is easy to be plunged to death by obstacle picking-up.
Utility model content
The utility model provides a kind of clean robot having obstacle climbing ability, and obstacle clearing capability is compared to existing cleaner
Device people increases considerably, and improves obstacle climbing ability, more rapidly and efficiently completes to clean.
In order to solve the above technical problems, the utility model adopts the following technical solution：
A kind of clean robot having obstacle climbing ability, including main body and the walking wheel assembly that is arranged in main body, it is described
Driving device and traveling wheel movable chamber are additionally provided in main body, the walking wheel assembly includes traveling wheel and swing rod, the traveling wheel
It is arranged in one end of swing rod, the other end of swing rod connect with driving device and can be rotated in perpendicular around the connecting pin, institute
Stating swing rod drives traveling wheel to be rotated in traveling wheel movable chamber so that the traveling wheel component transform posture recaptures earth-grasping force.This is clear
Clean robot make row using the walking wheel assembly that can be rotated around the connecting pin of swing rod and driving device in traveling wheel movable chamber
It walks to take turns cut-through object to contact with ground again, to restore earth-grasping force, breaks away from the obstruction of barrier, it is clear to greatly improve
The obstacle climbing ability of clean robot.
Preferably, movable motor is additionally provided on the swing rod, the movable motor drives traveling wheel to provide onward impulse,
Ensure that when traveling wheel contacts ground onward impulse can be obtained in time.
Preferably, the swing rod is rotated to clear the jumps counterclockwise, and is continued or reversely rotated so that the traveling wheel
Component recovery makes main body restore original height, ensures that the round brush of clean robot and mop can come into full contact with to normal attitude
Ground normally continues cleaning action.
Preferably, further include connecting rod, the connecting rod is fixedly connected with the other end of swing rod, and the driving device includes driving
The rotary electric machine of link rotatable, the connecting rod band driven fork rotate, and connection is simple and effective, and work efficiency is high.
Preferably, for the rotary electric machine with connecting rod by gear drive, transmission efficiency carries torsion bigger.
Preferably, the walking wheel assembly is respectively arranged on the both ends of connecting rod, and the output shaft and connecting rod of the rotary electric machine are logical
Gear drive is crossed, ensures that the walking wheel assembly at both ends being capable of synchronization action.
Preferably, the connecting rod includes first connecting rod and second connecting rod, and the rotary electric machine includes and the first connecting rod
The first rotary electric machine corresponding with second connecting rod and the second rotary electric machine, first rotary electric machine and the second rotary electric machine
Output shaft pass through gear drive with the first connecting rod and second connecting rod respectively.It can promote the walking wheel assembly of one end only
From crossing over blockage is completed, to cope with the case where barrier is met in clean robot side.
Preferably, the connecting rod includes first connecting rod and second connecting rod, the output shaft of the rotary electric machine simultaneously with it is described
First connecting rod and second connecting rod pass through gear drive.
Preferably, the clean robot further includes liftoff detection device, and the liftoff detection device is used in the row
It walks when wheel is detached from ground forfeiture earth-grasping force and generates status signal, the driving device is acted according to the status signal, is made clear
Clean robot is more intelligent, promotes user experience.
Preferably, the connecting rod and swing rod are integrally formed, and are facilitated processing, are also saved assembly process.
The beneficial effects of the utility model：
The utility model is using the traveling wheel that can be rotated around the connecting pin of swing rod and driving device in traveling wheel movable chamber
Component makes traveling wheel cut-through object be contacted again with ground, to restore earth-grasping force, breaks away from the obstruction of barrier, relatively
In the existing clean robot for only promoting or reducing traveling wheel height, with better obstacle climbing ability, meet indoor at present
Cleaning requirement under complex environment.
Description of the drawings
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is the clean robot schematic diagram of embodiment one；
Fig. 2 is the clean robot normal attitude schematic diagram of embodiment one；
Fig. 3 is the swing rod and traveling wheel assembling schematic diagram of embodiment one；
Fig. 4 is that the clean robot of embodiment one meets barrier status diagram；
Fig. 5 is the clean robot obstacle detouring status diagram of embodiment one；
Fig. 6 is the clean robot schematic diagram of embodiment two；
Fig. 7 is the clean robot schematic diagram of embodiment three；
Fig. 8 is the swing rod and connecting rod disassembled form schematic diagram of embodiment three.
Reference numeral：1- walkings wheel assembly, 101- traveling wheels, 102- swing rods, 1021- mounting holes, 103- movable motors, 2-
Traveling wheel movable chamber, 3- driving devices, 301- rotary electric machines, the first rotary electric machines of 3011-, the second rotary electric machines of 3012-, 302-
Connecting rod, 3021- first connecting rods, 3022- second connecting rods, 3023- installations protrusion, 303- gear sets, 4- main bodys, 401- holders, 5-
Ground, 6- barriers.
Specific implementation mode
To keep present invention purpose, technical solution and advantageous effect of greater clarity, below in conjunction with the accompanying drawings to this
The embodiment of application illustrates, it should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature mutually can arbitrarily combine.
Embodiment one
Please refer to Fig.1 the embodiment one that the utility model shown in -5 has the clean robot of obstacle climbing ability.The cleaning
Robot includes main body 4 and the walking wheel assembly 1 that is arranged in main body, and driving device 3 and traveling wheel activity are additionally provided in main body 4
Chamber 2, again including traveling wheel 101 and swing rod 102, traveling wheel 101 is arranged in one end of swing rod 102, swing rod 102 walking wheel assembly 1
The other end connect with driving device 3 and swing rod 102 can be rotated around the connecting pin in perpendicular, swing rod 102 drives walking
Wheel 101 rotates in traveling wheel movable chamber 2 so that walking wheel assembly 1, which converts posture, recaptures earth-grasping force.It is carried out on smooth ground
When cleaning work, which is in normal attitude, i.e. swing rod 102 is horizontally disposed, and 101 close proximity to ground of traveling wheel makes cleaning
Robot advances, which, which uses, to turn around the connecting pin of swing rod 102 and driving device 3 in traveling wheel movable chamber 2
Dynamic walking wheel assembly 1 can make 1 cut-through object of walking wheel assembly contact and restore initial normal attitude with ground again,
To restore earth-grasping force, the obstruction of barrier is broken away from, greatly improves the obstacle climbing ability of clean robot.
Specifically, driving device 3 includes connecting rod 302 and the rotary electric machine 301 that drive link 302 rotates, two traveling wheels
Component 1 is respectively arranged on the both ends of connecting rod 302, the middle part of connecting rod 302 by the output axis connection of gear set and rotary electric machine 301,
Connecting rod 302 is connect by holder 401 with main body 4, and holder 401 is relatively fixed main body 4 and connecting rod 302, and connecting rod 302 can be around certainly
Body axis rotate.Therefore, rotary electric machine 301 can drive connecting rod 302 to rotate, and the walking wheel assembly 1 at both ends is made to live in traveling wheel
Rotation in dynamic chamber 2, connection drive mechanism is simple and effective, and work efficiency is high.Wherein, it is additionally provided with movable motor on swing rod 102
103, one end of swing rod 102 is connect with connecting rod 302, and the other end is provided with movable motor 103, the output shaft of movable motor 103 with
Traveling wheel 101 is fixed, and movable motor 103 drives traveling wheel 101 to provide onward impulse, ensures the energy when traveling wheel contacts ground
It is enough to obtain onward impulse in time.In addition, connecting rod 302 and swing rod 102 are integrally formed, facilitate processing, also save assembly process.
In order to deal with broken terrain, clean robot further includes liftoff detection device, and detection device that this is liftoff is used
Status signal is generated in being detached from when earth-grasping force is lost on ground 5 in traveling wheel 101.
When smooth ground carries out cleaning work, which is in normal attitude, i.e. 102 level of swing rod is set
It sets, and traveling wheel 101, close to the tail end of the clean robot, 101 close proximity to ground of traveling wheel makes clean robot advance.When encountering
When barrier 6, which will continue to advance, until main body 4 is held up by barrier 6, traveling wheel 101 is in barrier 6
Rear side, be detached from ground 5 and lose earth-grasping force, as shown in Figure 4.Liftoff detection device will detect traveling wheel at this time
101 are detached from ground 5, and status signal is sent to driving device 3, and driving device 3 can immediately act according to status signal, that is, turn
Dynamic 301 drive link 302 of motor is rotated about axis, and drives both sides swing rod 102 rotation makes two to clear the jumps 6 counterclockwise
The traveling wheel 101 of side all in barrier 6 front side and cut-through object 6 restore earth-grasping force, as shown in Figure 5, and immediately after
It is continuous to rotate so that swing rod 102 restores horizontal, so that main body 4 is restored original height, clean robot restores normal attitude, ensures cleaning
Robot can continue to be normally carried out cleaning action, to complete entire intelligent obstacle detouring process.
Embodiment two
Please refer to the embodiment two that the utility model shown in fig. 6 has the clean robot of obstacle climbing ability.The cleaner
Device people includes main body 4 and the walking wheel assembly 1 that is arranged in main body, and driving device 3 and traveling wheel movable chamber are additionally provided in main body 4
2, walking wheel assembly 1 is again including traveling wheel 101 and swing rod 102, and traveling wheel 101 is arranged in one end of swing rod 102, swing rod 102
The other end is connect with driving device 3 and swing rod 102 can be rotated around the connecting pin in perpendicular, and swing rod 102 drives traveling wheel
101 rotate in traveling wheel movable chamber 2 so that walking wheel assembly 1, which converts posture, recaptures earth-grasping force.It is carried out on smooth ground clear
When science and engineering is made, which is in normal attitude, i.e. swing rod 102 is horizontally disposed, and 101 close proximity to ground of traveling wheel makes cleaner
Device people advances, which, which uses, to be rotated around the connecting pin of swing rod 102 and driving device 3 in traveling wheel movable chamber 2
Walking wheel assembly 1,1 cut-through object of walking wheel assembly can be made to contact and restore initial normal attitude with ground again, from
And restore earth-grasping force, the obstruction of barrier is broken away from, the obstacle climbing ability of clean robot is greatly improved.
Specifically, driving device 3 includes connecting rod 302 and the rotary electric machine 301 that drive link 302 rotates, wherein connecting rod
302 include first connecting rod 3021 and second connecting rod 3022 again, and rotary electric machine 301 includes the first rotary electric machine 3011 and second turn again
Dynamic motor 3022；First connecting rod 3021 and second connecting rod 3022 are linearly arranged, and are both connect with main body 4 by holder 401,
And first connecting rod 3021 and second connecting rod 3022 can be rotated around own axes；First rotary electric machine 3011 and the second rotary electric machine
3022 output shaft is connect with first connecting rod 3021 and second connecting rod 3022 respectively, all carries out gear drive by gear set 303；
One end of first connecting rod 3021 is connected and fixed with swing rod 102, and the other end is provided with gear set, second connecting rod 3022 and first connecting rod
3021 structure is identical, and first connecting rod 3021 and second connecting rod 3022 are all integrally formed with swing rod 102.Therefore, the first rotation electricity
Machine 3011 and the second rotary electric machine 3022 can drive first connecting rod 3021 and second connecting rod 3022 to rotate respectively, and make the row at both ends
Walk the rotation in traveling wheel movable chamber 2 of wheel assembly 1.
In order to deal with broken terrain, clean robot further includes liftoff detection device, and detection device that this is liftoff is used
Status signal is generated in being detached from when earth-grasping force is lost on ground 5 in traveling wheel 101, the traveling wheel 101 that can detect both sides is any
There is the case where losing earth-grasping force.
When smooth ground carries out cleaning work, which is in normal attitude, i.e. 102 level of swing rod is set
It sets, and traveling wheel 101, close to the tail end of the clean robot, 101 close proximity to ground of traveling wheel makes clean robot advance.When first
When 3021 side of connecting rod encounters barrier, which will continue to advance, until main body 4 is held up by barrier, traveling wheel
101 are in the rear side of barrier, and the traveling wheel 101 of 3021 side of first connecting rod is detached from ground and loses earth-grasping force.It is liftoff at this time
Detection device will detect that the traveling wheel 101 is detached from ground, and status signal is sent to driving device 3,3 meeting of driving device
It is acted immediately according to status signal, i.e., only the first rotary electric machine 3011 driving first connecting rod 3021 is rotated about axis, and is driven
Rotation makes 3021 traveling wheel 101 of first connecting rod be in barrier to the swing rod 102 of 3021 side of first connecting rod to clear the jumps counterclockwise
Hinder the front side of object and cut-through object restores earth-grasping force, and reversely rotated immediately so that swing rod 102 restores horizontal, keeps main body 4 extensive
Recovery has height, clean robot to restore normal attitude, ensure that clean robot can continue to be normally carried out cleaning action, to
Complete entire intelligent obstacle detouring process.Wheel assembly 1 is walked not in traveling wheel movable chamber 2 in 3022 side of second connecting rod during it
Rotation, if but liftoff detection device will detect 3022 side of second connecting rod traveling wheel 101 be detached from ground, equally also can
Make the and rotary electric machine 3012 drives second connecting rod 3022 to be rotated about axis, and 3022 side of second connecting rod is made to walk wheel assembly 1
The not rotation in traveling wheel movable chamber 2.Relative to embodiment one, which can rotate the walking wheel assembly of both sides respectively
1, to cope with more complicated obstacle situation, but its production cost is also first to improving.
Embodiment three
Please refer to Fig. 7 and the utility model shown in Fig. 8 have obstacle climbing ability clean robot embodiment three.This is clear
Clean robot includes main body 4 and the walking wheel assembly 1 that is arranged in main body, and driving device 3 is additionally provided in main body 4 and is lived with traveling wheel
Dynamic chamber 2, again including traveling wheel 101 and swing rod 102, traveling wheel 101 is arranged in one end of swing rod 102, swing rod walking wheel assembly 1
102 other end is connect with driving device 3 and swing rod 102 can be rotated around the connecting pin in perpendicular, and swing rod 102 drives row
Wheel 101 is walked to be rotated in traveling wheel movable chamber 2 so that walking wheel assembly 1, which converts posture, recaptures earth-grasping force.Smooth ground into
When row cleaning work, which is in normal attitude, i.e. swing rod 102 is horizontally disposed, and 101 close proximity to ground of traveling wheel makes clearly
Clean robot advances, which uses can be in traveling wheel movable chamber 2 around the connecting pin of swing rod 102 and driving device 3
The walking wheel assembly 1 of rotation can be such that 1 cut-through object of walking wheel assembly is contacted again with ground and restore initial normal appearance
State breaks away from the obstruction of barrier to restore earth-grasping force, greatly improves the obstacle climbing ability of clean robot.
Specifically, driving device 3 includes connecting rod 302 and the rotary electric machine 301 that drive link 302 rotates, wherein connecting rod
302 include first connecting rod 3021 and second connecting rod 3022 again；First connecting rod 3021 and second connecting rod 3022 are linearly arranged, the two
It is all connect with main body 4 by holder 401, and first connecting rod 3021 and second connecting rod 3022 can be rotated around own axes；Rotation
The output shaft of motor 301 carries out gear drive by gear set 303 and first connecting rod 3021 and second connecting rod 3022；First connecting rod
3021 one end is connected and fixed with swing rod 102, and the other end is provided with gear set, the knot of second connecting rod 3022 and first connecting rod 3021
Structure is identical.Therefore, rotary electric machine 301 can drive first connecting rod 3021 and second connecting rod 3022 to rotate simultaneously, and make the row at both ends
Walk the rotation in traveling wheel movable chamber 2 of wheel assembly 1.Wherein, first connecting rod 3021 and second connecting rod 3022 are in the company with swing rod 102
It connects end and is both provided with installation protrusion 3023, and one end of swing rod 102 is correspondingly arranged on mounting hole 1021, installation protrusion 3023 is inserted
Enter in mounting hole 1021 and interference fit be relatively fixed, formed first connecting rod 3021 and second connecting rod 3022 respectively with swing rod 102
Connection, the connection is simple and effective, facilitates part exchanging.The other end of swing rod 102 is provided with movable motor 103, movable motor
103 output shaft is fixed with traveling wheel 101, and movable motor 103 drives traveling wheel 101 to provide onward impulse, ensures walking
Onward impulse can be obtained in time when wheel contact ground.
In order to deal with broken terrain, clean robot further includes liftoff detection device, and detection device that this is liftoff is used
Status signal is generated in being detached from when earth-grasping force is lost on ground in traveling wheel 101.
When smooth ground carries out cleaning work, which is in normal attitude, i.e. 102 level of swing rod is set
It sets, and traveling wheel 101, close to the tail end of the clean robot, 101 close proximity to ground of traveling wheel makes clean robot advance.When encountering
When barrier, which will continue to advance, until main body 4 is held up by barrier, after traveling wheel 101 is in barrier
Side is detached from ground and loses earth-grasping force.Liftoff detection device will detect that traveling wheel 101 is detached from ground at this time, and by shape
State signal is sent to driving device 3, and driving device 3 can immediately be acted according to status signal, i.e., rotary electric machine 301 drives the simultaneously
One connecting rod 3021 and second connecting rod 3022 are rotated about axis, and the swing rod 102 at both ends is driven to rotate counterclockwise to clear the jumps
6, so that traveling wheel 101 is restored earth-grasping force in the front side of barrier 6 and cut-through object 6, and continue rotation immediately so that swing rod
102 restore horizontal, and main body 4 is made to restore original height, ensure that the round brush of clean robot and mop can continue to contact ground, just
Cleaning action is often carried out, to complete entire intelligent obstacle detouring process.
In conjunction with above-described embodiment one, embodiment two and embodiment three, the utility model uses can be in traveling wheel movable chamber
Around the walking wheel assembly of the connecting pin of swing rod and driving device rotation, traveling wheel cut-through object is made to be contacted again with ground,
To restore earth-grasping force, the obstruction of barrier is broken away from, relative to the existing cleaning machine for only promoting or reducing traveling wheel height
People meets the cleaning requirement under indoor complex environment at present with better obstacle climbing ability.
In the description of the present application, term " installation ", " connected ", " connection ", " fixation " etc. shall be understood in a broad sense, example
Such as, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be directly connected, it can also
Indirectly connected through an intermediary.For the ordinary skill in the art, above-mentioned art can be understood as the case may be
The concrete meaning of language in this application.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the application
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
Although those skilled in the art should be understood that the embodiment disclosed by the utility model embodiment is as above,
The content only the utility model embodiment and the embodiment that uses for ease of understanding, are not limited to the utility model
Embodiment.Technical staff in any the utility model embodiment fields, is taken off not departing from the utility model embodiment
Under the premise of the spirit and scope of dew, any modification and variation, but this practicality can be carried out in the form and details of implementation
The scope of patent protection of new embodiment, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of clean robot having obstacle climbing ability, including main body and the walking wheel assembly being arranged in main body, feature
It is, driving device and traveling wheel movable chamber are additionally provided in the main body, and the walking wheel assembly includes traveling wheel and swing rod, institute
It states traveling wheel to be arranged in one end of swing rod, the other end of swing rod connect with driving device and can be around the connecting pin in perpendicular
Rotation, the swing rod drive traveling wheel to be rotated in traveling wheel movable chamber so that the traveling wheel component transform posture is recaptured and grabs ground
Power.
2. the clean robot as described in claim 1 for having obstacle climbing ability, which is characterized in that be additionally provided with row on the swing rod
Motor is walked, the movable motor drives traveling wheel to provide onward impulse.
3. the clean robot as described in claim 1 for having obstacle climbing ability, which is characterized in that the swing rod rotates counterclockwise
To clear the jumps, and continues or reversely rotate so that the traveling wheel component recovery is to normal attitude.
4. the clean robot for having obstacle climbing ability as described in claims 1 or 2 or 3, which is characterized in that further include connecting rod,
The connecting rod is fixedly connected with the other end of swing rod, and the driving device includes the rotary electric machine of drive link rotation, the company
Bar band driven fork rotates.
5. the clean robot as claimed in claim 4 for having obstacle climbing ability, which is characterized in that the rotary electric machine and connecting rod
Pass through gear drive.
6. the clean robot as claimed in claim 5 for having obstacle climbing ability, which is characterized in that the walking wheel assembly difference
Set on the both ends of connecting rod, output shaft and the connecting rod of the rotary electric machine pass through gear drive.
7. the clean robot as claimed in claim 6 for having obstacle climbing ability, which is characterized in that the connecting rod includes the first company
Bar and second connecting rod, the rotary electric machine include the first rotary electric machine corresponding with the first connecting rod and second connecting rod with
The output shaft of second rotary electric machine, first rotary electric machine and the second rotary electric machine connects with the first connecting rod and second respectively
Bar passes through gear drive.
8. the clean robot as claimed in claim 6 for having obstacle climbing ability, which is characterized in that the connecting rod includes the first company
The output shaft of bar and second connecting rod, the rotary electric machine passes through gear drive with the first connecting rod and second connecting rod simultaneously.
9. the clean robot as described in claim 1 for having obstacle climbing ability, which is characterized in that the clean robot also wraps
Liftoff detection device is included, the liftoff detection device, which is used to be detached from the traveling wheel, generates state letter when earth-grasping force is lost on ground
Number, the driving device is acted according to the status signal.
10. the clean robot as claimed in claim 4 for having obstacle climbing ability, which is characterized in that the connecting rod and swing rod one
It is body formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720761894.5U CN207940852U (en) | 2017-06-28 | 2017-06-28 | A kind of clean robot having obstacle climbing ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720761894.5U CN207940852U (en) | 2017-06-28 | 2017-06-28 | A kind of clean robot having obstacle climbing ability |
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| Publication Number | Publication Date |
|---|---|
| CN207940852U true CN207940852U (en) | 2018-10-09 |
Family
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| CN201720761894.5U Active CN207940852U (en) | 2017-06-28 | 2017-06-28 | A kind of clean robot having obstacle climbing ability |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
| CN112971642A (en) * | 2019-12-02 | 2021-06-18 | 广东美的白色家电技术创新中心有限公司 | Auxiliary obstacle crossing mechanism and cleaning robot |
| CN114867400A (en) * | 2022-03-25 | 2022-08-05 | 深圳市智意科技有限公司 | Running gear and cleaning robot |
-
2017
- 2017-06-28 CN CN201720761894.5U patent/CN207940852U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
| CN112971642A (en) * | 2019-12-02 | 2021-06-18 | 广东美的白色家电技术创新中心有限公司 | Auxiliary obstacle crossing mechanism and cleaning robot |
| CN114867400A (en) * | 2022-03-25 | 2022-08-05 | 深圳市智意科技有限公司 | Running gear and cleaning robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310018 No. 760 Yinhai Street, Xiasha Street, Hangzhou Economic and Technological Development Zone, Zhejiang Province Patentee after: HANGZHOU JIUYANG HOUSEHOLD ELECTRICAL APPLIANCES CO.,LTD. Country or region after: China Address before: 310018, No. 52, No. 22, Poplar Street, Hangzhou economic and Technological Development Zone, Zhejiang Patentee before: HANGZHOU JIUYANG HOUSEHOLD ELECTRICAL APPLIANCES CO.,LTD. Country or region before: China |
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| CP03 | Change of name, title or address |