CN209059055U - Self-movement robot running gear and self-movement robot - Google Patents
Self-movement robot running gear and self-movement robot Download PDFInfo
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- CN209059055U CN209059055U CN201820766890.0U CN201820766890U CN209059055U CN 209059055 U CN209059055 U CN 209059055U CN 201820766890 U CN201820766890 U CN 201820766890U CN 209059055 U CN209059055 U CN 209059055U
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Abstract
The utility model relates to self-movement robot technical field, a kind of self-movement robot running gear and self-movement robot are disclosed.The running gear includes driving wheel, detection components and barrier getting over mechanism, and wherein detection components are used to detect the walking states of self-movement robot；Barrier getting over mechanism is used for when detection components detect that self-movement robot is not in walking states, and driving driving wheel is moved down to increase the road clearance of self-movement robot.The utility model keeps driving wheel protruding relative to fuselage when encountering barrier, actively improves the road clearance on robot chassis, increases frictional force of robot when stranded between driving wheel and ground, avoids slipping phenomenon, robot is made to get rid of poverty.
Description
Technical field
The utility model relates to self-movement robot technical field more particularly to a kind of self-movement robot running gear and
Self-movement robot.
Background technique
Current sweeping robot is designed very low in order to reduce fuselage height, by the road clearance on robot chassis.
This causes sweeping robot that can only cross a lower height of step.When sweeping robot encounters higher step, machine is easy
It is stuck.
Specifically, as shown in Figure 1, when sweeping robot is when across compared with high obstacle object, it may appear that driving wheel " hanging "
State, at this time although driving wheel lands, but the gravity of sweeping robot is not fully pressed against on two driving wheels, but by figure
Belly (near round brush) and tail portion carry most weight, reduce the normal pressure between driving wheel and ground, cause
The driving force of the decline of the frictional force on driving wheel and ground, driving wheel reduces, and the locomotivity of sweeping robot is caused to decline.Simultaneously
The frictional resistance for hindering robot mobile is generated between fuselage and ground at this time, prevent sweeping robot is from getting rid of poverty.
In addition, when sweeping robot is walked on carpet, since the frictional force between the chassis and carpet of robot is larger,
Hinder sweeping robot normal movement；The blanket hair on carpet generates supporting role to the chassis of robot simultaneously, but also driving
Normal pressure between driving wheel and ground is insufficient, and the frictional force between driving wheel and carpet is caused to decline, and is easy to appear driving wheel and beats
Sliding phenomenon, enough power can not be provided for robot, causes the run trace of robot unstable.
Therefore, a kind of self-movement robot running gear that can improve sweeping robot obstacle climbing ability is needed and from moving machine
Device people, to solve the above problems.
Utility model content
It is the purpose of this utility model is to provide a kind of self-movement robot running gear and certainly mobile based on the above
Robot can effectively avoid the fuselage and ground face contact of self-movement robot, guarantee to have between driving wheel and ground enough
Frictional force greatly improves the obstacle climbing ability of self-movement robot.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of self-movement robot running gear, including driving wheel, further includes:
Detection components, for detecting the walking states of the self-movement robot；
Barrier getting over mechanism, for driving when the detection components detect that the self-movement robot is not in walking states
The driving wheel is moved to move down to increase the road clearance of the self-movement robot.
As a kind of preferred embodiment of self-movement robot running gear, the running gear further includes drive wheel mechanism,
The drive wheel mechanism includes the driving wheel, driving motor and gear-box, wherein the gearbox drive connects the driving
Wheel and the driving motor, the gear-box includes gear box casing, and the gearhousing physical efficiency is around the defeated of the driving motor
Shaft is swung.
As a kind of preferred embodiment of self-movement robot running gear, the barrier getting over mechanism includes:
Force piece is fixed on the fuselage of the self-movement robot；
Connector, connects the force piece and the gear box casing, and the force piece is configured as through the connection
Part drives the gear box casing to swing.
As a kind of preferred embodiment of self-movement robot running gear, the connector includes mutually engageable endless
Full tooth and sector, the incomplete tooth are connect with the force piece, and the sector is fixed on the pendulum of the gear box casing
Moved end.When robot works normally, incomplete tooth is disengaged from using hypodontia part and the sector on gear box casing, no
Influence the working condition of drive wheel mechanism (that is, when driving wheel is hanging, drive wheel mechanism can passively be shown).When robot is by card
Firmly or when being difficult to advance on carpet, force piece drives incomplete tooth to start to rotate, and incomplete tooth and sector is made to enter engagement
State；By the rotation angle of the incomplete tooth of control, move down driving wheel, to improve the road clearance on robot chassis,
Robot is allowed to get rid of poverty or reduce running resistance of the robot on carpet.Above structure utilizes gear drive, on incomplete tooth
Torque is stablized, and driving wheel stretches out higher apart from degree of controllability.
As a kind of preferred embodiment of self-movement robot running gear, the center of circle of the sector is located at the driving electricity
On the output shaft of machine.Output shaft due to gear box casing around driving motor rotates, make the center of circle and the driving electricity of sector
The output shaft of machine is coaxially disposed, and ensure that the motion profile of sector is overlapped with the circular arc where it, improves sector and not
The engagement accuracy of complete tooth.
As a kind of preferred embodiment of self-movement robot running gear, the radian of the toothed portion of the incomplete tooth is
180-220 degree, the radian of the toothed portion of the sector are 10-30 degree.The angular range can make self-movement robot exist
When encountering barrier, by the cooperation of sector and incomplete tooth, driving wheel is moved down to greatest extent, is detached from robot tired
Border.
As a kind of preferred embodiment of self-movement robot running gear, the radian of the toothed portion of the incomplete tooth is
200 degree, the radian of the toothed portion of the sector is 20 degree.
As a kind of preferred embodiment of self-movement robot running gear, the connector include reel, transmission line and
First cantilever, the reel are connect with the force piece, and one end of the transmission line is fixedly connected with the reel, another
End is fixedly connected with first cantilever, and first cantilever is fixed on the swinging end of the gear box casing.When robot just
Often when work, transmission line is in relaxed state, does not influence the work of drive wheel mechanism (that is, quilt when not hindering driving wheel hanging
Movable pendulum goes out).When robot is stuck or is difficult to advance on carpet, force piece drives reel rotation, will by transmission line
First cantilever pulls down, and moves down drive wheel mechanism, to improve the road clearance on self-movement robot chassis, robot is allowed to get rid of poverty
Or reduce running resistance of the robot on carpet.Preferably, above-mentioned transmission line is steel wire, to improve its bonding strength, is guaranteed
The security reliability of mechanism.
As a kind of preferred embodiment of self-movement robot running gear, the connector includes leading screw and nut mechanism and
Two cantilevers, the end of screw rod are abutted against with second cantilever, and second cantilever is fixed on the swing of the gear box casing
End.When robot is stuck or is difficult to advance on carpet, force piece drives leading screw and nut mechanism operation, passes through the shifting of screw rod
It is dynamic, drive wheel mechanism is ejected, to improve the road clearance on robot chassis, robot is allowed to get rid of poverty or reduce robot in carpet
On running resistance.
As a kind of preferred embodiment of self-movement robot running gear, the force piece includes driving cylinder, the connection
Part includes third cantilever, and the driving cylinder is fixed on the fuselage, and output end is abutted against with the third cantilever, and described
Three cantilevers are fixed on the swinging end of the gear box casing.Cooperated by driving cylinder and third cantilever, pushes gear box casing dynamic
Make, structure is simpler, control is more accurate.Preferably, which is cylinder, hydraulic cylinder or electric cylinders.
As a kind of preferred embodiment of self-movement robot running gear, the detection components are displacement sensor, piezoelectricity
Formula speed probe, Hall sensor or ammeter.
As a kind of preferred embodiment of self-movement robot running gear, the driving wheel is provided at least two groups, wherein
Driving wheel described in every group is connected to the different barrier getting over mechanism.The setting can control each driving wheel not according to surface state
Same protrusion height, thus the ability for making the self-movement robot possess stronger adaptation to the ground.
A kind of self-movement robot, including self-movement robot running gear.Self-movement robot running gear includes: to drive
Driving wheel；
Detection components, for detecting the walking states of the self-movement robot；
Barrier getting over mechanism, for driving when the detection components detect that the self-movement robot is not in walking states
The driving wheel is moved to move down to increase the road clearance of the self-movement robot.
As a kind of preferred embodiment of self-movement robot, the self-movement robot is sweeping robot.
The utility model has the following beneficial effects:
The utility model passes through setting barrier getting over mechanism, when self-movement robot operates normally on the ground, barrier getting over mechanism
It does not act, drive wheel mechanism will not be impacted；When robot is stuck or is difficult to advance on carpet, obstacle detouring machine
Structure acts, and drives driving wheel to swing by barrier getting over mechanism, to make driving wheel move down relative to fuselage, to improve certainly
The road clearance on mobile robot chassis reduces step, carpet point to greatest extent on the drive wheel by the gravity of fuselage
The gravity of the fuselage of load avoids slipping phenomenon to increase frictional force of the robot when being caught between driving wheel and ground,
Robot is set to get rid of poverty.
The utility model do not change self-movement robot work normally opportunity height degree and walking effect under the premise of, when
Robot encounters when needing the barrier crossed or complicated landform, is stretched out by active control driving wheel, improve robot from
Ground gap, so that robot be made to get rid of poverty, run trace is stablized, structurally reasonable, easy to operate, effectively saves design cost.
Meanwhile the utility model does not hinder to drive no matter when self-movement robot works normally or needs to improve the road clearance
Passively showing when taking turns hanging, does not influence the safety of robot.
Detailed description of the invention
It, below will be to the utility model embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the content of the utility model embodiment and these attached drawings.
Fig. 1 is working state figure of the sweeping robot in the prior art when encountering barrier；
Fig. 2 is that the structure of the self-movement robot running gear of the offer of the utility model embodiment one in the first state is shown
It is intended to；
Fig. 3 is that the structure of the self-movement robot running gear of the offer of the utility model embodiment one in the second condition is shown
It is intended to；
Fig. 4 is the structural schematic diagram for the self-movement robot running gear that the utility model embodiment two provides；
Fig. 5 is the structural schematic diagram for the self-movement robot running gear that the utility model embodiment three provides.
In figure:
The ground 100-；
1- fuselage；
2- drive wheel mechanism；21- driving wheel；22- driving motor；23- gear box casing；
3- barrier getting over mechanism；The incomplete tooth of 31-；32- sector；33- reel；34- transmission line；The first cantilever of 35-；36-
Second cantilever；37- nut；38- screw rod.
Specific embodiment
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts
The range of type protection.
Self-movement robot is the man-made machine device for referring to automatic moving and executing certain task, replacing or
Human work is assisted, if sweeping robot is for sweep the floor the robot of operation instead of the mankind.Current sweeping robot
Fuselage is driven integrally to move on the ground by the rotation of driving wheel, by the rubbish on ground during robot moves integrally
Rubbish and dust siphon away.With the development of society, sweeping robot application it is more and more wider, can such as carry out at home using,
It can be used in places such as market, Administrative Area or open airs.However, existing sweeping robot is for convenience to table bottom, bed bottom
And cleaned under sofa, chassis design it is general relatively low, it is a lower height of that this causes sweeping robot that can only cross
Step, when sweeping robot encounters higher step, machine is easy to be stuck, and when sweeping robot is transported on carpet
When row, support, rubbing action due to carpet wool to chassis also result in the difficulty in walking of sweeping robot.Therefore, this implementation
Mode improves the running gear of existing self-movement robot, can when sweeper people encounters the barriers such as step,
Driving wheel is shown downwards by the chassis of robot, that is, improve robot chassis road clearance, enhancing driving wheel and ground it
Between frictional power, so that robot be made smoothly to clear the jumps.
Embodiment one
Existing self-movement robot (such as sweeping robot), since the chassis of robot is lower, thus in use process
In when encountering more slightly higher step or when the biggish objects upstream of the frictional force such as carpet is walked, it is outstanding usually to will appear driving wheel 21
The phenomenon that empty or skidding, thus the locomotivity of self-movement robot is caused to decline, the barriers such as step, carpet can not be crossed.
In response to this, the present embodiment provides the running gears that one kind can greatly promote self-movement robot obstacle climbing ability, to keep away
There is hanging and slipping phenomenon in free drive driving wheel 21, allows the robot to smoothly get rid of poverty.As shown in Figures 2 and 3, the running gear packet
The drive wheel mechanism 2 being mounted on the fuselage 1 of self-movement robot is included, wherein drive wheel mechanism 2 includes driving wheel 21, driving electricity
Machine 22 and gear-box；Driving wheel 21 is set to the bottom of fuselage 1, is used to be in contact with ground 100, and passes through its own
It rotates and advances on ground 100 with mobile robot.Driving motor 22 is fixed on fuselage 1, is used for output power.Gear-box is set
It is placed between driving motor 22 and driving wheel 21, for the driving force of driving motor 22 to be transmitted to driving wheel 21.Specifically, tooth
Roller box includes gear box casing 23 and the gear set that is set in gear box casing 23.Gear set is engaged with each other and can be revolved by multiple
Turn the gear composition that ground is arranged in gear box casing 23；Positioned at the gear of gear set input terminal and the output shaft of driving motor 22
It is connected, the gear positioned at gearset output is connect with driving wheel 21.In addition, one end and the driving of said gear tank shell 23
The output shaft of motor 22 is rotatablely connected, so that gear box casing 23 is enable to swing around the output shaft of driving motor 22, gear-box
The other end of shell 23 is swinging end (or free end), for enabling driving wheel 21 to float up and down relative to fuselage 1.
The mechanism that gear box casing 23 rotates is realized in the present embodiment further include: support column and spring, support column are set to
On fuselage 1, the two sides of gear box casing 23 are located at driving motor 22, and the output shaft of support column and driving motor 22 is same
Axis setting；It is provided with supported hole on gear box casing 23, for being inserted into support column, is made to play support to gear box casing 23
With.One end of above-mentioned spring is fixed on fuselage 1, and the other end of spring is articulated on gear box casing 23, thus to gear-box
Shell 23 plays the role of suspension, realizes the oscillating function of drive wheel mechanism 2.Above-mentioned setting, when driving wheel 21 is hanging, driving wheel
Mechanism 2 can rotate clockwise under the action of spring and its own gravity, show home position.
Further, which further includes detection components and barrier getting over mechanism 3, and detection components can be displacement sensing
Device, piezoelectric sensor for measuring rotational speed, Hall sensor or ammeter etc., for detecting whether self-movement robot walks, obstacle detouring machine
Structure 3 includes force piece and connector, for making self-movement robot above water.Preferably, force piece is solid in the present embodiment
Due to the second motor on fuselage 1, connector includes mutually engageable incomplete tooth 31 and sector 32, and incomplete tooth 31 is solid
Due on the output shaft of the second motor, sector 32 is fixed on the free end of gear box casing 23.In addition, the running gear also wraps
Controller is included, detection components detect the displacement of driving wheel 21 or gear box casing 23, and will test information and be sent to controller, control
The operation and stopping of device control barrier getting over mechanism 3 processed.
The specific working mode of the present embodiment is as follows: as shown in Fig. 2, working as robot normally travel on flat ground
When, detection components detect that self-movement robot is in walking states, and barrier getting over mechanism 3 will not be activated at this time, and incomplete tooth
31 are disengaged from using hypodontia part and the sector 32 on gear box casing 23, do not influence the working condition of drive wheel mechanism 2
(that is, drive wheel mechanism 2 can passively be shown when driving wheel 21 is hanging), at this time the chassis of fuselage 1 between ground 100 away from
From for 10 ㎜.As shown in figure 3, detection components are detected from shifting when robot is blocked by step or is difficult to advance on carpet
Mobile robot is in not walking state, and at this moment detection components send a signal to controller, and controller control barrier getting over mechanism 3 opens
It is dynamic, it is rotated by the incomplete tooth 31 of the second motor driven, so that incomplete tooth 31 and sector 32 is entered meshing state, by controlling not
The rotation angle of complete tooth 31, driving wheel 21 is shown downwards, to improve the road clearance on robot chassis, fuselage 1 at this time
Chassis to the distance between ground 100 be 20 ㎜, so that robot be made to get rid of poverty or reduce running resistance of the robot on carpet.
Therefore, which effectively improves the distance between robot fuselage 1 and ground 100, guarantees between driving wheel 21 and ground 100
With enough frictional force, the obstacle climbing ability of sweeping robot is substantially increased, user experience is improved；And the present embodiment benefit
It is driven with gear, wherein the torque on incomplete tooth 31 is stablized, the robot higher apart from degree of controllability that driving wheel 21 stretches out
Work it is safer reliable.
It is understood that the gap between fuselage 1 and ground 100 not only can be improved in the barrier getting over mechanism 3 of the present embodiment,
And when encountering limit for height, drive wheel mechanism 2 can also be made to rotate counterclockwise, thus make driving wheel 21 is opposite to retract in fuselage 1,
Reduce the distance between 1 chassis of fuselage and ground 100, reduces the height of robot, enable the self-movement robot from limit for height
Lower section pass through.
Further, the center of circle fan-shaped on sector 32 is located on the axis of the output shaft of driving motor 22.Due to gear
Tank shell 23 is rotated around the output shaft of driving motor 22, therefore keeps the center of circle of sector 32 and the output shaft of driving motor 22 coaxial
Setting, the circular arc where ensure that the motion profile and sector 32 itself of sector 32 coincides, improve sector 32 and
The incomplete engagement accuracy of tooth 31 and the stationarity of movement.Preferably, the radian of the toothed portion of not exclusively tooth 31 can be with
For 180-220 degree, the radian of the toothed portion of sector 32 can be 10-30 degree.The angular range can make from mobile machine
People, by the cooperation of sector 32 and incomplete tooth 31, driving wheel 21 is shown to greatest extent, makes machine when encountering barrier
People is above water.Preferably, in the present embodiment the toothed portion of incomplete tooth 31 radian be 200 degree, sector 32 it is with teeth
Partial radian is 20 degree.
Further, the present embodiment drive wheel mechanism 2 is provided with two groups, is located at the left and right sides of fuselage, wherein often
Group drive wheel mechanism 2 is singly connected with one group of barrier getting over mechanism 3, which can control two driving wheels according to surface state
21 different protrusion heights, so that the road clearance of 1 two sides of independent control fuselage, possesses the self-movement robot stronger suitable
Answer the ability of landform.It is understood that in other cases, above-mentioned drive wheel mechanism 2 can also only be arranged one group, Huo Zheshe
Three groups, four groups, five groups etc. are set, and is not limited to this embodiment.
The utility model do not change self-movement robot work normally opportunity height degree and walking effect under the premise of, when
When robot encounters the barrier for needing to cross or complicated landform, is stretched out by active control driving wheel 21, improve robot
Road clearance, so that robot be made to get rid of poverty, structurally reasonable, easy to operate, the mechanism change original to robot is little, effectively
Save design cost.Meanwhile no matter the utility model works normally in self-movement robot or needs to improve the road clearance
When, passively showing when not hindering driving wheel 21 hanging does not influence the safety of robot.
Embodiment two
As shown in figure 4, the driving wheel the present embodiment provides another self-movement robot running gear, in the running gear
Mechanism is identical as the drive wheel mechanism of running gear in embodiment one, and details are not described herein again；The area of the present embodiment and embodiment one
Place is not, the specific setting of barrier getting over mechanism 3 is different.
The barrier getting over mechanism 3 of the present embodiment includes force piece and connector, and force piece is the third electricity being fixed on fuselage 1
Machine, connector include that reel 33, transmission line 34 and the first cantilever 35, reel 33 are fixed on the output shaft of third motor,
One end of transmission line 34 is fixedly connected with reel 33, and the other end is fixedly connected with the first cantilever 35, and the first cantilever 35 is fixed on
The free end of gear box casing 23.Preferably, above-mentioned transmission line 34 guarantees the peace of mechanism for steel wire to improve its bonding strength
Full reliability.
The specific working mode of the present embodiment is as follows: when robot normally travel on flat ground, detection components
Detect that self-movement robot is in walking states, barrier getting over mechanism 3 will not be activated at this time, and transmission line 34 is in relaxation shape
State does not influence the work (that is, passively showing when not hindering driving wheel 21 hanging) of drive wheel mechanism 2, at this time the chassis of fuselage 1
It is 10 ㎜ to the distance between ground 100.When robot is blocked by step or is difficult to advance on carpet, detection components detection
It is in not walking state to self-movement robot, at this moment detection components send a signal to controller, and controller controls obstacle detouring
Mechanism 3 starts, and rotates winding transmission line 34 by third motor driven reel 33, by transmission line 34 that first cantilever 35 is downward
It draws, drive wheel mechanism 2 is shown, to improve the road clearance on self-movement robot chassis, the chassis of fuselage 1 to ground at this time
The distance between 100 be 20 ㎜, so that robot be made to get rid of poverty or reduce running resistance of the robot on carpet.Therefore, the reality
It applies example and effectively improves the distance between robot fuselage 1 and ground 100, guarantee to have between driving wheel 21 and ground 100 enough
Frictional force, substantially increase the obstacle climbing ability of sweeping robot, improve user experience；And the present embodiment utilizes reel
34 pull gear box casing 23 to move, lower to the torque demand of third motor, it is easy to accomplish.
Embodiment three
As shown in figure 5, driving turbine in the running gear the present embodiment provides another self-movement robot running gear
Structure is identical as the drive wheel mechanism of running gear in embodiment one, and details are not described herein again；The difference of the present embodiment and embodiment one
Place is that the specific setting of barrier getting over mechanism 3 is different.
The barrier getting over mechanism 3 of the present embodiment includes force piece and connector, and force piece is the 4th electricity being fixed on fuselage 1
Machine, connector include leading screw and nut mechanism and the second cantilever 36, and wherein leading screw and nut mechanism includes screw rod 38 and nut 37, screw rod
38 end is abutted against with the second cantilever 36, and the second cantilever 36 is fixed on the free end of gear box casing 23.Herein, the screw rod spiral shell
Parent agency can be driving for nut or screw rod is driving, and the present embodiment is preferably illustrated so that nut is driving.Specifically,
Four motors drive nut 37 to rotate by transmission wheel, conveyer mechanism, and nut 37 drives screw rod 38 mobile.
The specific working mode of the present embodiment is as follows: when robot normally travel on flat ground, detection components
Detect that self-movement robot is in walking states, barrier getting over mechanism 3 will not be activated at this time, and leading screw and nut mechanism does not influence to drive
The working condition (that is, when driving wheel 21 is hanging, drive wheel mechanism 2 can passively be shown) of mechanism 2 is taken turns, at this time the chassis of fuselage 1
It is 10 ㎜ to the distance between ground 100.When robot is blocked by step or is difficult to advance on carpet, detection components detection
It is in not walking state to self-movement robot, at this moment detection components send a signal to controller, and controller controls obstacle detouring
Mechanism 3 starts, and is rotated by the 4th motor driven nut 37, to drive screw rod 38 mobile, drive wheel mechanism 2 is ejected, is mentioned
The road clearance on high robot chassis, the distance between chassis of fuselage 1 to ground 100 is 20 ㎜ at this time, to make robot
It gets rid of poverty or reduces running resistance of the robot on carpet.Therefore, which effectively improves robot fuselage 1 and ground
The distance between 100, guarantee that there is enough frictional force between driving wheel 21 and ground 100, substantially increases sweeping robot
Obstacle climbing ability improves user experience；And above-mentioned setting is low to the torque demand of the 4th motor, and structural strength is higher.
Preferably, screw rod 38 tilts certain angle relative to fuselage 1 in the present embodiment, and is provided with arc on the second cantilever
Shape sliding slot keeps the work of the running gear more stable and reliable preferably to adapt to the swing of drive wheel mechanism 2.
Example IV
The present embodiment provides another self-movement robot running gear, drive wheel mechanism and embodiment in the running gear
The drive wheel mechanism of running gear is identical in one, and details are not described herein again；It is in place of the present embodiment and the difference of embodiment one, more
The specific setting for hindering mechanism 3 is different.
The barrier getting over mechanism 3 of the present embodiment includes force piece and connector, and force piece is driving cylinder, and connector includes that third is outstanding
Arm, driving cylinder are fixed on fuselage 1, and output end is abutted against with third cantilever, and third cantilever is fixed on gear box casing 23
Free end.Preferably, driving cylinder tilts certain angle relative to fuselage 1 in the present embodiment, and is provided with arc on third cantilever
Shape sliding slot keeps the work of the running gear more stable and reliable preferably to adapt to the swing of drive wheel mechanism 2.Pass through driving
Cylinder and third cantilever cooperate, and gear box casing 23 is pushed to act, and structure is simpler, control is more accurate.Above-mentioned driving cylinder can be with
For cylinder, hydraulic cylinder or electric cylinders etc., it is preferable that driven in the present embodiment using cylinder.
The specific working mode of the present embodiment is as follows: when robot normally travel on flat ground, detection components
Detecting that self-movement robot is in walking states, barrier getting over mechanism 3 will not be activated at this time, and the output end of driving cylinder is failure to actuate,
Working condition (that is, when driving wheel 21 hanging, drive wheel mechanism 2 can passively show) of the cause without influencing drive wheel mechanism 2, this
When fuselage 1 chassis to the distance between ground 100 be 10 ㎜.When robot is blocked by step or is difficult to advance on carpet
When, detection components detect that self-movement robot is in not walking state, and at this moment detection components send a signal to controller,
Controller controls barrier getting over mechanism 3 and starts, and the extension end of driving cylinder is protruding, moves down third cantilever, thus will driving
It takes turns mechanism 2 to eject downwards, improves the road clearance on robot chassis, the distance between chassis of fuselage 1 to ground 100 is at this time
20 ㎜, so that robot be made to get rid of poverty or reduce running resistance of the robot on carpet.Therefore, which effectively improves machine
The distance between the man-machine body 1 of device and ground 100 guarantee there is enough frictional force between driving wheel 21 and ground 100, greatly improve
The obstacle climbing ability of sweeping robot, improves user experience.
Embodiment five
The present embodiment provides a kind of self-movement robots, including self-movement robot running gear.The self-movement robot
Running gear includes: driving wheel 21, detection components and barrier getting over mechanism 3；Wherein, detection components are described from mobile machine for detecting
The walking states of people；Barrier getting over mechanism 3 is used to detect that the self-movement robot is not in walking states when the detection components
When, drive the driving wheel 21 to move down to increase the road clearance of the self-movement robot.
Self-movement robot running gear can be used what any of the above-described embodiment provided in the present embodiment self-movement robot
Scheme is realized.The self-movement robot can be for clean robot, food and drink robot, sales counter robot, toy robot etc., only
If there is driving wheel and be capable of the robot of automatic moving.Preferably, the present embodiment is carried out by taking sweeping robot as an example
Explanation.
When sweeping robot is swept in market, the barriers such as threshold press strip and step are often encountered, at this time
Normal pressure between driving wheel 21 and ground 100 reduces, and causes the frictional force between driving wheel 21 and ground 100 to decline, driving wheel 21
Driving force reduce, cause the locomotivity of sweeping robot to decline；Generate obstruction between fuselage 1 and ground 100 at this time simultaneously
The mobile frictional resistance of robot, so that sweeping robot is stuck and is difficult to advance.The sweeping robot of the present embodiment due to
Provided with detection components, its state being stuck can be detected in time, and sends a signal to controller in time, by controller control
Barrier getting over mechanism 3 processed acts, and barrier getting over mechanism 3 is moved by force piece drive connection part, connector drive drive wheel mechanism 2 into
Row is swung, thus show driving wheel 21 outward relative to fuselage 1, it is maximum to improve the road clearance on sweeping robot chassis
The gravity by fuselage 1 of limit reduces the gravity for the fuselage that step is shared, to increase robot on driving wheel 21
Frictional force when being caught between driving wheel 21 and ground 100, avoids slipping phenomenon, and robot is made to get rid of poverty, and continues normal row
It walks.
When sweeping robot is cleaned in use, often climbing up carpet at home, due to robot chassis and carpet
Between frictional force it is larger, hinder sweeping robot normal movement, at the same the blanket hair on carpet to robot chassis generate support
Effect causes under the frictional force between driving wheel 21 and carpet but also the normal pressure between driving wheel 21 and ground 100 is insufficient
Drop, makes driving wheel 21 have skidded phenomenon.The sweeping robot of the present embodiment can detect in time due to being provided with detection components
The state skidded on carpet to robot, and controller is sent a signal in time, occurred by controller control barrier getting over mechanism 3 dynamic
Make, barrier getting over mechanism 3 is moved by force piece drive connection part, and connector drives drive wheel mechanism 2 to be swung, to make to drive
Wheel 21 is shown outward relative to fuselage 1, to improve the road clearance on sweeping robot chassis, to avoid the blanket hair on carpet right
Robot chassis generates supporting role, while reducing the frictional force between chassis and carpet, makes robot above water, continues just
Often walking.
To sum up, which, can be effectively between the man-machine body 1 of hoisting machine and ground 100 when meeting barrier
Distance, guarantee that there is enough frictional force between driving wheel 21 and ground 100, substantially increase the obstacle detouring energy of sweeping robot
Power improves user experience.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (13)
1. a kind of self-movement robot running gear, including driving wheel (21), which is characterized in that further include:
Detection components, for detecting the walking states of the self-movement robot；
Barrier getting over mechanism (3), for driving when the detection components detect that the self-movement robot is not in walking states
The driving wheel (21) moves down to increase the road clearance of the self-movement robot.
2. self-movement robot running gear according to claim 1, which is characterized in that further include:
Driving motor (22)；
Gear-box, be sequentially connected the driving wheel (21) and the driving motor (22), and the gear-box includes gear box casing
(23), the gear box casing (23) can swing around the output shaft of the driving motor (22).
3. self-movement robot running gear according to claim 2, which is characterized in that the barrier getting over mechanism (3) includes:
Force piece is fixed on the fuselage (1) of the self-movement robot；
Connector, connects the force piece and the gear box casing (23), and the force piece is configured as through the connection
Part drives the gear box casing (23) to swing.
4. self-movement robot running gear according to claim 3, which is characterized in that the connector includes can be mutual
The incomplete tooth (31) and sector (32) of engagement, the incomplete tooth (31) connect with the force piece, the sector
(32) it is fixed on the swinging end of the gear box casing (23).
5. self-movement robot running gear according to claim 4, which is characterized in that the center of circle of the sector (32)
On the output shaft of the driving motor (22).
6. self-movement robot running gear according to claim 4, which is characterized in that incomplete tooth (31) have
The radian of toothed portion is 180-220 degree, and the radian of the toothed portion of the sector (32) is 10-30 degree.
7. self-movement robot running gear according to claim 6, which is characterized in that incomplete tooth (31) have
The radian of toothed portion is 200 degree, and the radian of the toothed portion of the sector (32) is 20 degree.
8. self-movement robot running gear according to claim 3, which is characterized in that the connector includes reel
(33), transmission line (34) and the first cantilever (35), the reel (33) connect with the force piece, the transmission line (34)
One end is fixedly connected with the reel (33), and the other end is fixedly connected with first cantilever (35), first cantilever
(35) it is fixed on the swinging end of the gear box casing (23).
9. self-movement robot running gear according to claim 3, which is characterized in that the connector includes screw rod spiral shell
Parent agency and the second cantilever (36), the end of screw rod (38) are abutted against with second cantilever (36), second cantilever (36)
It is fixed on the swinging end of the gear box casing (23).
10. self-movement robot running gear according to claim 3, which is characterized in that the force piece includes driving
Cylinder, the connector include third cantilever, and the driving cylinder is fixed on the fuselage (1), and output end and the third are outstanding
Arm abuts against, and the third cantilever is fixed on the swinging end of the gear box casing (23).
11. -10 described in any item self-movement robot running gears according to claim 1, which is characterized in that the detection group
Part is displacement sensor, piezoelectric sensor for measuring rotational speed, Hall sensor or ammeter.
12. self-movement robot running gear according to claim 11, which is characterized in that driving wheel (21) setting
There are at least two groups, wherein driving wheel described in every group (21) is connected to the different barrier getting over mechanism (3).
13. a kind of self-movement robot, which is characterized in that including self-movement robot running gear；Wherein, self-movement robot
Running gear, comprising:
Driving wheel (21)；
Detection components, for detecting the walking states of the self-movement robot；
Barrier getting over mechanism (3), for driving when the detection components detect that the self-movement robot is not in walking states
The driving wheel (21) moves down to increase the road clearance of the self-movement robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820766890.0U CN209059055U (en) | 2018-05-22 | 2018-05-22 | Self-movement robot running gear and self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820766890.0U CN209059055U (en) | 2018-05-22 | 2018-05-22 | Self-movement robot running gear and self-movement robot |
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| CN209059055U true CN209059055U (en) | 2019-07-05 |
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ID=67088510
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| CN201820766890.0U Active CN209059055U (en) | 2018-05-22 | 2018-05-22 | Self-movement robot running gear and self-movement robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110507248A (en) * | 2018-05-22 | 2019-11-29 | 科沃斯机器人股份有限公司 | Self-movement robot running gear, self-movement robot and its traveling method |
| WO2021027548A1 (en) * | 2019-08-09 | 2021-02-18 | 深圳市杉川机器人有限公司 | Obstacle crossing mechanism, walking device and sweeping robot |
| CN112971618A (en) * | 2021-02-07 | 2021-06-18 | 深圳市无限动力发展有限公司 | Method and device for getting rid of difficulties of sweeping robot and computer equipment |
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| CN113359742A (en) * | 2021-06-18 | 2021-09-07 | 云鲸智能(深圳)有限公司 | Robot and obstacle crossing method and device thereof, and computer readable storage medium |
| CN113397434A (en) * | 2021-07-02 | 2021-09-17 | 河南职业技术学院 | Sweeping and mopping integrated robot |
| CN113440064A (en) * | 2020-03-25 | 2021-09-28 | 科沃斯机器人股份有限公司 | Autonomous mobile device and control method |
| CN114747978A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Traveling system of cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110507248A (en) * | 2018-05-22 | 2019-11-29 | 科沃斯机器人股份有限公司 | Self-movement robot running gear, self-movement robot and its traveling method |
| WO2021027548A1 (en) * | 2019-08-09 | 2021-02-18 | 深圳市杉川机器人有限公司 | Obstacle crossing mechanism, walking device and sweeping robot |
| CN113440064A (en) * | 2020-03-25 | 2021-09-28 | 科沃斯机器人股份有限公司 | Autonomous mobile device and control method |
| CN114747978A (en) * | 2021-01-11 | 2022-07-15 | 宁波方太厨具有限公司 | Traveling system of cleaning robot |
| CN112971618A (en) * | 2021-02-07 | 2021-06-18 | 深圳市无限动力发展有限公司 | Method and device for getting rid of difficulties of sweeping robot and computer equipment |
| CN112971618B (en) * | 2021-02-07 | 2022-10-11 | 深圳市无限动力发展有限公司 | Method and device for getting rid of difficulties of sweeping robot and computer equipment |
| CN113287974A (en) * | 2021-05-18 | 2021-08-24 | 科沃斯机器人股份有限公司 | Driving device, autonomous moving equipment and cleaning robot |
| CN113287974B (en) * | 2021-05-18 | 2022-05-17 | 科沃斯机器人股份有限公司 | Driving device, autonomous moving equipment and cleaning robot |
| CN113359742A (en) * | 2021-06-18 | 2021-09-07 | 云鲸智能(深圳)有限公司 | Robot and obstacle crossing method and device thereof, and computer readable storage medium |
| CN113359742B (en) * | 2021-06-18 | 2022-07-29 | 云鲸智能(深圳)有限公司 | Robot and obstacle crossing method and device thereof, and computer readable storage medium |
| CN113397434A (en) * | 2021-07-02 | 2021-09-17 | 河南职业技术学院 | Sweeping and mopping integrated robot |
| CN113397434B (en) * | 2021-07-02 | 2022-06-24 | 河南职业技术学院 | Sweeping and mopping integrated robot |
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