CN209644804U - Clean robot universal wheel speed measuring device - Google Patents
Clean robot universal wheel speed measuring device Download PDFInfo
- Publication number
- CN209644804U CN209644804U CN201721900618.9U CN201721900618U CN209644804U CN 209644804 U CN209644804 U CN 209644804U CN 201721900618 U CN201721900618 U CN 201721900618U CN 209644804 U CN209644804 U CN 209644804U
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- CN
- China
- Prior art keywords
- universal wheel
- clean robot
- infrared
- measuring device
- caster bracket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of clean robot universal wheel speed measuring devices comprising: clean robot pedestal；Caster bracket is mounted on the base by rolling bearing and can be freely rotated with respect to pedestal, and caster bracket is equipped with rotary shaft；Universal wheel idler wheel is installed on caster bracket by universal wheel roller rotary shaft and can be freely rotated relative to caster bracket；And universal wheel tests the speed pcb board component, is fixedly installed on pedestal and is correspondingly arranged with caster bracket rotary shaft, the universal wheel pcb board component that tests the speed is alternately distributed equipped at least 2 groups of infrared transmitting tubes and infrared receiving tube, at least 2 groups of infrared transmitting tubes and infrared receiving tube.Compared with the existing technology, the utility model clean robot universal wheel speed measuring device is equipped at least 2 groups of infrared transmitting tubes and infrared receiving tube, and universal wheel idler wheel 360 degrees omnidirection rotates Shi Douyou infrared signal feedback, realizes 360 degrees omnidirection and test the speed.
Description
Technical field
The utility model relates to a kind of clean robots, and more specifically, the utility model relates to a kind of clean robots
Universal wheel speed measuring device.
Background technique
The sanitation and hygiene of domestic environment are always a dirty but also tired job not only, in today that rhythm of life is getting faster,
In order to make people without doing it yourself that a clean comfortable living environment can be obtained, clean robot starts by people's
It welcomes.Clean robot oneself can complete the cleaning of domestic environment under the premise of not needing people and taking action on one's own, from
The dynamic barrier identified in room simultaneously can effective avoiding obstacles.
But since the layout in each room is different, one is proposed newly to recognition capability of the robot to barrier
Challenge.Currently, the obstacle sensor installed on clean robot product on the market all can not also accomplish comprehensive identification
Barrier, robot can not just accurately identify when meeting sense blind area.The universal wheel of common clean robot is nothing in the market
Method tests the speed or can only specifically test the speed in direction, can not accomplish that 360 degrees omnidirection tests the speed, rely on merely under family's complex environment
Infrared ray avoidance, usually dieback is motionless always at the blind area of avoidance infrared ray for machine, can not clean other regions.
For example, when the universal wheel that U.S.'s IROBOT clean robot uses tests the speed, an infrared emission tube and one it is red
Outside line reception pipe is radiated on the half black and half white idler wheel of universal wheel component, and the infrared reflection power difference of generation is realized
Testing the speed on machine straight forward direction.But when withstanding barrier in machine turning or fallback procedures, universal wheel can not be surveyed
Speed, be easy to causeing machine to withstand, barrier is motionless for a long time, and effective sweep-out pattern declines.
In view of this, testing the speed it is necessory to provide a kind of clean robot universal wheel that achievable 360 degrees omnidirection tests the speed
Device.
Utility model content
The purpose of this utility model is that: it overcomes the deficiencies of existing technologies, a kind of achievable 360 degrees omnidirection is provided and is tested the speed
Clean robot universal wheel speed measuring device.
In order to achieve the above-mentioned object of the invention, the utility model provides a kind of clean robot universal wheel speed measuring device,
Include:
Clean robot pedestal；
Caster bracket is mounted on the base by rolling bearing and can be freely rotated with respect to pedestal, and caster bracket is set
There is rotary shaft；
Universal wheel idler wheel, be installed on caster bracket by universal wheel roller shaft and can relative to caster bracket freedom
Rotation；And
Universal wheel tests the speed pcb board component, is fixedly installed on pedestal and is correspondingly arranged with rotary shaft, and universal wheel tests the speed PCB
Board group part is equipped at least 2 groups of infrared transmitting tubes and infrared receiving tube, infrared at least 2 groups of infrared transmitting tubes and infrared receiving tube
Transmitting tube and infrared receiving tube are alternately distributed.
As a kind of improvement of the utility model clean robot universal wheel speed measuring device, the top of the caster bracket
Equipped with card slot, caster bracket is supported on pedestal by the circlip being installed in card slot.
As a kind of improvement of the utility model clean robot universal wheel speed measuring device, the universal wheel tests the speed pcb board
Component is equipped with infrared ray every light bracket.
As a kind of improvement of the utility model clean robot universal wheel speed measuring device, the universal wheel idler wheel passes through black
The encapsulated molding of rigid plastics of the flexible glue material and white of color.
As a kind of improvement of the utility model clean robot universal wheel speed measuring device, the diameter of the universal wheel idler wheel
Greater than 2 times of caster bracket rotary shaft and universal wheel roller rotary shaft center-spaced.
As a kind of improvement of the utility model clean robot universal wheel speed measuring device, the universal wheel tests the speed pcb board
Component is equipped with 2 infrared transmitting tubes and 2 infrared receiving tubes, and 2 infrared transmitting tubes and 2 infrared receiving tubes are in cross point
Cloth.
Compared with the existing technology, the utility model clean robot universal wheel speed measuring device has the advantage that universal wheel
The pcb board component that tests the speed is equipped with two groups or more infrared transmitting tube, infrared receiving tube, the rotation of universal wheel idler wheel 360 degrees omnidirection
Turn Shi Douyou infrared signal feedback, realizes 360 degrees omnidirection and test the speed.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, to the utility model clean robot universal wheel speed measuring device and its skill
Art effect is described in detail, in which:
Fig. 1 is the decomposition diagram of the utility model clean robot universal wheel speed measuring device.
Fig. 2 is the schematic cross-sectional view after the assembling of the utility model clean robot universal wheel speed measuring device.
Specific embodiment
In order to which the goal of the invention, technical solution and advantage of the utility model is more clearly understood, below in conjunction with attached drawing and
Embodiment, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to solve
The utility model is released, is not used to limit the utility model.
It please refers to shown in Fig. 1 to Fig. 2, the utility model clean robot universal wheel speed measuring device includes:
Clean robot pedestal 10；
Caster bracket 20 is installed on pedestal 10 by rolling bearing 200 and can be freely rotated with respect to pedestal 10, universal
Wheel support 20 is equipped with rotary shaft 202；
Universal wheel idler wheel 30, is installed on caster bracket 20 and can be relative to ten thousand by universal wheel roller rotary shaft 300
It is freely rotated to wheel support 20；And
Universal wheel tests the speed pcb board component 40, and it is on pedestal 10 and right with the rotary shaft of caster bracket 20 202 to be fixedly installed in
It should be arranged, universal wheel tests the speed pcb board component 40 equipped at least 2 groups of infrared transmitting tubes 400 and infrared receiving tube 402, at least 2 groups
Infrared transmitting tube 400 and infrared receiving tube 402 are alternately distributed.
According to a preferred embodiment of the utility model clean robot universal wheel speed measuring device, caster bracket 20
Top be equipped with card slot 204, caster bracket 20 is supported on pedestal 10 by the circlip 206 being installed in card slot 204, really
Protecting universal wheel will not fall down.
According to a preferred embodiment of the utility model clean robot universal wheel speed measuring device, universal wheel tests the speed
Pcb board component 40 is equipped with infrared ray every light bracket 404.The infrared ray to test the speed on PCB component 40 is every four be arranged on light bracket 404
A fluorescent tube fixing lug boss corresponds to the center of 20 rotary shaft of caster bracket.
According to a preferred embodiment of the utility model clean robot universal wheel speed measuring device, universal wheel idler wheel 30
Pass through the encapsulated molding of rigid plastics of the flexible glue material and white of black.
According to a preferred embodiment of the utility model clean robot universal wheel speed measuring device, universal wheel idler wheel 30
Diameter be greater than 20 rotary shaft 202 of caster bracket and universal wheel roller rotary shaft 300 center spacing (A in Fig. 2) 2
Times.
According to a preferred embodiment of the utility model clean robot universal wheel speed measuring device, universal wheel tests the speed
Pcb board component 40 is equipped with 2 groups of infrared transmitting tubes 400 and infrared receiving tube 402,2 groups of infrared transmitting tubes 400 and infrared receiving tubes
402 be in cross distribution, i.e. two infrared transmitting tubes 400 and two infrared receiving tubes 402 are alternately distributed and arbitrary neighborhood is infrared
Angle between transmitting tube 400 and infrared receiving tube 402 is 90 degree.
It is understood that according to the other embodiments of the utility model clean robot universal wheel speed measuring device, ten thousand
Testing the speed pcb board component 40 to wheel can also be equipped with 3 groups of infrared transmitting tubes 400 and infrared receiving tube 402, at this point, infrared transmitting tube
400 and infrared receiving tube 402 is alternately distributed and the angle between arbitrary neighborhood infrared transmitting tube 400 and infrared receiving tube 402 is
60 degree.
Shown in referring to Figures 1 and 2, the concrete principle of the utility model clean robot universal wheel speed measuring device
Are as follows:
The test the speed infrared transmitting tube 400 of pcb board component 40 of universal wheel is radiated at black flexible glue material on universal wheel idler wheel 30
On, weaker light is reflected to infrared receiving tube 402, and with the rolling of universal wheel idler wheel, infrared transmitting tube 400 is radiated at universal wheel
On idler wheel 30 on white rigid plastics, stronger light is reflected to infrared receiving tube 402, universal wheel idler wheel rolls again, and arrives
It reflects on weaker black flexible glue material.So, it can be achieved that alternately, this strong and weak alternating signal is fed back for weak the last one of infrared signal
To on the CPU on mainboard PCB.If it is motionless that machine withstands barrier, signal is not in strong and weak alternating, and CPU judges according to this
Machine is static slipping state or normal travel condition, if withstanding motionless, machine carries out hiding movement.
Since clean robot is in turning or retrogressing, universal wheel idler wheel 30 and the PCB component 40 that tests the speed will appear offset, but
It is, due to arranging two groups on the PCB component 40 that tests the speed in cross alternatively distributed infrared transmitting tube 400 and infrared receiving tube
402, may be implemented universal wheel idler wheel 30 regardless of in 360 degree where, always have one group of infrared receiving tube 402 that can receive red
Outer transmitting tube 400 is irradiated to the infrared light on the chequered with black and white face of universal wheel idler wheel 30, is tested the speed with realizing 360 degrees omnidirection
Effect.
It can be seen that compared with the existing technology in conjunction with the detailed description above to the utility model embodiment, this is practical
Novel clean robot universal wheel speed measuring device has the advantage that universal wheel tests the speed pcb board component 40 equipped with two groups or two groups
The above infrared transmitting tube, infrared receiving tube, universal wheel idler wheel 360 degrees omnidirection rotate Shi Douyou infrared signal feedback, realize
360 degrees omnidirection tests the speed.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying carries out change and modification appropriate.Therefore, the utility model is not limited to specific implementation disclosed and described above
Mode should also be as falling into the protection scope of the claims of the present utility model to some modifications and changes of the utility model.
In addition, although using some specific terms in this specification, these terms are merely for convenience of description, not to this reality
With novel composition any restrictions.
Claims (6)
1. a kind of clean robot universal wheel speed measuring device characterized by comprising
Clean robot pedestal；
Caster bracket is mounted on the base by rolling bearing and can be freely rotated with respect to pedestal, and caster bracket is equipped with rotation
Shaft；
Universal wheel idler wheel is installed on caster bracket by universal wheel roller shaft and can freely be turned relative to caster bracket
It is dynamic；And
Universal wheel tests the speed pcb board component, is fixedly installed on pedestal and is correspondingly arranged with rotary shaft, and universal wheel tests the speed pcb board group
Part is equipped at least 2 groups of infrared transmitting tubes and infrared receiving tube, at least 2 groups of infrared transmitting tubes and infrared receiving tube, infrared emission
Pipe and infrared receiving tube are alternately distributed.
2. clean robot universal wheel speed measuring device according to claim 1, which is characterized in that the caster bracket
Top is equipped with card slot, and caster bracket is supported on pedestal by the circlip being installed in card slot.
3. clean robot universal wheel speed measuring device according to claim 1, which is characterized in that the universal wheel tests the speed
Pcb board component is equipped with infrared ray every light bracket.
4. clean robot universal wheel speed measuring device according to claim 1, which is characterized in that the universal wheel idler wheel is logical
Cross the encapsulated molding of rigid plastics of the flexible glue material and white of black.
5. clean robot universal wheel speed measuring device according to claim 1, which is characterized in that the universal wheel idler wheel
Diameter is greater than 2 times of caster bracket rotary shaft and universal wheel roller rotary shaft center-spaced.
6. clean robot universal wheel speed measuring device according to claim 1, which is characterized in that the universal wheel tests the speed
Pcb board component is equipped with 2 infrared transmitting tubes and 2 infrared receiving tubes, and 2 infrared transmitting tubes and 2 infrared receiving tubes are in cross
Type distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900618.9U CN209644804U (en) | 2017-12-29 | 2017-12-29 | Clean robot universal wheel speed measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721900618.9U CN209644804U (en) | 2017-12-29 | 2017-12-29 | Clean robot universal wheel speed measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209644804U true CN209644804U (en) | 2019-11-19 |
Family
ID=68503412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721900618.9U Expired - Fee Related CN209644804U (en) | 2017-12-29 | 2017-12-29 | Clean robot universal wheel speed measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209644804U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828933A (en) * | 2020-12-30 | 2021-05-25 | 深圳市杉川机器人有限公司 | Robot idle detection method and device, computer equipment and storage medium |
-
2017
- 2017-12-29 CN CN201721900618.9U patent/CN209644804U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112828933A (en) * | 2020-12-30 | 2021-05-25 | 深圳市杉川机器人有限公司 | Robot idle detection method and device, computer equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191119 Termination date: 20201229 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |