CN210228021U - Obstacle crossing device - Google Patents

Abstract

The utility model relates to a hinder device more for cooperation delivery robot of sweeping floor. The obstacle crossing device comprises a support body and a linkage mechanism arranged on the support body, wherein the linkage mechanism comprises a supporting leg used for advancing and a driving device used for driving the supporting leg to move and adjust the height of the supporting leg, and the driving device is used for driving the telescopic amplitude of the supporting leg in the vertical direction under the control of the driving device so as to enable the support body to keep stable. The utility model discloses a hinder device communication connection in robot of sweeping floor more, its supporting leg can move under drive arrangement's drive and keep steadily and nimble at the in-process of marcing, successfully cross the barrier to make hinder the applicable scene in the difference more, enlarge the application scope who hinders the device more.

Description

Obstacle crossing device

Technical Field

The application relates to the field of smart homes, in particular to an obstacle crossing device.

Background

Along with the improvement of living standard of people, the robot technology is more and more popularized in people's house life, satisfies different demands, for example when using in the face of sweeping the floor, needs the robot can all-round clearance any corner in the room, can successfully stride across the barrier again to bring high-quality clearance effect.

In the prior art, the obstacle crossing capability of the bionic robot is poor, the bionic robot is mainly moved by using rollers or simple limbs, can only be applied to flat ground and cannot adapt to complex conditions such as stairs, courtyards and water pits, and the user experience is influenced.

SUMMERY OF THE UTILITY MODEL

The application provides a hinder device more for cooperation delivery robot of sweeping floor, hinder the device more includes the support body and install in link gear on the support body, link gear is including the supporting leg and the drive that are used for marcing the supporting leg motion and adjustment the drive arrangement of supporting leg height.

Optionally, the supporting leg comprises a connecting rod and a supporting rod, and the driving device comprises a first driving motor and a second driving motor; the first driving motor is arranged on the support body, the connecting rod is connected to a driving shaft of the first driving motor, and the connecting rod is rotatably connected with the supporting rod through the second driving motor.

Optionally, the number of the supporting legs is at least four, and the supporting legs are respectively arranged on two sides of the support body.

Optionally, the support body comprises a bearing surface and frames respectively fixed on two opposite sides of the bearing surface, and the support legs are arranged on the frames.

Optionally, the bracket body includes a guide slope surface disposed on a side surface of the bearing surface to guide the sweeping robot to move onto the bearing surface, and the guide slope surface is disposed between the side frames on two sides.

Optionally, the frame is higher than the plane of the bearing surface; the two frames are matched with the bearing surface to form an accommodating space of the sweeping robot.

Optionally, the obstacle crossing device further comprises a control panel arranged in the bracket body, and the control panel is in communication connection with the sweeping robot and is electrically connected to the driving device; the obstacle crossing device controls the driving device through the control panel under a control signal of the sweeping robot, and then the movement of the supporting legs is controlled.

Optionally, one end of the support rod, which is far away from the connecting rod, is provided with an anti-slip sleeve for increasing the friction force with the ground.

Optionally, one end of the support rod away from the connecting rod is in a spherical structure or a palm-shaped structure or a fork-shaped structure.

Optionally, the frame is provided with an accommodating portion for accommodating the second driving motor.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

the embodiment of the application provides a device of hindering more for cooperation delivery robot of sweeping floor, should hinder device communication connection in the robot of sweeping floor more, its supporting leg can move at the in-process of marcing under drive arrangement's drive and keep steadily and nimble, successfully cross the barrier, thereby make the device of hindering more applicable in different scenes, enlarge the application scope of hindering the device more.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a support leg of an obstacle crossing device provided in an embodiment of the present application in an unfolded state;

FIG. 2 is a schematic view of the support leg of the obstacle crossing device shown in FIG. 1 in a retracted state;

FIG. 3 is a schematic structural view of a support leg of the obstacle crossing device shown in FIG. 1;

fig. 4 is a schematic structural view of a combination of the obstacle crossing device and the sweeping robot in a support leg unfolded state according to the embodiment of the present application;

fig. 5 is a schematic structural view of a combination of the obstacle crossing device and the sweeping robot in a state where the support legs are retracted according to the embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a" or "an" and the like in the description and in the claims of this application do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Fig. 1 is a schematic structural diagram of a support leg of an obstacle crossing device provided in an embodiment of the present application in a deployed state. Fig. 2 is a schematic structural view of the obstacle crossing device shown in fig. 1 in a state that the support leg is contracted. Fig. 3 is a schematic structural view of a support leg of the obstacle detouring apparatus shown in fig. 1. Fig. 4 is a schematic structural diagram of a combination of the obstacle crossing device and the sweeping robot in a support leg unfolded state according to the embodiment of the present application. Fig. 5 is a schematic structural view of a combination of the obstacle crossing device and the sweeping robot in a state where the support legs are retracted according to the embodiment of the present application.

Referring to fig. 1, the obstacle crossing device provided in the embodiment of the present application is used in cooperation with a carrying and sweeping robot 3, and certainly, the obstacle crossing device of the present application is not limited to a carrying and sweeping robot, and may also be used to carry other types of robots. The obstacle crossing device can comprise a support body 1 and a linkage mechanism 2 installed on the support body 1, the linkage mechanism 2 can comprise a supporting leg 21 used for advancing and a driving device 22 used for driving the supporting leg 21 to move and adjusting the height of the supporting leg 21, and under the control of the driving device 22, the support body 1 is kept stable by driving the stretching and retracting amplitude of the supporting leg 21 in the vertical direction.

The obstacle crossing device provided by the embodiment of the application is in communication connection with the sweeping robot 3, and in the advancing process of the obstacle crossing device, the supporting legs 21 can keep the action coordinated and stable under the driving of the driving device 22 and flexibly cross the obstacle, so that the obstacle crossing device can be suitable for different scenes, and the application range of the obstacle crossing device is enlarged.

Referring to fig. 1 to 4, the bracket body 1 may include a supporting surface 11 and frames 12 respectively fixed to two opposite sides of the supporting surface 11, the supporting surface 11 is a hollow square frame structure, the bottom of the frame 12 and the bottom of the supporting surface 11 are located on the same plane, and the top of the frame 12 is higher than the top of the supporting surface 11, so that the two frames 12 and the supporting surface 11 may cooperate to form an accommodating space. In other embodiments, the bearing surface 11 may be a solid plate-like structure or any other structure.

When sweeping robot 3 and removing on loading face 11, sweep robot 3 and arrange accommodation space's inside in, in this embodiment, sweep robot 3 is the cylinder structure, its diameter slightly is lighter than the distance between two frames 12, at the device of crossing obstacle and marcing the in-process, because absolute flat can not be guaranteed on ground, when meetting barrier or puddle, support body 1 can produce and rock, sweep robot 3 and also can follow and rock together, sweep the outward flange of robot 3 and the arbitrary one side of two frame 12 relative inboard edges offset this moment, to a great extent has reduced sweep robot 3 and has taken place the skew or the probability that breaks away from loading face 11, user's use experience has been promoted. In other embodiments, the sweeping robot 3 may also have a square structure or any other structures and combinations thereof, and is not limited thereto.

Referring to fig. 1 and 2, a linkage mechanism 2 is mounted on the stand body 1, the linkage mechanism 2 includes support legs 21 and driving devices 22, the number of the support legs 21 is 4, the number of the driving devices 22 matches with the number of the support legs 21, is also 4, wherein, each driving device 22 drives one supporting leg 21, the supporting legs 21 are respectively and symmetrically arranged on the frames 12 at the two sides of the bracket body 1, the driving devices 22 are also respectively and symmetrically arranged on the frames 12 at the two sides of the bracket body 1, the extension and contraction amplitude of the supporting legs 21 in the vertical direction is accurately regulated and controlled through the driving devices 22, when one supporting leg 21 is advanced forwards, the other three are used for supporting the ground to guarantee that the support body 1 is in a balanced state at any moment in the advancing process, and the phenomenon that the support body 1 inclines due to the fact that the height of the support body is not uniform and the carrying effect is affected is avoided.

The arbitrary 3 supporting legs 21 that are located on the same horizontal plane are connected, can be regarded as a right triangle approximately, and its focus should fall in the inner region that is close to the hypotenuse middle, falls in the region in the middle of support body 1 promptly, can make support body 1 whole keep balance at the in-process of marcing through such design, has promoted user's experience effect to a great extent. In other embodiments, the number of the support legs 21 may be 6, 8 or 10, but is not limited thereto.

Referring to fig. 1 and 5, the support leg 21 includes a connecting rod 211 and a support rod 212, the driving device 22 includes a first driving motor 221 and a second driving motor 222, two connecting slots are respectively opened on the side of each frame 12 departing from the bearing surface 11, the first driving motor 221 is disposed in the connecting slots, one end of the connecting rod 211 is connected to the driving shaft of the first driving motor 221, the first driving motor 221 controls the connecting rod 211 through the driving shaft, so that the connecting rod 211 rotates on the side of the frame 12 departing from the bearing surface 11, and the other end of the connecting rod 211 is rotatably connected to one end of the support rod 212 through the second driving motor 222.

In this embodiment, the second driving motor 222 is fixedly connected to an end of the connecting rod 211 away from the first driving motor 221, and a driving shaft thereof is connected to an end of the supporting rod 212, and the second driving motor 222 controls the supporting rod 212 through the driving shaft, so that the supporting rod 212 rotates at the end of the connecting rod 211 away from the first driving motor 221, and a rotation plane of the connecting rod 211 is parallel to a rotation plane of the supporting rod 212. In another embodiment, the second driving motor 222 is fixedly connected to one end of the supporting rod 212, and the driving shaft thereof is connected to one end of the connecting rod 211 away from the first driving motor 221, and since the end of the supporting rod 212 away from the connecting rod 211 is a free end, the second driving motor 222 can also control the rotation of the supporting rod 212. In other embodiments, the driving shaft of the first driving motor 221 may be connected to the middle of the connecting rod 211 or any other portion except for the two ends, and the driving shaft of the second driving motor 222 may be connected to the middle of the supporting rod 212 or any other portion except for the two ends, which is not limited thereto.

In this embodiment, the one end that connecting rod 211 was kept away from to bracing piece 212 is spherical structure, when obstacle crossing device marchd on carpet or other soft floors, because spherical structure's surface is more slick and sly, can effectively reduce the probability to ground damage in the contact process of bracing piece 212 and ground, simultaneously, for avoiding skidding at the in-process of marcing, consequently add an antiskid cover at the tip of connecting rod 211 for frictional force between increase and the ground, make bracing piece 212 can laminate in ground firmly. In other embodiments, when the obstacle crossing device travels in the water pit, the end part can be arranged into a palm structure, so that the contact area with the water surface is increased, and the obstacle crossing device can float on the water surface as much as possible, similar to the situation that ducks float on the surface of the water body; when the obstacle crossing device travels on the ground of a mud pit or a pothole, the end part can be arranged to be of a fork-shaped structure, the contact area of the support rod 212 and the ground can be reduced, further, small objects or obstacles such as small stones or garbage bags can be effectively prevented from being collided, and the feasibility of the obstacle crossing device is enhanced.

With continued reference to fig. 1 to 4, the side of the frame 12 facing away from the carrying surface 11 is further provided with two accommodating portions 121 for accommodating the second driving motor 222, each frame 12 is provided with two accommodating portions 121, and the two accommodating portions 121 are located between two connecting slots, the distance between each accommodating portion 121 and the adjacent connecting slot is equal to the length of the connecting rod 211, and the accommodating portion 121 is communicated with the bottom of the frame 12, so as to ensure that after the obstacle crossing device finishes operating, the second driving motor 222 can be rotatably accommodated in the accommodating portion 121 from the bottom of the bracket body 1. In other embodiments, the accommodating portion 121 may be disposed outside the two connecting slots, as long as the second driving motor 222 can be stored inside the accommodating portion.

When the second driving motor 222 is received in the receiving portion 121, the supporting leg 21 is in a retracted state, and at this time, the connecting rod 211 and the supporting rod 212 are overlapped and attached to the side of the frame 12 away from the bearing surface 11 in parallel.

The obstacle crossing device provided by the embodiment of the application can further comprise a control panel arranged in the support body, the control panel can be arranged in the middle of the bearing surface 11 and can also be arranged inside the frame 12, and the control panel comprises a communication module connected with the sweeping robot 3 and other communication and control components.

When the communication module of the obstacle crossing device receives a signal instruction sent by the sweeping robot 3, the control panel controls the driving device 22 according to the received instruction, namely 8 driving motors are respectively and independently controlled by the control panel, and then the driving device 22 drives the supporting legs 21 to move. Each supporting leg 21 is driven by the driving device 22 matched with the supporting leg, namely the first driving motor 221 drives the connecting rod 211 independently, the second driving motor 222 drives the supporting rod 212 independently, the four supporting legs 21 do not interfere with each other, the moving speed and the moving span of each supporting leg 21 can be guaranteed to be different through the design, the traveling process is more flexible, and the obstacle crossing effect is better.

Can make this device of crossing obstacle realize marcing of arbitrary direction through control panel's control, for example, when the device of crossing obstacle turns to the left side, only need make the speed of two supporting legs 21 movements on right side be greater than the speed of two left supporting legs 21 can, when speed is big enough, can realize crossing obstacle the device pivot circle, when the speed of the supporting leg 21 movements of both sides is the same, also can be greater than the span of two left supporting legs 21 with two supporting legs 21 movements on right side's span through setting up, also can realize equivalent effect, the operation is fairly simple, and the feasibility is strong.

The obstacle crossing device can cross obstacles with different sizes through the control of the control panel, for example, when the obstacle crossing device encounters a stone and needs to cross the stone, when the transverse distance of the stone is larger than the width of the obstacle crossing device, at the moment, four supporting legs 21 of the obstacle crossing device must all cross the stone to successfully cross the obstacle, in the process that two supporting legs 21 positioned at the front side of the obstacle crossing device climb over the stone, along with the increase of climbing height, the inward contraction amplitude of the two supporting legs 21 at the front side is larger and larger, the two supporting legs 21 at the rear side extend outwards, the balance of the whole bracket body 1 in the horizontal direction is kept as much as possible, when the two supporting legs 21 at the front side successfully cross the stone, the two supporting legs 21 at the rear side begin to extend outwards, and the two supporting legs 21 at the rear side begin to retract inwards, until successfully crossing the obstacle.

Referring to fig. 3 and 4, the bracket body 1 may further include a guiding slope 111 disposed on a side surface of the bearing surface 11, in this embodiment, the guiding slope 111 is disposed between the two side frames 12, and the guiding slope 111 is disposed on an outer side of the bearing surface 11, when the sweeping robot 3 moves to a side edge of the bearing surface 11 and is ready to climb up the bearing surface 11, since the side edge of the bearing surface 11 is easily abutted against an outer edge of the sweeping robot 3, the sweeping robot is limited from moving continuously, and the sweeping robot 3 and the motor of the obstacle crossing device are easily burned out after a long time, the guiding slope 111 is disposed, so that the sweeping robot 3 smoothly moves to the bearing surface 11 along the guiding slope 111, climbing difficulty is reduced, and climbing time is saved. In other embodiments, the guiding slope 111 may also be disposed on another side adjacent to one side of the carrying surface 11 where the frame 12 is located, or disposed on both sides, which can achieve the same effect as the present embodiment, but is not limited thereto.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. The utility model provides a hinder device more for cooperation delivery robot (3) of sweeping floor, its characterized in that, hinder the device more includes support body (1) and install in link gear (2) on support body (1), link gear (2) are including being used for the supporting leg (21) of marcing and drive supporting leg (21) motion and adjustment the drive arrangement (22) of supporting leg (21) height.

2. The obstacle crossing device according to claim 1, wherein the support leg (21) comprises a connecting rod (211) and a support rod (212), and the driving device (22) comprises a first driving motor (221) and a second driving motor (222); the first driving motor (221) is arranged on the bracket body (1), the connecting rod (211) is connected to a driving shaft of the first driving motor (221), and the connecting rod (211) is rotatably connected with the supporting rod (212) through the second driving motor (222).

3. The obstacle crossing device according to claim 1, wherein the number of the support legs (21) is at least four, and the support legs are respectively arranged on two sides of the bracket body (1).

4. The obstacle crossing device according to claim 2, wherein the bracket body (1) comprises a bearing surface (11) and rims (12) fixed to opposite sides of the bearing surface (11), respectively, and the support legs (21) are disposed on the rims (12).

5. The obstacle crossing device according to claim 4, wherein the bracket body (1) comprises a guide slope surface (111) arranged on the side surface of the bearing surface (11) for guiding the sweeping robot (3) to move up to the bearing surface (11), and the guide slope surface (111) is arranged between the side frames (12) on two sides.

6. Obstacle crossing device according to claim 4, characterized in that said frame (12) is higher than the plane of said bearing surface (11); the two frames (12) are matched with the bearing surface (11) to form an accommodating space of the sweeping robot (3).

7. The obstacle crossing device according to claim 1, further comprising a control panel arranged in the bracket body (1), wherein the control panel is communicatively connected to the sweeping robot (3) and electrically connected to the driving device (22); the obstacle crossing device controls the driving device (22) through the control panel under a control signal of the sweeping robot (3), and then controls the movement of the supporting legs (21).

8. The obstacle crossing device according to claim 2, wherein an end of the support rod (212) remote from the connecting rod (211) is provided with an anti-slip sleeve for increasing friction with the ground.

9. Obstacle crossing device according to claim 2, characterized in that the end of said support bar (212) remote from said connecting bar (211) is of spherical or palm or fork configuration.

10. Obstacle crossing device according to claim 4, characterized in that said frame (12) is provided with a housing (121) for said second drive motor (222).

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