CN208740867U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN208740867U CN208740867U CN201820096449.6U CN201820096449U CN208740867U CN 208740867 U CN208740867 U CN 208740867U CN 201820096449 U CN201820096449 U CN 201820096449U CN 208740867 U CN208740867 U CN 208740867U
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- auxiliary wheel
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- movement robot
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- wheel
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Abstract
A kind of self-movement robot, including main body (100), the bottom part body is equipped with preceding auxiliary wheel (110), driving wheel (120) and rear auxiliary wheel (130), the rear end for being mounted on main body that the rear auxiliary wheel floats.The utility model can be floated by setting one and the lesser rear auxiliary wheel of height, makes self-movement robot when walking on the flexible surfaces such as carpet, and rear auxiliary wheel is capable of providing support force, will not front and back shake so as to self-movement robot smooth running；And in the case where especially encountering barrier (such as slope) in hardstand walking, the height and position of rear auxiliary wheel can change, and self-movement robot front end can smoothly be lifted and be surmounted obstacles.
Description
Technical field
The utility model relates to a kind of self-movement robots, belong to small household appliances manufacturing technology field.
Background technique
Sweeping robot, be in face of a variety of different or complicated family's working environments as a kind of ground cleaning tool.It passes
Universal wheel and a pair of driving wheels positioned at body rear end, universal wheel and driving wheel prop up jointly before the sweeping robot of system is typically provided with
It is mobile on surface to be cleaned to support sweeping robot.For example, sweeping robot is walked very steady in floor surface walking, but
When running on carpet, because of carpet softness, highly it is not easy to keep stablizing, it may appear that nose sticks up the phenomenon that tail front and back shake.
Existing solution is that the structure of fixed pattern is reinforced below body rear end, such as boss, fixed servo-actuated steamboat
Deng.Specifically, organism bottom is equipped with preceding auxiliary as China publication CN103505155A discloses a kind of sweeping robot
Wheel, a pair of driving wheels at middle part and rear auxiliary wheel.But with this structure sweeping robot on hard ground (as floor tile,
Plate etc.) operation when, if desired cross step obstacle detouring, be easy to cause on rear side of sweeping robot and withstand, front end can not lift and not cross
The case where obstacle.
It is a kind of to adapt to different operating surface and the strong robot of obstacle climbing ability urgently occurs.
Utility model content
It is a kind of from mobile machine the technical problem to be solved by the utility model is in view of the deficiencies of the prior art, provide
People, by setting one can float and height it is lesser after auxiliary wheel, make self-movement robot in the flexible surfaces uplink such as carpet
When walking, rear auxiliary wheel is capable of providing support force, will not front and back shake so as to self-movement robot smooth running；And in hardstand
When walking, in the case where especially encountering barrier (such as slope), the height and position of rear auxiliary wheel can change, and allow from shifting
Mobile robot front end can smoothly lift and surmount obstacles.
Technical problem to be solved in the utility model is achieved by the following technical solution:
The utility model provides a kind of self-movement robot, including main body, and the bottom part body is equipped with preceding auxiliary wheel, driving
Wheel and rear auxiliary wheel, the rear end for being mounted on main body that the rear auxiliary wheel floats.
To make self-movement robot when walking on the flexible surfaces such as carpet, rear auxiliary wheel is capable of providing certain support
Power, so as to self-movement robot smooth running, will not front and back shake, the self-movement robot is when plane is walked, after described
The height that auxiliary wheel protrudes from bottom part body is less than the height that the driving wheel protrudes from bottom part body.
Preferably, the height that the rear auxiliary wheel protrudes from bottom part body protrudes from the height of bottom part body with the driving wheel
Degree at least differs 2mm.Particularly, the rear height of least of the auxiliary wheel apart from bottom part body is 4mm.
Specifically, the rear auxiliary wheel is arranged on runing rest, and the runing rest is hinged on main body by rotary shaft
Bottom, the runing rest are connected to main body by elastic component, and the elastic component is for providing downward effect for rear auxiliary wheel
Power.For example, being equipped with pressure spring between described rotation runing rest one end and main body far from rotary shaft.The bottom part body is rotating
The rotating path of bracket is equipped with limiting device, for limiting the swing angle of runing rest.The rotary shaft is located at driving wheel
Between rear auxiliary wheel.
Alternatively, spring and rear auxiliary wheel support that the main body is equipped with guide post and is set on guide post up and down,
Auxiliary wheel is arranged on rear auxiliary wheel support after described.
Preferably, the center of auxiliary wheel setting bottom part body rear end after described, and the distance between with body ends edge
Greater than 10mm.
Preferably, the preceding auxiliary wheel is universal wheel, and the rear auxiliary wheel uses supporting roller.
In conclusion the utility model can be floated by setting one and the lesser rear auxiliary wheel of height, make from moving machine
For device people when walking on the flexible surfaces such as carpet, rear auxiliary wheel is capable of providing certain support force, so as to self-movement robot row
It walks steadily, it will not front and back shake；And in the case where especially encountering barrier (such as slope) in hardstand walking, it is rear to assist
The height and position of wheel can change, and self-movement robot front end can smoothly be lifted and be surmounted obstacles.
In the following with reference to the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the utility model self-movement robot when plane is walked；
Fig. 2 is structural schematic diagram when the utility model self-movement robot encounters obstacle；
Fig. 3 is partial enlarged view at the A of Fig. 1.
Specific embodiment
Fig. 1 is structural schematic diagram of the utility model self-movement robot when plane is walked；Fig. 2 be the utility model from
Mobile robot encounters structural schematic diagram when obstacle；Fig. 3 is partial enlarged view at the A of Fig. 1.As shown in Figure 1 to Figure 3, this reality
It include main body 100 with novel middle self-movement robot, direction of advance is front when being worked using self-movement robot, the main body
100 bottoms are successively arranged preceding auxiliary wheel 110, driving wheel 120 and rear auxiliary wheel 130 from front to back, and the rear auxiliary wheel 130 is floating
The dynamic rear end for being mounted on main body 100.Preferably, the quantity of the rear auxiliary wheel 130 is one, after bottom part body 100 is arranged
The center at end, and it is greater than 10mm with the distance between 100 terminal edge of main body.It is multiple if the quantity of rear auxiliary wheel is multiple
Auxiliary wheel is evenly distributed in the rear end of body.The driving wheel 120 is driven by driving motor (not shown), for driving
Dynamic self-movement robot walking, such as advance, retreat and turn to；The preceding auxiliary wheel 110 is preferably universal wheel, the universal wheel
Can 360 ° of level rotation, with supportive body 100 and self-movement robot is facilitated to turn to；Auxiliary wheel is preferably using servo-actuated after described
It is small to occupy body installation site for wheel.Specifically, rear auxiliary wheel 130 can float in several ways be mounted on main body 100 after
End, for example, elastic component is set between rear auxiliary wheel 130 and main body 100, alternatively, rear auxiliary wheel passes through guiding piece (such as guide post or sliding rail
Deng) connect robot body.By the floating mount, rear auxiliary wheel 130 can adaptive a variety of different working surfaces, such as connect
Touching different operating surface plays a supportive role, or lifts rear auxiliary wheel 130 to assist climbing.Auxiliary wheel 130 after it should be noted that
It should not be too close to the edge of main body, to be preferred apart from 100 terminal edge 10-30mm of main body.
As shown in Figure 1, rear auxiliary wheel 130 is arranged to have certain interval with plane 200, i.e., in hard in the present embodiment
When flat surfaces are walked, rear auxiliary wheel does not contact working surface.When self-movement robot is located in plane 200 or in plane
When walking on 200, the universal wheel protrudes from the height of 100 bottom of main body and the driving wheel 120 protrudes from 100 bottom of main body
Height it is equal, and it is described after auxiliary wheel 130 protrude from 100 bottom of main body height be less than the driving wheel 120 protrude from master
The height of 100 bottom of body.That is, when self-movement robot is located in plane 200 or walks in plane 200, institute
It states universal wheel and is contacted with plane 200 with driving wheel 120, and the rear height of the auxiliary wheel 130 due to protruding from 100 bottom of main body
Degree is smaller, does not contact with plane 200.Preferably, after described auxiliary wheel 130 protrude from the height of 100 bottom of main body with it is described
The height that driving wheel 120 protrudes from 100 bottom of main body at least differs 2mm, i.e., the described universal wheel and driving wheel 120 are and plane
When 200 contact, the rear distance of the auxiliary wheel 130 apart from plane 200 is at least 2mm.Regardless of self-movement robot encounters undercoat
Carpet or shag carpet, rear auxiliary wheel 130 can touch carpet surface.I.e. when carpet surface is walked, preceding auxiliary wheel 110,
Driving wheel 120 and rear auxiliary wheel 130 contact carpet surface, so that self-movement robot runs smoothly in carpet surface, it will not
The case where generation is jolted.And the rear height of least of the auxiliary wheel 130 apart from 100 bottom of main body is 4mm, otherwise, rear auxiliary wheel
It can be not easy to contact carpet surface, not have supporting role, cause robot operation unstable.
Specifically, in one embodiment of the utility model, the rear auxiliary wheel 130 is arranged in runing rest 140
On, the runing rest 140 is hinged on 100 bottom of main body by rotary shaft 141, and the runing rest 140 passes through elastic component
It is connected to main body, the elastic component is for providing downward active force for rear auxiliary wheel.Specifically, 100 bottom of main body
Equipped with accommodating space, the runing rest 140 can be swung centered on rotary shaft 141 in accommodating space.The rotation branch
It is equipped with pressure spring 142 (elastic component) between the one end of frame 140 far from rotary shaft 141 and main body 100, the pressure spring 142 passes through rotation
Bracket 140 is that rear auxiliary wheel 130 provides downward active force.Runing rest 140 can also be using other elastic types connection master
Body 100, for example, one end of runing rest 140 is articulated with main body by torsional spring and rotary shaft 141.It is revolving 100 bottom of main body
Turn to be additionally provided with the (not shown)s such as limiting device such as boss in the rotating path of bracket 140, the limiting device is for limiting
The swing angle of runing rest 140, when self-movement robot is placed in plane 200, the rear auxiliary wheel 130 is in itself weight
It is supported under 142 collective effect of power and pressure spring with limiting device, so that auxiliary wheel 130 protrudes from the height of 100 bottom of main body after described
Degree is less than the height that the driving wheel 120 protrudes from 100 bottom of main body.
You need to add is that the utility model be not intended to limit it is described after auxiliary wheel 130 float be mounted on main body 100 after
The mode at end, those skilled in the art, which can according to need, to be designed.For example, in another embodiment of the utility model
In, spring and rear auxiliary wheel support that the main body is equipped with guide post (not shown) and is set on guide post up and down
(not shown), the rear auxiliary wheel are arranged on rear auxiliary wheel support.Auxiliary wheel support can be along guidance axis of a cylinder after described
To movement, thus after realizing auxiliary wheel floating mount, the spring is that rear auxiliary wheel support resets and provides active force.
It is illustrated below with reference to the course of work of the concrete scene to the utility model self-movement robot.
When self-movement robot works in plane 200, such as walk on hard floor or ceramic tile surface, it is described universal
Wheel is contacted with plane 200 with driving wheel 120, and the rear auxiliary wheel 130 is not contacted with plane 200, and self-movement robot is ten thousand
The lower walking of common support to wheel and driving wheel 120.
If front end is possible to be jacked up by barrier self-movement robot when walking there are tiny barrier in plane, this
When since there is no planes 200 to contact for rear auxiliary wheel 130, will not influence self-movement robot and crossed when front end is jacked up
Barrier.
If self-movement robot when walking pushed up by front end there are biggish barrier, such as 20 degree of long slope in plane
Rise it is higher, cause rear auxiliary wheel 130 to contact with plane 200, however due to rear auxiliary wheel 130 setting on runing rest 140, when
When auxiliary wheel 130 and plane 200 contact afterwards, rear auxiliary wheel 130 drives runing rest 140 to overcome the elastic force of pressure spring 142, makes rear auxiliary
Help wheel 130 to swing backward, self-movement robot front end shell will not dieback on long slope, to guarantee driving wheel 120 always
It is contacted with plane 200, is conducive to self-movement robot throwing over barrier when front end is jacked up.It is emphasized that rotary shaft
141 need to be arranged between driving wheel 120 and rear auxiliary wheel 130, that is, when encountering barrier, are conducive to runing rest 140 and put backward
It is dynamic.For example, runing rest 140 is swung backward when robot encounters pit or gap, rear auxiliary wheel will not be made to be stuck in pit
Or in gap, the movement of robot is hindered.
If self-movement robot runs to the flexible surfaces such as carpet from plane, on undercoat carpet (villus length 5-10mm)
When, preceding auxiliary wheel 110, driving wheel 120 and rear auxiliary wheel 130 are pressed against on carpet wool, i.e., before the bottom of self-movement robot
There are support, self-movement robot smooth running afterwards.Particularly, when being run on shag carpet (villus length is greater than 10mm),
Carpet wool is in addition to contacting preceding auxiliary wheel 110, driving wheel 120 and rear auxiliary wheel 130, or even the bottom case of contact self-movement robot.
Carpet wool since the pressure by self-movement robot can bend, self-movement robot when walking after auxiliary wheel 130 with
Carpet contact (under normal conditions, the support force that spring is greater than carpet wool to the pressure of rear auxiliary wheel), gives self-movement robot branch
Support, to guarantee stabilization when self-movement robot walking.If auxiliary wheel 130 after setting of not floating, the walking process on carpet
In, especially upper shag carpet, the carpet wool after the preceding auxiliary wheel 110 and driving wheel 120 of self-movement robot are bent can bounce,
The case where rear end of self-movement robot is jacked up, causes one to tremble, self-movement robot operation are unstable.
In conclusion the utility model can be floated by setting one and the lesser rear auxiliary wheel of height, make from moving machine
For device people when walking on the flexible surfaces such as carpet, rear auxiliary wheel is capable of providing certain support force, so as to self-movement robot row
It walks steadily, it will not front and back shake；And in the case where especially encountering barrier (such as slope) in hardstand walking, it is rear to assist
The height and position of wheel can change, and self-movement robot front end can smoothly be lifted and be surmounted obstacles.That is, this is practical
Self-movement robot in novel can be in carpet surface smooth running and climbing capacity is strong simultaneously.
It should be noted that being not intended to limit the guarantor of the utility model based on above-described embodiment in the utility model
Protect range, those of ordinary skill in the art's obtained every other embodiment without making creative work,
Belong to the range that the utility model is protected.
Claims (10)
1. a kind of self-movement robot, including main body (100), the bottom part body is equipped with preceding auxiliary wheel (110), driving wheel
(120) and rear auxiliary wheel (130), which is characterized in that the rear end for being mounted on main body that auxiliary wheel floats after described.
2. self-movement robot as described in claim 1, which is characterized in that the self-movement robot plane walk when,
The height that auxiliary wheel (130) protrudes from main body (100) bottom after described is less than the driving wheel (120) and protrudes from bottom part body
Highly.
3. self-movement robot as claimed in claim 2, which is characterized in that auxiliary wheel (130) protrudes from main body after described
(100) height of bottom at least differs 2mm with the height that the driving wheel (120) protrudes from bottom part body.
4. self-movement robot as claimed in claim 2, which is characterized in that auxiliary wheel (130) is apart from main body (100) after described
The height of least of bottom is 4mm.
5. self-movement robot as claimed in claim 2, which is characterized in that auxiliary wheel (130) setting is in rotation branch after described
On frame (140), the runing rest is hinged on main body (100) bottom by rotary shaft (141), and the runing rest passes through elasticity
Part is connected to main body, and the elastic component is for providing downward active force for rear auxiliary wheel.
6. self-movement robot as claimed in claim 5, which is characterized in that main body (100) bottom is in runing rest
(140) rotating path is equipped with limiting device, for limiting the swing angle of runing rest.
7. self-movement robot as claimed in claim 5, which is characterized in that the rotary shaft (141) is located at driving wheel (120)
Between rear auxiliary wheel (130).
8. self-movement robot as claimed in claim 2, which is characterized in that the main body (100) be equipped with guide post and
The spring and rear auxiliary wheel support being set on guide post up and down, the rear auxiliary wheel (130) are arranged on rear auxiliary wheel support.
9. self-movement robot as described in claim 1, which is characterized in that bottom part body is arranged in auxiliary wheel (130) after described
The center of rear end, and it is greater than 10mm with the distance between main body (100) terminal edge.
10. self-movement robot as described in claim 1, which is characterized in that the preceding auxiliary wheel (110) is universal wheel, institute
Stating rear auxiliary wheel (130) is supporting roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820096449.6U CN208740867U (en) | 2018-01-19 | 2018-01-19 | Self-movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820096449.6U CN208740867U (en) | 2018-01-19 | 2018-01-19 | Self-movement robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208740867U true CN208740867U (en) | 2019-04-16 |
Family
ID=66050498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820096449.6U Active CN208740867U (en) | 2018-01-19 | 2018-01-19 | Self-movement robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208740867U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522358A (en) * | 2019-09-03 | 2019-12-03 | 深圳瑞科时尚电子有限公司 | A kind of cleaning equipment |
| CN111110122A (en) * | 2019-12-03 | 2020-05-08 | 尚科宁家(中国)科技有限公司 | Floor sweeping robot |
| 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 |
-
2018
- 2018-01-19 CN CN201820096449.6U patent/CN208740867U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522358A (en) * | 2019-09-03 | 2019-12-03 | 深圳瑞科时尚电子有限公司 | A kind of cleaning equipment |
| CN110522358B (en) * | 2019-09-03 | 2024-03-26 | 深圳瑞科时尚电子有限公司 | Cleaning equipment |
| 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 |
| CN111110122A (en) * | 2019-12-03 | 2020-05-08 | 尚科宁家(中国)科技有限公司 | Floor sweeping robot |
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