CN210000015U - kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly - Google Patents

kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly Download PDF

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Publication number
CN210000015U
CN210000015U CN201920377766.XU CN201920377766U CN210000015U CN 210000015 U CN210000015 U CN 210000015U CN 201920377766 U CN201920377766 U CN 201920377766U CN 210000015 U CN210000015 U CN 210000015U
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China
Prior art keywords
wheel
wheel set
rack
wheels
shaft sleeve
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CN201920377766.XU
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Chinese (zh)
Inventor
李孟钦
刘旭野
王利鹏
郑卓斌
王立磊
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Guangzhou Coayu Robot Co Ltd
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Guangzhou Coayu Robot Co Ltd
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Abstract

The utility model discloses an intelligent robot, a serial communication port, intelligent robot includes wheelset, second wheelset, wheelset switching mechanism, the wheelset switching mechanism is used for going up and down to switch wheelset and second wheelset, the utility model has the advantages of provide and use horizontal and two sets of driving wheel system of vertical two direction motion ', carry out rigid connection with two pairs of wheels of respective wheelset and carry out the craspedodrome drive to the machine, use the novel drive mode that wheelset switching mechanism realized the turn, satisfy different functional type intelligent robot's different requirements.

Description

kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly
Technical Field
The utility model belongs to the intelligent robot field especially relates to kinds of intelligent robot's drive mode.
Background
Because the requirements of people on life convenience are continuously improved, intelligent robots are more and more popular with users in the world, and various types and functional intelligent robots such as sweeping robots, mowing robots and water and medicine spraying robots are also owned.
The wheel driving robots on the market can be mostly divided into two-wheel driving robots or four-wheel driving robots, wherein the two-wheel driving robots have relatively poor gripping ability and relatively poor obstacle crossing ability, if the driving wheel sets are in rigid connection, namely the two wheels of the driving wheel sets are connected by using wheel shafts, the speed steering of the two driving wheels is always the same, when reversing turning needs to be realized, a steering wheel set or device needs to be arranged, the structure of the steering wheel set or device is relatively complex, the technical cost is high, if the two wheels of the driving wheel sets are driven independently, although the independent steering wheel sets or devices can be reduced by utilizing the differential speed of the wheels for turning, the rigid connection is relatively complex, and the cost is correspondingly high.
The utility model has the following contents:
for solving the technical problem in the background art, the utility model provides a technical scheme as follows:
A driving wheel assembly for intelligent robot is composed of wheel set, the second wheel set, and a wheel set switching mechanism;
the th wheel set comprises at least two th wheels, a th rotating shaft and a th shaft sleeve, wherein the th wheels are mounted on the th rotating shaft, and the th rotating shaft is rotatably mounted on the th shaft sleeve;
the second wheel set comprises at least two second wheels, a second rotating shaft and a second shaft sleeve, wherein the second wheels are installed on the second rotating shaft, and the second rotating shaft is rotatably installed on the second shaft sleeve;
the wheel set switching mechanism is used for switching th wheel set and second wheel set in a lifting mode and comprises a lifting power device and a lifting mechanism, the lifting mechanism is connected with the th shaft sleeve and the second shaft sleeve respectively, the lifting power device controls the lifting mechanism, when the th wheel set ascends, the second wheel set descends, and when the second wheel set descends, the th wheel set ascends.
, in order to realize the above switching function, in optimized solutions of this embodiment, the rotation axis and the second rotation axis are perpendicular in space, and the second rotation axis is closer to the ground than the rotation axis, and the wheel has a larger diameter than the second wheel.
, in order to realize the above switching function, in optimized solutions of the present embodiment, the lifting mechanism includes a th rack, a second rack, a gear;
the th rack is on the side of the th rotation shaft and perpendicular to it and fixed with the th bushing, the second rack is on the side of the second rotation shaft and perpendicular to it and fixed with the second bushing, the th rack and the second rack are parallel, and the teeth tips of the th rack and the second rack are opposite, the gear is rotatably installed between the th rack and the second rack and meshed with each other.
, in order to realize the above switching function, in optimized solutions of the present embodiment, the lifting mechanism includes th cam, second cam, the number of the lifting power devices is two;
the two lifting power devices respectively drive a th cam and a second cam, the th cam is connected with a th shaft sleeve, and the second cam is connected with a second shaft sleeve.
, in order to avoid wasting energy when the or the second wheel rotates when not contacting the ground, in optimized solutions of this embodiment, the wheel set further includes a power device, a micro switch is located inside the wheel, and a micro switch controls the power device;
the second wheel set further comprises a second power device, a second microswitch is arranged on the inner side of the second wheel, and the second microswitch controls the second power device.
, in order to make the switching between the wheel set and the second wheel set smoother, in the preferred embodiments of the present invention, the wheel set further includes a elastic device, the elastic device is located inside any wheel , and the second wheel set further includes a second elastic device, the second elastic device is located inside any wheel
The utility model also provides kinds of intelligent robot, its characterized in that include above-mentioned any drive wheel assembly.
, in order to ensure the intelligent robot can run smoothly, in the optimization schemes of the embodiment, the intelligent robot has auxiliary wheels at the bottom.
, in order to ensure that the wheel and the second wheel can function, in preferred embodiments of the present invention, the bottom of the intelligent robot has a th accommodating structure for the wheel to extend and retract, and a second accommodating structure for the second wheel to extend and retract.
, in order to make the intelligent robot better avoid the obstacle, in optimized solutions of the present embodiment, the intelligent robot further includes vision sensing devices.
The utility model has the advantages that: the utility model provides a use two sets of driving wheel systems of horizontal and vertical two directions motions, carry out rigid connection with two pairs of wheels of respective wheelset and carry out the craspedodrome drive to the machine, use the novel drive mode that wheelset switching mechanism realized the turn, satisfy different functional type intelligent robot's different requirements.
Description of the drawings:
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an assembly schematic view of the driving wheel switching device of the present invention;
FIG. 2 is an enlarged schematic view of an embodiment of the lifting mechanism of the present invention;
FIG. 3 is an enlarged schematic view of the wheel set switching mechanism of the present invention;
FIG. 4 is an enlarged view of the microswitch and the elastic device assembled when the wheel set lands;
FIG. 5 is an enlarged view of the micro-switch and the elastic device when the wheel set is separated from the ground;
FIG. 6 is a circuit diagram of the micro switch control wheel set of the present invention;
fig. 7 is an enlarged schematic view of a switching mechanism of a driving unit according to a second embodiment of the present invention;
fig. 8 is a bottom schematic view of the intelligent robot of the present invention;
fig. 9 is a schematic top view of the intelligent robot of the present invention;
fig. 10 is a circuit diagram for controlling switching of wheel sets according to the present invention.
The specific implementation mode is as follows:
in addition, for the convenience of description, the present embodiment uses the terms of left, right, inner, outer, etc. without limiting the scope of the present invention.
In the th embodiment listed in this application, drive wheel assemblies as shown in fig. 1-6 are proposed.
As shown in fig. 1 and 4, the th wheel set 1 includes two th wheels 13, a th rotating shaft 14, a th power device 12, wherein the th wheels 13 are fixed on the th rotating shaft 14 and can rotate along with the rotation of the th rotating shaft 14, and the th power device 12 provides the rotating power for the th rotating shaft 14.
As shown in fig. 1, the second wheel set 2 includes two second wheels 23, a second rotation shaft 24, and a second power device 22, the second wheels 23 are fixed on the second rotation shaft 24 and can rotate along with the rotation of the second rotation shaft 24, and the second power device 22 provides a rotation power to the second rotation shaft 24.
As shown in fig. 1, the wheel set switching mechanism 3 includes a lifting power device 31 and a lifting mechanism 32, as shown in fig. 2 and 3, the lifting mechanism 32 may be composed of an th rack 321, a second rack 322, and a gear 323, the th rack 321 and the second rack 322 are parallel, a tooth tip 324 of the th rack 321 is opposite to a tooth tip 324 of the second rack 322, the gear 323 is rotatably installed between the th rack 321 and the second rack 322 and is engaged with each other, the lifting power device 31 supplies power to the gear 323 to drive the gear 323 to move clockwise or counterclockwise.
The wheel set 1 further includes 0 bushings 15, in this embodiment, the 1 bushings 15 are structures with outer and inner circles, the rotating shaft 14 is rotatably mounted in the bushings 15, and the bushings 15 have faces fixed to the rack 321, similarly, the second wheel set 2 further includes second bushings 25 with outer and inner circles, the second rotating shaft 24 is rotatably mounted in the second bushings 25, and the second rotating shaft 24 has faces fixed to the second rack 322.
When the gear 323 moves clockwise under the driving of the lifting power device 31, the gear 323 and the rack 321 are driven to make the rack 321 move upward, so that the rotation shaft 14 moves upward, and then the wheel 13 moves upward, and at the same time, the gear 323 and the second rack 322 are driven to make the second rack 322 move downward, so that the second rotation shaft 24 moves downward, and then the second wheel 23 moves downward, and the switching from the wheel set 1 to the second wheel set 2 is completed.
The th wheel set 1 further includes a th microswitch 16 as shown in fig. 4 and 5, the th microswitch 16 being located inboard of any th wheel 13 and the th microswitch 16 controlling the th power unit 12. similarly, (not shown) the second wheel set further includes a second microswitch located inboard of any second wheel 23 and the second microswitch controlling the second power unit 22.
As shown in fig. 4 and 5, in order to make the whole switching process more smooth and reduce vibration, the th wheel set 1 further includes th resilient means 17, wherein the th resilient means 17 is located inside any th th wheel 13, and likewise (not shown) the second wheel set 2 includes second resilient means located inside any second wheel 23.
As shown in FIG. 4, when the th wheel 13 is switched to the working state, during the process of descending the ground, after the th wheel contacts the ground, the 0 th microswitch 16 is triggered, the 1 th elastic device 17 is stretched, the 2 th power device 12 is powered on, the 3 th rotating shaft 14 starts to rotate and drives the th wheel 13 to rotate, so as to drive the machine to run, as shown in FIG. 5, after the th wheel 13 is switched to the standby state, during the process of ascending, because the th wheel is separated from the ground, the microswitch 16 is not triggered any more, the th elastic device 17 is squeezed, the th power device 12 is powered off, the th rotating shaft 14 stops rotating, so as to stop the th wheel 13, so as to effectively prevent the waste of electric energy, the switching mode of the working state and the standby state of the second wheel 23 is the same as that of the th wheel, and the microswitch can be replaced by sensors such as infrared distance measurement, optical coupler, etc.
As shown in FIG. 6, a circuit diagram for switching two wheel sets is shown, after an operation switch 62 is closed, a power supply 63 supplies power to the whole machine, a controller 64 controls the switching of the two wheel sets, 61 is a resistance of the whole machine, an th power device 12 is controlled by a th micro switch 16, a second power device 22 is controlled by a second micro switch 26, when the machine runs normally and linearly, groups of wheels are in contact with the ground, in addition, groups of wheels are far away from the ground, the micro switches corresponding to the wheel sets close to the ground are closed, the wheels are in an operation or operable state, the micro switches corresponding to the wheel sets far away from the ground are not closed, the circuit of the wheel sets are open, and the wheels are in a non.
In the second embodiment illustrated in this application, as shown in fig. 7, the wheel set switching mechanism may further include two lifting power devices 31, the two lifting power devices 31 respectively control the th cam 325 and the second cam 326, the th cam 325 is connected to the th shaft sleeve 15, the lifting power device 31 drives the th cam 325 to perform lifting motion, the th shaft sleeve 15 also performs lifting motion, meanwhile, the second shaft sleeve 25 also performs lifting motion along with the second cam 326 driven by the lifting power device 31, and the moving direction of the second shaft sleeve 25 is opposite to the moving direction of the th shaft sleeve 15, so as to realize switching between the th wheel set 1 and the second wheel set 2.
In the third embodiment listed in this application, as shown in fig. 8 and 9, in addition to all the features of the embodiment, kinds of intelligent robots 100 further include 4 auxiliary wheels 7, special function type devices 6, a accommodating structure 11, and a second accommodating structure 21 at the bottom of the intelligent robot 100, and the top of the intelligent robot 100 has a visual sensing device 5.
The th accommodating structure 11 at the bottom of the intelligent robot 100 is for the th wheel 13 to extend and contract, and similarly, the second accommodating structure 21 is for the second wheel to extend and contract, and the accommodating structure may be, but is not limited to, the through hole structure shown in the figure.
Since the intelligent robot 100 is driven by only the th wheel set 1 or the second wheel set 2 alone, only pairs of wheels can be grounded at most when the robot is running straight, in order to ensure that the robot can run smoothly, at least auxiliary wheels 7 need to be added to the bottom of the robot to ensure that the robot runs smoothly, and the auxiliary wheels 7 can be universal wheels.
As shown in fig. 10, the initial state is that only group of the first wheel set 1 and the second wheel set 2 contacts the ground, 60 is the wheel set resistor, 67 is the protection resistor, 69 is the second protection resistor, when the wheel set switching mechanism 3 operates, the breakpoint switch 68 is opened, the wheel set circuit in operation is opened (another is opened before the wheel set circuit stops operating), the machine wheel set stops operating, the control switch 65 is closed, the lifting power device 31 operates, the lifting mechanism 32 ascends and descends, if the vision sensing device 5 detects an obstacle in one direction, the intelligent robot 100 directly switches the wheel set, after the switching is completed, i.e. after the corresponding wheel falls, the breakpoint switch 68 is closed, the power is restored, the machine wheel set continues to operate, if the vision sensing device 5 detects a multidirectional obstacle, the breakpoint switch 68 is opened, the wheel set circuit is opened, the machine wheel set stops operating, the two wheel sets simultaneously contact the ground, the vision sensing device 5 detects that the two wheel sets contact, the second control switch 66 is closed, the circuit is closed, the wheel set is rotated, the second power control switch is opened, the operation is stopped, the machine wheel set circuit stops operating, the lifting switch 66 is closed, the machine wheel set circuit is controlled until the second wheel set switching
Compared with the prior art, kinds of intelligent cleaning equipment can realize the installation and the dismantlement of the cleaning element who is located the machine main part bottom under the condition that does not move the main part of machine, avoid the user to need to spend great power to go the upset machine and just can accomplish the part of dismantling and installation position in the machine bottom, also reduced the risk that the face plate scraped the flower, avoid causing because of the upset and adhere to the rubbish on the cleaning element and shake off, satisfy the user demand that the user made things convenient for saving time.
Those of ordinary skill in the art will understand that: the above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1, A driving wheel assembly for an intelligent robot, which is characterized in that the driving wheel assembly comprises a wheel set (1), a second wheel set (2) and a wheel set switching mechanism (3);
the th wheel set (1) comprises at least two th wheels (13), a th rotating shaft (14) and a th shaft sleeve (15), wherein the th wheels (13) are installed on a th rotating shaft (14), and a th rotating shaft (14) is rotatably installed on a th shaft sleeve (15);
the second wheel set (2) comprises at least two second wheels (23), a second rotating shaft (24) and a second shaft sleeve (25), wherein the second wheels (23) are arranged on the second rotating shaft (24), and the second rotating shaft (24) is rotatably arranged on the second shaft sleeve (25);
the wheel set switching mechanism (3) is used for switching wheel set (1) and second wheel set (2) in a lifting mode, and comprises a lifting power device (31) and a lifting mechanism (32), wherein the lifting mechanism (32) is respectively connected with shaft sleeves (15) and a second shaft sleeve (25), the lifting power device (31) controls the lifting mechanism (32), when the wheel set (1) rises, the second wheel set (2) falls, and when the second wheel set (2) falls, the wheel set (1) rises.
2. Drive wheel assembly according to claim 1, characterized in that the rotation axis (14) and the second rotation axis (24) are spatially perpendicular and the second rotation axis (24) is closer to the ground than the rotation axis (14), the wheel (13) having a larger diameter than the second wheel (23).
3. The drive wheel assembly according to claim 2, wherein the lifting mechanism (32) comprises a th rack (321), a second rack (322), a gear (323);
the th rack (321) is at the side of the rotation shaft (14) and vertical to it and fixed with the th shaft sleeve (15), the second rack (322) is at the side of the second rotation shaft (24) and vertical to it and fixed with the second shaft sleeve (25), the th rack (321) and the second rack (322) are parallel, and the th rack (321) and the tooth tip (324) of the second rack (322) are opposite, the gear (323) is rotatablely arranged between the th rack (321) and the second rack (322) and meshed with each other.
4. The driving wheel assembly as set forth in claim 2, wherein said elevating mechanism (32) comprises th cams (325), 326 second cams, and the number of said elevating power means (31) is two;
the two lifting power devices (31) respectively drive a th cam (325) and a second cam (326), the th cam (325) is connected with a th shaft sleeve (15), and the second cam (326) is connected with a second shaft sleeve (25).
5. A driving wheel assembly according to claim 2, characterized in that said wheel set (1) further comprises a power unit (12), inside said wheel (13) there is a microswitch (16), which microswitch (16) controls a power unit (12);
the second wheel set (2) further comprises a second power device (22), a second microswitch is arranged on the inner side of the second wheel (23), and the second microswitch controls the second power device (22).
6. Drive wheel assembly according to claim 5, characterized in that said wheel set (1) further comprises a resilient means (17), said resilient means (17) being located inside any wheel (13), and said second wheel set (2) further comprises a second resilient means, said second resilient means being located inside any second wheel (23).
An intelligent robot of , comprising the drive wheel assembly of any of claims 1-6 through .
8. kinds of intelligent robots, according to claim 7, characterized in that there are auxiliary wheels (7) on the bottom of the intelligent robot (100).
9. The smart robots of claim 8, wherein the smart robots (100) have a receiving structure (11) at the bottom for the wheels (13) to extend and retract, and a second receiving structure (21) for the second wheels (23) to extend and retract.
10. The smart robots of claim 9, wherein the smart robot (100) further comprises visual sense devices (5).
CN201920377766.XU 2019-03-22 2019-03-22 kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly Active CN210000015U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920377766.XU CN210000015U (en) 2019-03-22 2019-03-22 kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly

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Application Number Priority Date Filing Date Title
CN201920377766.XU CN210000015U (en) 2019-03-22 2019-03-22 kinds of drive wheel assemblies and have intelligent robot of this drive wheel assembly

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112363496A (en) * 2020-09-29 2021-02-12 广东嘉腾机器人自动化有限公司 AGV and AGV driving automatic switching control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112363496A (en) * 2020-09-29 2021-02-12 广东嘉腾机器人自动化有限公司 AGV and AGV driving automatic switching control method

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