CN208371743U - A kind of flexible drive device of intelligent cleaning device - Google Patents
A kind of flexible drive device of intelligent cleaning device Download PDFInfo
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- CN208371743U CN208371743U CN201721123540.4U CN201721123540U CN208371743U CN 208371743 U CN208371743 U CN 208371743U CN 201721123540 U CN201721123540 U CN 201721123540U CN 208371743 U CN208371743 U CN 208371743U
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Abstract
The utility model relates to a kind of flexible drive devices of intelligent cleaning device, including multiple universal wheels for walking, the chassis lower surface of intelligent cleaning device is arranged in by connector for universal wheel, it further include flexible drive mechanism, flexible drive mechanism includes resilient suspension mechanism provided, driving mechanism and driving wheel, the upper end of resilient suspension mechanism provided is fixed at the lower surface on chassis, driving mechanism is arranged in driving wheel, driving mechanism is fixedly connected with the lower end of resilient suspension mechanism provided, driving mechanism can drive driving wheel to drive universal wheel rotation, and it controls intelligent cleaning device and walks on the ground.The flexible drive device of the utility model, driving wheel is connect by flexible drive mechanism with the chassis of intelligent cleaning device, it can enable driving wheel that can walk with pasting in different road surface in this way, improve the dynamic performance of intelligent cleaning device and the stability of walking.
Description
Technical field
The utility model relates to intelligent cleaning technical fields more particularly to a kind of flexible drive of intelligent cleaning device to fill
It sets.
Background technique
Cleaning device is with subsequent two driving wheels in chassis for driving at present, the universal wheel before chassis as guiding and
Support washes ground for large size although such driving is designed without very big problem for small-sized household cleaning device
Machine, such design reduce the drive of active driving device so that cleaning device is easy to jolt when by any uneven section
Dynamic effect, influences the work of other sensors in cleaning device.
Therefore, a kind of driving wheel is redesigned, driving effect is improved, it is a urgently to be resolved for improving the stationarity of fuselage
Technical problem.
Summary of the invention
Technical problem to be solved in the utility model is that fuselage shake etc. is be easy to cause to ask for existing driving wheel
Topic, a kind of flexible drive device of intelligent cleaning device is provided, with improve entire intelligent cleaning device dynamic performance and
Improve the stationarity of intelligent cleaning device.
The technical solution that the utility model solves above-mentioned technical problem is as follows: a kind of flexible drive dress of intelligent cleaning device
It sets, including multiple universal wheels for walking, the chassis following table of intelligent cleaning device is arranged in by connector for the universal wheel
Face further includes flexible drive mechanism, and the flexible drive mechanism includes resilient suspension mechanism provided, driving mechanism and driving wheel, described
The upper end of resilient suspension mechanism provided is fixed at the lower surface on the chassis, and the driving mechanism is arranged in driving wheel, described
Driving mechanism is fixedly connected with the lower end of the resilient suspension mechanism provided, and when the intelligent cleaning device is placed on ground, institute
The lower edge for stating driving wheel and the universal wheel is coplanar with ground, and the driving mechanism can drive the driving wheel to drive
The universal wheel rotation, and control the intelligent cleaning device and walk on the ground.
The beneficial effects of the utility model are: the flexible drive device of the utility model, the driving wheel passes through the bullet
The chassis elastic connection of property driving mechanism and intelligent cleaning device, can enable the driving wheel in different road surface in this way
The ground walking of Shi Junneng patch is effectively prevented driving wheel when through rugged location or barrier and idle running or mistake occurs
Idling is dynamic, improves the dynamic performance of intelligent cleaning device and the stability of walking.
Based on the above technical solution, the utility model can also do following improvement:
Further, the quantity of the universal wheel is three, the front on the chassis is arranged in one of them universal wheel
Middle position, other two described universal wheel is symmetricly set at left and right sides of the rear portion on the chassis, and three described universal
Take turns distribution triangular in shape.
The beneficial effect of above-mentioned further scheme is: by setting aforesaid way for the universal wheel, can make whole
A intelligent cleaning device turns to more flexible on the basis of guaranteeing smooth running, reduces the mechanical resistance of walking, improves entire
The movenent performance of intelligent cleaning device.
Further, the quantity of the resilient suspension mechanism provided, driving mechanism and driving wheel is two, and two elasticity
Suspension mechanism, two driving mechanisms and two driving wheels are symmetricly set on the chassis lower surface respectively
Middle part at left and right sides of.
The beneficial effect of above-mentioned further scheme is: can make two driving mechanism cooperations pair through the above way
The entire intelligent cleaning device walking of the more accurate driving of the driving wheel answered, and two resilient suspension mechanism provideds are symmetrical arranged
Can making entire intelligent cleaning device, the left and right sides is more steady when walking, is especially encountering barrier or ground
In the case where out-of-flatness, passage capacity is splendid,
Further, line and two drives between two universal wheels being located at left and right sides of the chassis rear portion
Line between driving wheel is parallel to each other.
The beneficial effect of above-mentioned further scheme is: can enable two universal wheels are good to match through the above way
The drive wheel entire intelligent cleaning device walking is closed, and it is higher to control precision, in intelligent cleaning device walking process
In will not generate biggish deviation.
Further, the distance between two described driving wheels are greater than or equal at left and right sides of the rear portion on the chassis
The distance between two described universal wheels.
The beneficial effect of above-mentioned further scheme is: intelligent cleaning device can be made on ground by above-mentioned set-up mode
Stability when upper walking is more excellent, and the universal wheel cooperates the driving wheel that can be entire intelligent cleaning device or so two
Lateral body preferably supports, and greatly improves the walking stability of entire intelligent cleaning device.
Further, the resilient suspension mechanism provided includes two springs, two fixed columns and interconnecting piece, two fixed columns
Upper end connect respectively with the lower surface on the chassis, rear and front end of the lower end respectively with the interconnecting piece is correspondingly connected with, and two
A fixed column is parallel to each other interval setting along vertical direction, and being equipped in each fixed column can slide up and down
Attachment base, and connected between two attachment bases by adapter, the spring is set in the fixed column correspondingly
On, and the spring is located between the upper end and the attachment base of the fixed column, the output end of the driving mechanism with it is described
Adapter is fixedly connected, and the driving mechanism is electrically connected with external control circuit, and by driving described in the driving wheel drive
Universal wheel rotates together, to drive the chassis to walk on the ground together with entire intelligent cleaning device.
The beneficial effect of above-mentioned further scheme is: can encounter barrier or hole by the resilient suspension mechanism provided
The distance between driving wheel described in automatic adjusument and the chassis come so that the driving wheel is walked with pasting always when the face of depression,
The dynamic performance for substantially increasing entire intelligent cleaning device in this way avoids the occurrence of stuck or hanging driving wheel situation and goes out
It is existing.
Further, the resilient suspension mechanism provided further includes push-rod electric machine, the upper of the chassis is arranged in the push-rod electric machine
On surface at position corresponding with the fixed column upper end, and the push-rod electric machine is electrically connected with external control circuit, described solid
The upper end of fixed column is upward through the chassis and connect with push-rod electric machine, and the push-rod electric machine can be by fixing described in driving
The driving wheel is driven to carry out elevating movement.
The beneficial effect of above-mentioned further scheme is: by the position of the adjustable driving wheel of above-mentioned push-rod electric machine,
Intelligent cleaning can be facilitated in this way to concede enough spaces when the bottom to intelligent cleaning device is overhauled or cleaned
The care and maintenance of device, human oriented design.
Further, the resilient suspension mechanism provided uses damping shock absorber.
The beneficial effect of above-mentioned further scheme is: can greatly improve entire intelligent cleaning by using damping shock absorber
The anti seismic efficiency of device, and break the barriers and stability when potted road surface.
Further, the driving mechanism is hub motor, and the center that the driving wheel is set of the hub motor,
And the hub motor is electrically connected with external control circuit.
The beneficial effect of above-mentioned further scheme is: can make the driving mechanism and the driving through the above way
Wheel does not rotate displacement, synchronizes concentric rotation, reduces the limitation of the chassis lower space, in this way can be on the one hand convenient for outer
The walking of the more accurate entire intelligent cleaning device of control of portion's circuit, on the other hand can be convenient maintenance chassis.
Detailed description of the invention
Fig. 1 is the flexible drive device main view of the intelligent cleaning device of the utility model；
Fig. 2 is the flexible drive device front view of the intelligent cleaning device of the utility model；
Fig. 3 is the flexible drive device left view of the intelligent cleaning device of the utility model.
In attached drawing, parts list represented by the reference numerals are as follows:
1, chassis, 2, universal wheel, 3, resilient suspension mechanism provided, 4, driving mechanism, 5, driving wheel；
31, spring, 32, fixed column, 33, interconnecting piece, 34, push-rod electric machine.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
As shown in Figure 1-3, a kind of flexible drive device of intelligent cleaning device, including multiple universal wheels 2 for walking,
1 lower surface of chassis of intelligent cleaning device is arranged in by connector for the universal wheel 2, further includes flexible drive mechanism, described
Flexible drive mechanism includes resilient suspension mechanism provided 3, driving mechanism 4 and driving wheel 5, and the upper end of the resilient suspension mechanism provided 3 is fixed
The lower surface on the chassis 1 is set, and the driving mechanism 4 is arranged in driving wheel 5, the driving mechanism 4 and the elasticity
The lower end of suspension mechanism 3 is fixedly connected, and when the intelligent cleaning device is placed on ground, the driving wheel 5 and described ten thousand
It is coplanar with to the lower edge of wheel 2 with ground, the driving mechanism 4 can drive the driving wheel 5 to drive 2 turns of the universal wheel
It is dynamic, and control the intelligent cleaning device and walk on the ground.
The flexible drive device of the utility model, the driving wheel pass through the flexible drive mechanism and intelligent cleaning device
Chassis elastic connection, can enable the driving wheel that can walk with pasting in different road surface in this way, effectively prevent
Only when passing through rugged location or barrier, idle running or overload rotation occur for driving wheel, improve intelligent cleaning dress
The stability of the dynamic performance and walking set.
Preferably, in the above-described embodiments, the quantity of the universal wheel 2 is three, one of them described universal wheel 2 is arranged
At the front medial location on the chassis 1, other two universal wheel 2 is symmetricly set on the rear portion or so on the chassis 1
Two sides, and three universal wheel 2 distributions triangular in shape.By setting aforesaid way for the universal wheel 2, can make whole
A intelligent cleaning device turns to more flexible on the basis of guaranteeing smooth running, reduces the mechanical resistance of walking, improves entire
The movenent performance of intelligent cleaning device.
Preferably, in the above-described embodiments, the quantity of the resilient suspension mechanism provided 3, driving mechanism 4 and driving wheel 5 is
Two, and two resilient suspension mechanism provideds 3, two driving mechanism 4 and two driving wheels 5 correspond pair respectively
Title is arranged at left and right sides of the middle part of 1 lower surface of chassis.Two driving mechanisms 4 can be made to match through the above way
The entire intelligent cleaning device walking of the more accurate driving of the corresponding driving wheel 5 is closed, and two resilient suspension mechanism provideds 3 are right
Claim setting can make entire intelligent cleaning device when walking the left and right sides it is more steady, especially encounter barrier or
In the case where the out-of-flatness of person ground, passage capacity is splendid.Entire chassis 1 is supported by three universal wheels 2, and by two institutes
It drives with stating the patch of driving wheel 5, ensure that the stability on the chassis 1 well, be also capable of providing enough power.
Certainly, in practice, the quantity of the universal wheel 2 can be more or fewer, the resilient suspension mechanism provided 3,
Driving mechanism 4 and the quantity of driving wheel 5 can also correspond to variation, if the universal wheel 2 be able to cooperate the driving wheel 5 make it is whole
A intelligent cleaning device is smoothly walked.For example, the quantity of the universal wheel is two, the driving wheel 5 and corresponding
The driving mechanism 4 and the quantity of resilient suspension mechanism provided 3 are one, after the chassis 1 is arranged in two universal wheels
The point on the chassis 1 is arranged in two, portion or so, the driving wheel 5 and the corresponding driving mechanism 4 and resilient suspension mechanism provided 3
Not middle position, so that two universal wheels 2 and a driving wheel form Triangle-Profile.Other modes are here not
It is enumerating.
Preferably, in the above-described embodiments, between two universal wheels 2 at left and right sides of 1 rear portion of chassis
Line and two driving wheels 5 between line be parallel to each other.It can make two universal wheels 2 through the above way
Can the good cooperation driving wheel 5 drive entire intelligent cleaning device to walk, and it is higher to control precision, in intelligent cleaning device
Biggish deviation will not be generated in walking process.
Preferably, in the above-described embodiments, the distance between two described driving wheels 5, which are greater than or equal to, is located at the chassis
The distance between two described universal wheels 2 at left and right sides of 1 rear portion.Can intelligent cleaning be filled by above-mentioned set-up mode
Stability when setting walking on the ground is more excellent, and the universal wheel 2 cooperates the driving wheel 5 that can be entire intelligent cleaning
Body preferably supports at left and right sides of device, greatly improves the walking stability of entire intelligent cleaning device.
In the present embodiment, the resilient suspension mechanism provided 3 include two springs, 31, two fixed columns 32 and interconnecting piece 33, two
The upper end of a fixed column 32 is connect with the lower surface on the chassis 1 respectively, the lower end front and back with the interconnecting piece 33 respectively
Both ends are correspondingly connected with, and two fixed columns 32 are parallel to each other are spaced setting, each fixed column 32 along vertical direction
On be equipped with the attachment base that can be slided up and down, and between two attachment bases pass through adapter connect, the spring 31 1
One is accordingly set in the fixed column 32, and the spring 31 be located at the fixed column 32 upper end and the attachment base it
Between, the output end of the driving mechanism 4 is fixedly connected with the adapter, and the driving mechanism 4 is electrically connected with external control circuit
It connects, and by driving the driving wheel 5 that the universal wheel 2 is driven to rotate together, to drive the chassis 1 clear together with entire intelligence
Clean device is walked on the ground.By the resilient suspension mechanism provided 3 can when encountering barrier or hogwallow it is adaptive
The distance between the driving wheel 5 and the chassis 1 is adjusted to be greatly improved in this way so that the driving wheel is walked with pasting always
The dynamic performance of entire intelligent cleaning device avoids the occurrence of stuck or hanging driving wheel situation and occurs.By vertical
The resilient suspension mechanism provided 3 of setting, it is ensured that two 5 moment of driving wheel are in parastate, and two driving wheels 5
The distance between remain unchanged, further increase the stability on entire chassis 1.
In practice, the friction by the spring for selecting elastic force different, between the adjustable driving wheel 5 and ground
Power, so that entire intelligent cleaning device is suitable for different ground.
Preferably, in the above-described embodiments, the resilient suspension mechanism provided 3 further includes push-rod electric machine 34, the push-rod electric machine
34 are arranged on the upper surface on the chassis 1 at position corresponding with 32 upper end of fixed column, and the push-rod electric machine 34 with
External control circuit electrical connection, the upper end of the fixed column 32 is upward through the chassis 1 and connect with push-rod electric machine 34, and institute
Elevating movement can be carried out by fixing the 32 drives driving wheel 5 described in driving by stating push-rod electric machine 34.Pass through above-mentioned push rod electricity
The position of the adjustable driving wheel 5 of machine can be to be overhauled or cleaned in the bottom to intelligent cleaning device in this way
When concede enough spaces, facilitate the care and maintenance of intelligent cleaning device, human oriented design.
Preferably as one embodiment of the utility model, in the embodiment, the resilient suspension mechanism provided 3 is using resistance
Buddhist nun's damper.The anti seismic efficiency of entire intelligent cleaning device can be greatly improved by using damping shock absorber, and passes through barrier
Hinder stability when object and potted road surface.
It is of course also possible to use other resilient suspension mechanism provideds, such as pneumatic cylinder etc., are not enumerating here.
In the present embodiment, the driving mechanism 4 is hub motor, and the setting of the hub motor is in the driving wheel 5
Center, and the hub motor is electrically connected with external control circuit.Can make through the above way the driving mechanism 4 with
The driving wheel 5 does not rotate position, synchronizes concentric rotation, reduces the limitation of the chassis lower space, in this way can be with one
On the other hand aspect can be convenient chassis dimension convenient for the walking of the more accurate entire intelligent cleaning device of control of external circuit
It repairs.
Certainly, the driving mechanism 4 can also use other driving methods, for example use 5 knot of decelerating motor and driving wheel
The mode of conjunction is not enumerating here.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (9)
1. a kind of flexible drive device of intelligent cleaning device, including multiple universal wheels (2) for walking, the universal wheel
(2) chassis (1) lower surface of intelligent cleaning device is set by connector, it is characterised in that: it further include flexible drive mechanism,
The flexible drive mechanism includes resilient suspension mechanism provided (3), driving mechanism (4) and driving wheel (5), the resilient suspension mechanism provided
(3) upper end is fixed at the lower surface of the chassis (1), and driving mechanism (4) setting is described in driving wheel (5)
Driving mechanism (4) is fixedly connected with the lower end of the resilient suspension mechanism provided (3), and when the intelligent cleaning device is placed on ground
When, the driving wheel (5) and the lower edge of the universal wheel (2) are coplanar with ground, and the driving mechanism (4) can drive
The driving wheel (5) drives universal wheel (2) rotation, and controls the intelligent cleaning device and walk on the ground.
2. the flexible drive device of intelligent cleaning device according to claim 1, it is characterised in that: the universal wheel (2)
Quantity be three, one of them described universal wheel (2) is arranged at the front medial location of the chassis (1), other two
The universal wheel (2) is symmetricly set at left and right sides of the rear portion on the chassis (1), and three universal wheels (2) are triangular in shape
Distribution.
3. the flexible drive device of intelligent cleaning device according to claim 2, it is characterised in that: the elastic suspended on-hook
The quantity of structure (3), driving mechanism (4) and driving wheel (5) is two, and two resilient suspension mechanism provideds (3), described in two
The middle part that driving mechanism (4) and two driving wheels (5) are symmetricly set on the chassis (1) lower surface respectively is left
Right two sides.
4. the flexible drive device of intelligent cleaning device according to claim 3, it is characterised in that: be located at the chassis
(1) line between two universal wheels (2) at left and right sides of rear portion and the line between two driving wheels (5) are mutual
In parallel.
5. the flexible drive device of intelligent cleaning device according to claim 3, it is characterised in that: two driving wheels
The distance between (5) it is greater than or equal between two universal wheels (2) at left and right sides of the rear portion of the chassis (1)
Distance.
6. the flexible drive device of intelligent cleaning device according to claim 1, it is characterised in that: the elastic suspended on-hook
Structure (3) includes two springs (31), two fixed columns (32) and interconnecting piece (33), the upper end difference of two fixed columns (32)
It is connect with the lower surface of the chassis (1), rear and front end of the lower end respectively with the interconnecting piece (33) is correspondingly connected with, and two institutes
It states fixed column (32) and is parallel to each other to be spaced along vertical direction and be arranged, downslide can be gone up by being equipped on each fixed column (32)
Dynamic attachment base, and connected between two attachment bases by adapter, the spring (31) is set in institute correspondingly
It states on fixed column (32), and the spring (31) is located between the upper end and the attachment base of the fixed column (32), the drive
The output end of motivation structure (4) is fixedly connected with the adapter, and the driving mechanism (4) is electrically connected with external control circuit, and
By driving the driving wheel (5) that the universal wheel (2) is driven to rotate together, to drive the chassis (1) together with entire intelligence
Cleaning device is walked on the ground.
7. the flexible drive device of intelligent cleaning device according to claim 6, it is characterised in that: the elastic suspended on-hook
Structure (3) further includes push-rod electric machine (34), and the push-rod electric machine (34) is arranged on the upper surface of the chassis (1) and the fixation
At the corresponding position in column (32) upper end, and the push-rod electric machine (34) is electrically connected with external control circuit, the fixed column (32)
Upper end be upward through the chassis (1) and connect with push-rod electric machine (34), and the push-rod electric machine (34) can pass through driving institute
Stating fixed column (32) drives the driving wheel (5) to carry out elevating movement.
8. the flexible drive device of intelligent cleaning device according to claim 1, it is characterised in that: the elastic suspended on-hook
Structure (3) uses damping shock absorber.
9. the flexible drive device of intelligent cleaning device according to any one of claims 1 to 8, it is characterised in that: described
Driving mechanism (4) is hub motor, and the setting of the hub motor is at the center of the driving wheel (5), and wheel hub electricity
Machine is electrically connected with external control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721123540.4U CN208371743U (en) | 2017-09-04 | 2017-09-04 | A kind of flexible drive device of intelligent cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721123540.4U CN208371743U (en) | 2017-09-04 | 2017-09-04 | A kind of flexible drive device of intelligent cleaning device |
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| Publication Number | Publication Date |
|---|---|
| CN208371743U true CN208371743U (en) | 2019-01-15 |
Family
ID=64978913
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721123540.4U Active CN208371743U (en) | 2017-09-04 | 2017-09-04 | A kind of flexible drive device of intelligent cleaning device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217315A (en) * | 2019-06-24 | 2019-09-10 | 北京理工华汇智能科技有限公司 | Robot running gear |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN115303360A (en) * | 2022-09-15 | 2022-11-08 | 中国建筑第八工程局有限公司 | Two-wheel differential-based chassis vehicle and control method |
| CN116269035A (en) * | 2023-03-25 | 2023-06-23 | 麦岩智能科技(北京)有限公司 | Intelligent cleaning robot chassis system and cleaning robot |
-
2017
- 2017-09-04 CN CN201721123540.4U patent/CN208371743U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217315A (en) * | 2019-06-24 | 2019-09-10 | 北京理工华汇智能科技有限公司 | Robot running gear |
| CN113197515A (en) * | 2021-04-20 | 2021-08-03 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN113197515B (en) * | 2021-04-20 | 2023-02-24 | 上海高仙自动化科技发展有限公司 | Moving mechanism and robot |
| CN115303360A (en) * | 2022-09-15 | 2022-11-08 | 中国建筑第八工程局有限公司 | Two-wheel differential-based chassis vehicle and control method |
| CN116269035A (en) * | 2023-03-25 | 2023-06-23 | 麦岩智能科技(北京)有限公司 | Intelligent cleaning robot chassis system and cleaning robot |
| CN116269035B (en) * | 2023-03-25 | 2024-02-13 | 麦岩智能科技(北京)有限公司 | Intelligent cleaning robot chassis system and cleaning robot |
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