CN211324752U - Floor sweeping robot - Google Patents

Abstract

The utility model relates to a sweeping robot, which comprises a main body, wheels and an edge detection device, wherein the wheels are connected with the side edges of the main body; the edge detection device comprises a support component and a sensor, wherein the sensor is used for detecting an obstacle; the sensor is mounted on the outside of the wheel by the support assembly. The utility model discloses a robot of sweeping floor through setting up edge detection device in the outside of wheel, and the wheel is located the side of robot main part to make edge detection device whether have the barrier around can detecting the robot well, and detect the distance of robot apart from the barrier around, blocked when avoiding the robot to walk.

Description

Floor sweeping robot

Technical Field

The utility model relates to a cleaning machines people technical field especially relates to a robot of sweeping floor.

Background

Along with the continuous development of the intelligent home industry, intelligent robots such as intelligent floor sweepers and intelligent mowers have higher and higher requirements on the improvement of working skills and the sweeping efficiency. All can set up the sensor in traditional robot main part of sweeping the floor for whether there is the barrier around the detection robot main part, and the distance from the barrier. The sensor is usually arranged on the peripheral surface of the robot main body, so that the robot can better react to obstacles and the absence of detection blind spots is ensured. However, when the shape structure of the robot changes, especially when the driving wheels are arranged on the side of the main body, the traditional sensor is arranged at a position such that the robot has a detection blind area, which causes problems of limited detection distance, easy jamming when the robot walks, and the like.

SUMMERY OF THE UTILITY MODEL

Therefore, a floor sweeping robot is needed to be provided aiming at the problem that the robot with the driving wheels arranged on the side surface of the robot main body has a detection blind area.

The utility model discloses a floor sweeping robot, which comprises a main body, wheels and an edge detecting device, wherein the wheels are connected with the side edges of the main body; the edge detection device comprises a support component and a sensor, wherein the sensor is used for detecting an obstacle; the sensor is mounted on the outside of the wheel by the support assembly.

In one embodiment, the wheel includes an inner hub assembly coupled to the body and an outer hub assembly disposed on an exterior of the inner hub assembly and rotatably coupled to the inner hub assembly, the inner hub assembly having an axle, the outer hub assembly having a first axle hole formed at a center thereof for receiving the axle, the outer hub assembly rotating about the axle.

In one embodiment, the outer hub assembly comprises a second cylinder body with a second bottom plate, the second cylinder body forms a containing cavity for containing the inner hub assembly, the first shaft hole is formed in the center of the second bottom plate, the wheel shaft penetrates through the first shaft hole and extends and protrudes from the outer side of the second bottom plate to form a protruding end, and the supporting assembly is arranged on the protruding end.

In one embodiment, the supporting assembly comprises a supporting shell, a pressing plate and a fixing piece, wherein the supporting shell is provided with a mounting position, the pressing plate is used for fixing the sensor in the mounting position, and the fixing piece is used for fixing the supporting shell on the protruding end.

In one embodiment, the fixture is threadably connected to the male end.

In one embodiment, the pressure plate is snap-fit connected to the support housing.

In one embodiment, the wheel further comprises an outer cover fixedly arranged on the outer side of the edge detection device or on the protruding end, the outer cover covering the edge detection device from the outer side.

In one embodiment, a first through hole is formed in the wheel shaft along the axial direction, a power line and/or a data line is led out of the edge detection device, and the power line and/or the data line penetrates through the first through hole and is led into the wheel.

In one embodiment, the inner hub assembly is provided with a rotating shaft, the main body is provided with a second shaft hole, and the rotating shaft can be matched with the second shaft hole, so that the wheel is connected to the outer part of the main body; the edge detection device is characterized in that a first through hole is formed in the rotating shaft along the axis direction, a control panel is arranged in the main body, a power line and/or a data line are led out of the edge detection device, and the power line and/or the data line can penetrate through the first through hole to be connected with the control panel, so that the control panel is electrically connected with the edge detection device.

In one embodiment, the inner hub assembly comprises a support, the support is a first cylinder body with a first bottom plate, a driving part and a transmission part are arranged in the support, the outer hub assembly is provided with a driven part in transmission connection with the transmission part, one end of the transmission part is in transmission connection with the driving part, and the other end of the transmission part is in transmission connection with the driven part.

The utility model discloses a robot of sweeping floor, wheel are located the side of robot main part, through setting up the outside with edge detection device at the wheel to make edge detection device whether can detect the barrier around the robot well, and detect the robot apart from the distance of barrier around.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot in one embodiment.

Figure 2 is a schematic diagram of an exploded structure of a wheel and edge detection device in one embodiment.

Fig. 3 is a schematic view showing a structure in which an edge detecting device is installed on the outer side of a wheel according to an embodiment.

Figure 4 is a schematic exploded view of the major components of the wheel according to one embodiment.

FIG. 5 is a schematic structural view of the inner hub assembly and the outer hub assembly in one embodiment.

FIG. 6 is a perspective view of an embodiment of an inner hub assembly with an outer hub assembly shown assembled with an inner cover hidden therein.

Figure 7 is a top view of the wheel of figure 6.

Fig. 8 is a partial cross-sectional view of the stent at section a-a in fig. 7.

Figure 9 is a partial cross-sectional view of the outer hub assembly at section a-a in figure 7.

Figure 10 is a schematic view of the carrier of figure 8 and the outer hub assembly of figure 9 assembled together.

Figure 11 is a cross-sectional view of the wheel of figure 7 at section B-B.

Fig. 12 is a schematic disassembled structure diagram of main parts of the robot in one embodiment.

Figure 13 is a schematic view of the connection structure of the wheel and the main body according to one embodiment.

Reference numerals:

the machine body comprises a main body 10, an upper machine body cover 11, a lower machine body cover 12, a second shaft hole 13, a first clamp 14 and a second clamp 15; a wheel 20; a support wheel 30; inner hub assembly 300, drive 310, scroll 311; the transmission member 320, the worm gear 321, the first worm gear 322, the first gear 323, the output gear 324, the first output gear 325, and the second output gear 326; an inner cover 330, a rotating shaft 331, a second through hole 332, a flange 333; a bracket 340, a first bottom plate 341, a second boss 342, a recess 343, a notch 344, a partition 345, a first space 346, a second space 347, a first cylinder 348; a hub 350, a first through hole 351, a protruding end 352; the edge detection device 500, a support component 510, a support shell 511, a pressure plate 512, a fixing part 513, a mounting position 514, a first clamping groove 515, a first clamping protrusion 516, a second clamping protrusion 517 and a third shaft hole 518; a sensor 520; an outer cover 370; a fixing member 380; outer hub assembly 400, second base plate 410, first shaft bore 420, bearing 430, driven gear 440, second cylinder 450, first boss 460.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, the sweeping robot (hereinafter referred to as "robot") of the present invention includes a main body 10 and two wheels 20, wherein the two wheels 20 are respectively located at two sides of the main body 10, it can be understood that, in order to improve the stability of the robot operation, a supporting wheel 30 can be further disposed below the main body 10, as shown in fig. 1, the supporting wheel 30 and the wheels 20 at two sides of the outside of the robot can make the robot stably walk on the ground according to the principle that three points constitute one surface. Additionally, the utility model discloses a robot still includes edge detection device, and edge detection device includes supporting component and sensor, and wherein, the sensor is used for detecting the distance of robot apart from the barrier to distance sensor passes through the supporting component and installs in the outside of wheel.

As shown in fig. 2 and 3, wherein fig. 2 is an exploded view of the wheel 20 and the edge detecting device, and fig. 3 is a view illustrating the edge detecting device installed on the outer side of the wheel 20, it can be seen from fig. 2 and 3 that the edge detecting device 500 includes a supporting assembly 510 and a sensor 520, and the sensor 520 is used for detecting whether an obstacle exists around the robot and the distance from the robot to the obstacle; the sensor is mounted on the outside of the wheel 20 by a support assembly 510. It should be noted that the term "outside" as used herein refers to a side of the wheel 20 away from the main body 10. In addition, the present invention is not limited to the specific type of the sensor 520, and in a specific embodiment, the sensor 520 may be an infrared sensor or an ultrasonic sensor. The utility model discloses a set up edge detection device 500 in the outside of wheel 20, and wheel 20 is located the outside of robot main part 10 to make edge detection device 500 whether have the barrier around can detecting the robot well, and detect the distance of robot apart from the barrier, blocked when avoiding the robot to walk along the wall.

In one embodiment, as shown in fig. 4, the wheel includes an inner hub assembly 300 and an outer hub assembly 400, the inner hub assembly 300 is connected to the main body 10, the outer hub assembly 400 is disposed outside the inner hub assembly 300 and is rotatably connected to the inner hub assembly 300, an axle 350 is disposed at a central position of the inner hub assembly 300, a first axle hole 420 is formed at a central position of the outer hub assembly 400, the axle 350 is inserted therein, when the wheel 20 rotates, the outer hub assembly 400 rotates around the axle 350, the inner hub assembly 300 and the main body 10 of the robot do not rotate with the rotation of the outer hub assembly 400, and the axle 350 is disposed at a central position of the inner hub assembly 300 and does not rotate with the rotation of the outer hub assembly 400. Further, as shown in fig. 5, the outer hub assembly 400 includes a second cylinder 450 having a second base plate 410, the second cylinder forming a receiving cavity for receiving the inner hub assembly 300, a first shaft hole 420 being opened at a central position of the second base plate 410, a shaft 350 passing through the first shaft hole 420 and extending and protruding from an outer side of the second base plate 410 to form a protruding end 352, as shown in fig. 2, and a support member 510 being disposed on the protruding end 352. Since the axle 350 does not rotate with the rotation of the outer hub assembly 400, in the present embodiment, the edge detection device 500 is disposed on the protruding end 352 outside the axle 350, so that the edge detection device does not rotate with the rotation of the outer hub assembly 400, thereby eliminating the detection error caused by the rotation of the edge detection device and improving the accuracy and reliability of the detection of the edge detection device.

As shown in fig. 2 and 3, the support assembly 510 includes a support housing 511, a pressing plate 512, and a fixing member 513, wherein the support housing 511 is provided with a mounting position 514, the pressing plate 512 is used for fixing the sensor 520 in the mounting position 514, and the fixing member 513 is used for fixing the support housing 511 on the protruding end 352 of the axle 350. In a specific embodiment, as shown in fig. 2, the pressure plate 512 is snap-fit connected to the supporting housing 511, two opposite ends of the mounting position 514 of the supporting housing 511 are respectively provided with a first clamping groove 515 and a second clamping protrusion 517, one end of the pressure plate 512 is provided with a first clamping protrusion 516, the first clamping protrusion 516 can be matched with the first clamping groove 515, and the other end of the pressure plate 512 can be snap-fit into the second clamping protrusion 517, so that the pressure plate 512 can fix the sensor 520 in the mounting position 514. In addition, the fixing part 513 of the supporting component 510 is in threaded connection with the protruding end 352 of the axle 350, as shown in fig. 2, a third axle hole 518 is formed in the center position of the supporting housing 511, the supporting housing 511 is sleeved on the protruding end 352 of the axle 350 through the third axle hole 518, an external thread is arranged on the protruding end 352 of the axle 350, the fixing part 513 is a nut, and the nut can be matched with the external thread of the protruding end 352, so that the supporting housing 511 is fixed on the protruding end 352. Additionally, the fixture 513 may also be configured to retain the axle 350 within the first axle bore 420.

In one embodiment, as shown in fig. 4, the wheel further comprises an outer cover 370 covering the edge detecting device 500 from the outside, and as can be seen from fig. 4 and 7, the outer cover 370 is disposed on a side of the edge detecting device 500 away from the robot body 10, i.e., the outer cover 370 is disposed outside the edge detecting device 500. In one embodiment, the outer cover 370 may be disposed outside the edge detection device 500 by way of a snap-fit connection. It will be appreciated that on the side of the second base plate 410 of the outer hub assembly 400 remote from the body 10, the projecting end 352 of the axle 350 passing through the second base plate 410 of the outer hub assembly 400 does not rotate with the outer hub assembly 400, except that the edge detecting device 500 does not rotate with the outer hub assembly 400, and therefore, in other embodiments, the outer cover 370 may be provided on the projecting end 352 of the axle 350.

In a specific embodiment, as shown in fig. 4-7, the inner hub assembly 300 includes a bracket 340, an inner cover 330 combined with the bracket, an axle 350 disposed at a central position of the bracket 340, the inner cover 330 connected to the main body 10, a driving member 310 disposed in the bracket 340, a driving member 320 disposed in the bracket 340, and a power supply assembly (not shown), the outer hub assembly 400 having a driven member drivingly connected to the driving member 320, the driving member 320 having one end connected to the driving member 310 and the other end connected to the driven member, and the power supply assembly for providing an electric support to the robot. Further, as shown in fig. 5 and 6, a partition 345 is further disposed in the bracket 340, the partition 345 divides the space in the bracket 340 into a first space 346 and a second space 347, the first space 346 is used for accommodating the driving member 310 and the transmission member 320, and the second space 347 is used for accommodating the power supply assembly.

In addition, as shown in fig. 5, the wheel skin is wrapped on the outer side of the second cylindrical structure 450, the center of the second base plate 410 extends towards the bracket 340 to form a first boss 460, a first shaft hole 420 is formed in the first boss 460, a bearing 430 is fixedly arranged in the first shaft hole 420, when the inner hub assembly 300 and the outer hub assembly 400 are assembled together, the axle 350 is inserted into the first shaft hole 420, and the bearing 430 is sleeved on the outer portion of the axle 350, so that the outer hub assembly 400 is rotatably connected with the inner hub assembly 300, a driven member is fixedly arranged on the outer portion of the first boss 460, the driving member 310 transmits torque to the driven member through the transmission member 320, and the driven member further drives the outer hub assembly 400 to rotate relative to the inner hub assembly 300.

Further, as shown in fig. 5, the driving member 310 is embodied as a motor, the output end of the driving member 310 includes a worm 311, the transmission member 320 includes a worm wheel 321 and an output gear 324, the worm 311 is engaged with the worm wheel 321, so that the motor can transmit the torque to the output gear 324 through the worm 311 and the worm wheel 321, the driven member on the outer hub assembly 400 includes a driven gear 440, the driven gear 440 is fixedly sleeved outside the first boss 460, the central axis of the driven gear 440 is coaxial with the first axial hole 420 of the outer hub assembly, the output gear 324 is engaged with the driven gear 440, so that the output gear 324 can transmit the torque to the driven gear 440, and the driven gear 440 drives the outer hub assembly 400 to rotate relative to the inner hub assembly 300. As can be further seen from fig. 5, the worm gear 321 includes a first worm gear 322 and a first gear 323 which rotate coaxially, the output gear 324 includes a first output gear 325 and a second output gear 326 which rotate coaxially, the worm wheel 311 is meshed with the first worm gear 322, the first gear 323 is meshed with the first output gear 325, the first worm gear 322 is driven by the worm wheel 311, the first gear 323 rotates coaxially with the first worm gear 322 and can drive the first output gear 325 to rotate, and the second output gear 326 rotates coaxially with the first output gear 325 and can drive the driven gear 440 to rotate.

Further, as shown in fig. 4, 5 and 11, the bracket 340 is a first cylinder 348 having a first base plate 341, the inner cover 330 is connected to a free end of the first cylinder 348 to close a space in the bracket 340, a center position of the first base plate 341 extends and protrudes toward the inner cover 330, such that the first base plate 341 is formed with a second boss 342 and a recess 343 at a side close to the inner cover 330 (i.e., an inner side of the first base plate 341) and a side away from the inner cover 330 (i.e., an outer side of the first base plate 341), respectively, the driven gear 440 and the bearing 430 of the outer hub assembly 400 are located in the recess 343, the driving member 310 and the transmission member 320 are located between the inner cover 330 and the first base plate 341, and the second boss 342 is formed with a notch 344, where the second output gear 326 and the driven gear 440 are engaged, as shown in fig. 6-11. Fig. 6 is a perspective view of the inner hub assembly 300 and the outer hub assembly 400 with the inner cover 330 hidden, fig. 7 is a top view of the wheel 20 of fig. 6, fig. 8 and 9 are partial sectional views of the bracket 340 and the outer hub assembly 400 taken along the line a-a of fig. 7, respectively, fig. 10 is a view of the bracket 340 and the outer hub assembly 400 of fig. 8, and fig. 11 is a sectional view of the wheel 20 taken along the line B-B of fig. 7. as can be seen from fig. 10, when the bracket 340 and the outer hub assembly 400 are assembled, the driven gear 440 of the outer hub assembly 400 can be exposed from the gap 344 and can be engaged with the second output gear 326. As can be seen in fig. 11, the driver 310 transmits the torque to the driven gear 440 of the outer hub assembly 400 through the second output gear 326 at the notch 344, and a bearing 430 is disposed between the driven gear 440 of the outer hub assembly 400 and the axle 350 in the bracket 340, so that the driven gear 440 can rotate the outer hub assembly 400 relative to the inner hub assembly 300 under the action of the driver 310 and the transmission member 320.

As shown in fig. 2 and 11, a first through hole 351 is formed in the wheel axle 350 along the axial direction, and a power line and/or a data line is led out from the edge detecting device 500, and the power line and/or the data line is led into the wheel through the first through hole 351. In addition, as shown in fig. 4 and 12, a rotation shaft 331 is provided on an end surface of the inner cover 330 away from the bracket 340, the main body includes a body upper cover 11 and a body lower cover 12, and after the body upper cover 11 and the body lower cover 12 are fitted together, a second shaft hole 13 can be formed at a corresponding position for cooperating with the rotation shaft 331, so that the wheel 20 is connected to the outside of the main body 10. The second through hole 332 is formed in the rotating shaft 331 along the axial direction, a control panel (not shown in the figure) is arranged in the main body 10, a power line and/or a data line are led out from the edge detection device, the power line and/or the data line can penetrate through the second through hole 332 to be connected with the control panel, so that the control panel is electrically connected with the edge detection device, the edge detection device is electrically connected with the control panel through the first through hole 351 and the second through hole 332, and a detected signal can be transmitted to the control panel.

In addition, in order to prevent the wheel 20 from being separated from the main body 10, as shown in fig. 13, a flange 333 is further provided at an end of the rotation shaft 331 adjacent to the inner cover 330, and after the rotation shaft 331 of the wheel 20 is inserted into the second shaft hole 13, a first clip 14 and a second clip 15 are further provided on the rotation shaft 331 for fixing the rotation shaft 331 to the lower body cover 12, wherein the first clip 14 is provided between the flange 333 and the inner cover 330 for preventing the wheel 20 from being separated from the main body 10, and the second clip 15 is provided between an end of the rotation shaft 331 away from the inner cover 330 and the lower body cover 12 for fixing the rotation shaft 331, thereby improving stability of the rotational connection of the wheel 20 and the main body. It will be appreciated that in addition to the flange 333 and the first yoke 14 being provided on the axle 331, in other embodiments, other limiting members may be provided on the axle 331 and/or the main body for securing the axle 331 to the main body and preventing the wheel 20 from being disengaged from the main body.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A sweeping robot is characterized by comprising a main body, wheels and an edge detection device, wherein the wheels are connected to the side edge of the main body; the edge detection device comprises a support component and a sensor, wherein the sensor is used for detecting an obstacle; the sensor is mounted on the outside of the wheel by the support assembly.

2. The sweeping robot of claim 1, wherein the wheel includes an inner hub assembly and an outer hub assembly, the inner hub assembly is connected to the main body, the outer hub assembly is disposed outside the inner hub assembly and is rotatably connected to the inner hub assembly, the inner hub assembly is provided with an axle, a first axle hole for the axle to be inserted is formed in a central position of the outer hub assembly, and the outer hub assembly rotates around the axle.

3. The sweeping robot of claim 2, wherein the outer hub assembly includes a second cylinder having a second bottom plate, the second cylinder forming a receiving cavity for receiving the inner hub assembly, the first shaft hole is formed at a central position of the second bottom plate, the shaft passes through the first shaft hole and extends and protrudes from an outer side of the second bottom plate to form a protruding end, and the support assembly is disposed on the protruding end.

4. The sweeping robot according to claim 3, wherein the support assembly comprises a support housing, a pressing plate and a fixing member, the support housing is provided with an installation position, the pressing plate is used for fixing the sensor in the installation position, and the fixing member is used for fixing the support housing on the protruding end.

5. The sweeping robot of claim 4, wherein the fixture is threadably connected to the projecting end.

6. The sweeping robot of claim 4, wherein the pressure plate is snap-fit to the support housing.

7. The sweeping robot of claim 3, wherein the wheel further comprises an outer cover fixedly disposed outside the edge detection device, or the outer cover fixedly disposed on the protruding end, the outer cover covering the edge detection device from outside.

8. The sweeping robot of claim 2, wherein a first through hole is formed in the wheel shaft along the axial direction, a power line and/or a data line is led out of the edge detection device, and the power line and/or the data line passes through the first through hole and is led into the wheel.

9. The sweeping robot of claim 8, wherein the inner hub assembly is provided with a shaft, the main body is provided with a second shaft hole, and the shaft can be matched with the second shaft hole, so that the wheel is connected to the outside of the main body; a second through hole is formed in the rotating shaft along the axis direction, a control panel is arranged in the main body, and the power line and/or the data line can penetrate through the second through hole to be connected with the control panel, so that the control panel is electrically connected with the edge detection device.

10. The sweeping robot according to claim 2, wherein the inner hub assembly comprises a bracket, the bracket is a first cylinder with a first bottom plate, a driving member and a transmission member are arranged in the bracket, the outer hub assembly is provided with a driven member in transmission connection with the transmission member, one end of the transmission member is in transmission connection with the driving member, and the other end of the transmission member is in transmission connection with the driven member.

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