CN211324753U - Floor sweeping robot - Google Patents

Abstract

The utility model relates to a sweeping robot, which comprises a main body, a wheel set and a suspension device, wherein the wheel set comprises an inner hub component and an outer hub component rotating relative to the inner hub component, and the wheel set is positioned at the side edge of the main body and can slide up and down relative to the main body; the suspension arrangement enables the wheel set to slide downwards relative to the main body. The utility model discloses a robot of sweeping floor, the wheelset can be according to the height of the height condition self-adaptation ground adjustment for the main part on ground for ground is hugged closely constantly to the wheelset, provides power for advancing of robot, the utility model discloses a with wheelset sliding connection at the side of main part, thereby make the wheelset for gliding scope greatly increased about the main part, make the robot can stride across high higher barrier, obviously promoted the obstacle crossing ability of robot.

Description

Floor sweeping robot

Technical Field

The utility model discloses robot technical field especially relates to a robot of sweeping floor.

Background

Generally, a sweeping robot meets uneven working environment in the working process of sweeping the ground, and needs to have certain obstacle crossing capability, but the range of the wheel set of the traditional sweeping robot, which can move up and down relative to the robot main body, is small, so that the obstacle crossing capability of the traditional sweeping robot is poor.

In addition, in order to successfully cross obstacles, the sweeping robot in the market designs a suspension lifting mechanism for a driving wheel on a chassis of the sweeping robot, wherein the driving wheel is a bottom part non-appearance part, the suspension lifting mechanism is a built-in swing arm mechanism, a driving wheel assembly consisting of a driving wheel reduction box and a driving wheel is matched with a rotating shaft to form a swing arm, and then the driving wheel assembly is connected with a robot body through an elastic part to realize suspension swinging lifting of the driving wheel assembly; but such a structure is relatively complicated and bulky.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a sweeping robot for solving the problem of poor obstacle crossing capability of the traditional sweeping robot.

The utility model discloses a sweeping robot, including main part, wheelset and linkage, the wheelset includes interior hub subassembly and relative the outer hub subassembly that interior hub subassembly rotated, the wheelset is located the side of main part, and can slide from top to bottom relative to the main part; the suspension arrangement enables the wheel set to slide downwards relative to the main body.

In one embodiment, the side of the main body is provided with a first sliding groove or a first sliding rail, and one side of the inner hub assembly close to the main body is provided with a second sliding rail or a second sliding groove, and the first sliding groove can be matched with the second sliding rail, or the second sliding groove can be matched with the first sliding rail, so that the wheel set is slidably connected to the side of the main body.

In one embodiment, the first or second sliding groove is linear or curved.

In one embodiment, a stopper is disposed on the inner hub assembly or the main body to prevent the wheel set from being separated from the main body after the inner hub assembly is slidably coupled to the main body.

In one embodiment, when the inner hub assembly is slidably coupled to the main body, a detent is disposed on or coupled to a side of the inner hub assembly adjacent to the main body, the detent configured to couple to the suspension device.

In one embodiment, the suspension device is disposed in the main body, a part or all of the locking member is located in the main body, the suspension device includes an elastic member, and one end of the suspension device is connected to the locking member and the other end is connected to the main body.

In one embodiment, the suspension device further comprises a steering device, the direction of the tensile force of the elastic member is a first direction, and the suspension device further comprises a steering device connected with the elastic member and used for guiding the tensile force of the elastic member from the first direction to a second direction, so that the wheel set can slide downwards relative to the main body under the action of the suspension device.

In one embodiment, the steering device comprises a lever, the lever is rotatably connected with the main body, the lever comprises a first force arm and a second force arm which form specific included angles, the positions, far away from the rotation axis of the lever, of the first force arm and the second force arm are respectively provided with a first hook position and an output end, one end of the elastic piece is connected with the first hook position, the other end of the elastic piece is connected with the main body, and the output end can apply downward pressure to the clamping piece, so that the wheel set slides downwards relative to the main body.

In one embodiment, the output end can abut above the detent groove; or, the output end is provided with a sleeve hole, and the output end can be sleeved with the clamping piece through the sleeve hole.

In one embodiment, the steering device further comprises a hook cable and a steering part, the steering part is fixed in the main body, one end of the hook cable is connected with the clamping part, the other end of the hook cable bypasses the steering part and is connected with the elastic part, one end of the elastic part is connected with the hook cable, and the other end of the elastic part is connected with the main body; the hook cable can apply downward pulling force to the blocking piece, so that the wheel set slides downwards relative to the main body.

The utility model discloses a robot of sweeping floor, its beneficial effect does:

the utility model discloses a robot of sweeping floor, through reasonable setting main part, wheelset and linkage's structure and the relation of connection each other for the wheelset can adjust the height for the main part according to the height condition self-adaptation on ground, makes the wheelset hug closely ground constantly, provides power for advancing of robot, and the wheelset is just the height that hangs of wheelset for gliding height about the main part, the utility model discloses a with wheelset sliding connection in the side of main part, thereby make the wheelset for gliding scope greatly increased about the main part, make the robot can stride across high higher barrier, obviously promoted the obstacle crossing ability of robot.

Drawings

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

Fig. 2 is an exploded schematic view of the sweeping robot in one embodiment.

Fig. 3 is an enlarged schematic view of a portion a in fig. 2.

Fig. 4 is a schematic structural diagram of the slide rail limiting plate in one embodiment.

Fig. 5 is a longitudinal sectional view of the sweeping robot with the hidden upper body cover in a suspended state according to an embodiment.

Fig. 6 is a longitudinal sectional view of a sweeping robot with a hidden upper body cover in one embodiment, when the sweeping robot is on a flat ground.

Fig. 7 is a longitudinal sectional view of the sweeping robot hiding the upper cover of the machine body when passing through a depressed ground or an obstacle.

Fig. 8 is a longitudinal sectional view of the sweeping robot hiding the upper cover of the machine body when passing through a raised ground or an obstacle.

Fig. 9 is a longitudinal sectional view of a sweeping robot with a hidden upper body cover in another embodiment when the sweeping robot is on a flat ground.

Fig. 10 is a longitudinal sectional view of a sweeping robot with a hidden upper body cover in a further embodiment, when the sweeping robot is on a flat ground.

FIG. 11 is a schematic view of the structure between the inner hub assembly and the outer hub assembly in one embodiment.

FIG. 12 is a front view of an embodiment of the inner hub assembly with the outer hub assembly shown assembled with the inner cover hidden.

Fig. 13 is a partial cross-sectional view of a stent at section a-a in fig. 12 in one embodiment.

Figure 14 is a partial cross-sectional view of the outer hub assembly at section a-a of figure 12 in one embodiment.

Figure 15 is a schematic view of the carrier of figure 13 assembled with the outer hub assembly of figure 14.

Fig. 16 is a cross-sectional view of the drive wheel of fig. 12 at section B-B.

Reference numerals:

the main body 100, the upper cover 110, the lower cover 120, the first chute 121, the rotating shaft 122, the tapping screw 126 with the meson, the second hook 123, the upper limit piece 124, the lower limit piece 125, the fan assembly 130, the dust box 140, and the side brush 150; a wheel set 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; the inner cover 330, the second slide rail 331, the slide rail limiting plate 333, the locking piece 336, the locking groove 334 and the tapping screw 335; a bracket 340, a first bottom plate 341, a second boss 342, a recess 343, a notch 344, a partition 370, a first space 346, a second space 347, a first cylinder 348; an axle 350; a power supply component 360; outer hub assembly 400, second base plate 410, first shaft hole 420, bearing 430, driven gear 440, second cylinder 450, first boss 460; the suspension device 600, the lever 610, the first force arm 611, the second force arm 612, the shaft hole 613, the output end 614, the first hook 615, the sleeve hole 616 and the tension spring 620.

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.

In an embodiment, the sweeping robot (hereinafter referred to as "robot") of the present invention is shown in fig. 1 and fig. 2, where fig. 1 is a schematic view of an overall structure of the robot, and fig. 2 is a schematic view of an explosion structure of the robot. As shown in fig. 1, the robot includes a main body 10 and two wheel sets 20, and the two wheel sets 20 are respectively located at two outer sides of the main body 10, it can be understood that, in order to improve the stability of the operation of the robot, a support wheel 30 may be further disposed below the main body 10, as shown in fig. 5 and 6, and the support wheel 30 and the wheel sets 20 at two outer sides of the robot can enable the robot to stably walk on the ground according to the principle that three points form a plane. In addition, it should be noted that, in the embodiment in fig. 1, when the robot walks, the two wheel sets 20 are located at the front and serve as front wheels, and the support wheels 30 are located at the rear and serve as rear wheels.

As shown in fig. 2 and 3, the wheel set 20 includes an inner hub assembly 300 and an outer hub assembly 400 rotating with respect to the inner hub assembly 300, the inner hub assembly 300 is coupled to a main body, and when the robot walks on the flat ground, only the outer hub assembly 400 rotates, and neither the inner hub assembly 300 nor the main body rotates with the outer hub assembly 400. In addition, as shown in fig. 2, the main body includes an upper body cover 110 and a lower body cover 120, a blower assembly 130 is disposed in the main body, a dust box 140 is disposed on the upper portion of the upper body cover 110, and a side brush 150 is disposed in front of the main body. As shown in fig. 3, the inner hub assembly 300 includes an inner cover 330, the inner cover 330 is disposed on a side close to the main body, a second slide rail 331 is disposed on the inner cover 330, a first slide groove 121 is disposed at a corresponding position of an outer side edge of the body lower cover 120, the first slide groove 121 can be matched with the second slide rail 331, so that the wheel set 20 is slidably connected to a side edge of the main body, and the wheel set 20 can slide up and down relative to the main body. It can be understood that, in other embodiments, a first slide rail may be further disposed on an outer side of the lower cover of the machine body, and a second slide groove may be disposed at a corresponding position of the inner hub assembly, and the second slide groove may be capable of being matched with the first slide rail, so that the wheel set is slidably connected to a side of the main body. In addition, the present invention does not limit the shape of the sliding groove, and in some embodiments, as shown in fig. 3, the first sliding groove 121 may be a linear type, and in other embodiments, as shown in fig. 10, the first sliding groove 121 may also be a curved type.

In one embodiment, after the wheel set is slidably connected to the main body, a stopper is further disposed on the inner hub assembly or the main body to prevent the wheel set from being separated from the main body. In a specific embodiment, as shown in fig. 3, the limiting member includes a slide rail limiting plate 333, an upper limiting member 124, and a lower limiting member 125, wherein the slide rail limiting plate 333 is connected to the second slide rail 331 for preventing the wheel set 20 from being separated from the machine body lower cover 120 in the left-right direction; the upper and lower stoppers 124 and 125 are respectively disposed at upper and lower ends of the first sliding groove 121, and are used for preventing the wheel set 20 from being separated from the machine body lower cover 120 in a vertical direction. In a specific embodiment, as shown in fig. 3 and 4, after the wheel set 20 is slidably connected to the body bottom cover 120, the rail limiting plate 333 is fastened to the second rail 331 by the tapping screw 335, and the rail limiting plate 333 can slide up and down with the wheel set 20 relative to the body.

In one embodiment, the robot further includes a suspension device, the suspension device includes a tension spring, and further, as shown in fig. 4, a clamping member 336 is further disposed on one side of the slide rail limiting plate 333 close to the main body, the clamping member 336 is configured to be connected to the suspension device, in addition, in order to enhance the connection stability, a clamping groove 334 is further disposed on the clamping member 336, one end of the tension spring can be embedded into the clamping groove 334 and further connected to the slide rail limiting plate 333, and the other end of the tension spring is connected to the main body. It is understood that in other embodiments, the tension spring may be replaced by other elastic members having elasticity. In addition, in the above embodiment, the detent member 336 is disposed on the side of the rail stopper plate 333 close to the main body, and the entire detent member 336 is disposed on the inner side of the lower cover of the machine body.

In the above embodiment, if the suspension device of the robot includes only the tension spring, the suspension capability of the suspension device is completely dependent on the performance of the tension spring, and the tension and compression strokes of the tension spring are short due to the limitation of the inner space of the robot, so that the performance of the tension spring is difficult to adjust to a proper degree. If the suspension performance of the wheel set is not good, the robot can be suspended or insufficient in climbing capability when facing various obstacles, so that the robot cannot work normally. In order to solve the problem, as shown in fig. 2, 3 and 5, the suspension device 600 of the robot includes a lever 610 and a tension spring 620, the inner side wall of the machine body lower cover 120 is provided with a rotating shaft 122, the lever 610 is provided with a shaft hole 613, and the shaft hole 613 can be matched with the rotating shaft 122, so that the lever 610 is rotatably connected to the inner side of the machine lower cover 120. In one embodiment, as shown in fig. 3, after the lever 610 is rotatably connected to the shaft 122 through the shaft hole 613, the tapping screw 126 with the adapter is locked and fixed to the shaft 122 to prevent the lever 610 from being separated from the shaft 122.

In addition, as shown in fig. 3 and 5, the lever 610 includes a first force arm 611 and a second force arm 612 with a specific included angle, a first hook position 615 and an output end 614 are respectively disposed at positions of the first force arm 611 and the second force arm 612 away from the rotation axis (i.e., the center of the rotation shaft 122) of the lever 610, a second hook position 123 is further disposed at a position away from the rotation shaft 122 inside the lower cover of the machine body, one end of a tension spring 620 is connected with the first hook position 615, the other end is connected with the second hook position 123, the output end 614 of the second force arm 612 of the lever 610 is in a downward bent hook shape, and the output end 614 is embedded and abutted on the upper side of the blocking groove 334. As shown by the arrow in fig. 5, under the pulling force of the tension spring 620, the lever 610 can rotate counterclockwise relative to the lower cover of the machine body around the rotating shaft 122, so that the output end 614 can apply a downward pressure on the catch 336, so that the wheel set 20 can slide downward relative to the main body, and the wheel set 20 can be constantly pressed against the ground to provide the robot with the traveling power.

When the robot is in a completely suspended state, as shown in fig. 5, the suspended state refers to a state in which the main body of the robot is clamped by an external force or a foreign object so that the wheel set 20 is suspended, the wheel set 20 is under the pulling force of the tension spring 620, as shown by an arrow in fig. 5, the lever 610 rotates counterclockwise relative to the machine body lower cover 120 around the rotating shaft 122 as an axis, so that the output end 614 can apply a downward pressure to the catch member 336, the wheel set 20 and the rail stopper plate 333 can slide downward relative to the machine body lower cover 120 to the lowest end of the sliding groove 121 under the dual actions of the self-gravity of the wheel set 20 and the pressure of the output end 614, the wheel set 20 is at the lowest position relative to the main body, and the tension spring 620 is at the lowest.

When the robot is slowly placed on flat ground, as shown in fig. 6, the support wheels 30 and the wheel sets 20 gradually contact the ground, the support force of the ground opposes the gravity of the wheel sets 20 and the pulling force of the tension springs 620, so that the wheel sets 20 and the slide rail limit plates 333 slide upward relative to the machine body lower cover 120, the lever 610 rotates clockwise relative to the machine body lower cover 120 around the rotating shaft 122, as shown by arrows in fig. 6, so that the wheel sets 20 and the slide rail limit plates 333 gradually rise relative to the machine body lower cover 120, when the robot is in a stable state on flat ground, as shown in fig. 6, the wheel sets 20 and the slide rail limit plates 333 slide upward relative to the machine body lower cover 120 to the highest end of the slide groove 121, the wheel sets 20 are in the highest position relative to the main body, and the tension springs 620 are in a state. When the robot passes through a rugged ground, the wheel set 20 and the tension spring 620 lose balance, and under the action of the gravity of the wheel set 20 and the tension of the tension spring 620, the wheel set 20 and the slide rail limiting plate 333 can slide downwards relative to the machine body lower cover 120, so that the wheel set 20 is tightly attached to the ground at any time, and power is provided for the robot to travel.

Specifically, as shown in fig. 7 and 8, fig. 7 and 8 are longitudinal sectional views of the robot passing through a depressed and raised ground or obstacle, respectively. First, as shown in fig. 7, when the robot passes through a sunken ground or an obstacle (referred to as a "sunken object"), at a moment when the robot passes through the sunken object, the wheel set 20 is in a suspended state, and under the tensile force of the tension spring 620, as shown by an arrow in fig. 7, the lever 610 rotates counterclockwise relative to the lower body cover 120 around the rotating shaft 122 as an axis, so that the output end 614 can apply a downward pressure on the catch member 336, and under the dual actions of the self-gravity of the wheel set 20 and the pressure of the output end 614, the wheel set 20 and the rail limiting plate 333 slide downward relative to the lower body cover 120, so that the wheel set 20 is constantly pressed against the ground, and power is provided for the traveling of the robot, so that the height of the wheel set 20 relative to the main body is lowered, and the wheel set 20 is constantly pressed against the ground.

When the robot passes through a raised ground or an obstacle (referred to as a "protrusion"), as shown in fig. 8, the front end of the wheel set 20 contacts with the protrusion first, the protrusion generates an upward obstacle-crossing force on the wheel set 20, during the robot lifting process, the bottom of the wheel set 20 is suspended, at this time, under the pulling force of the tension spring 620, as shown by an arrow in fig. 8, the lever 610 rotates counterclockwise relative to the machine body lower cover 120 with the rotating shaft 122 as an axis, so that the output end 614 can apply a downward pressure on the clamping member 336, and under the dual actions of the self gravity and the pressure of the output end 614 of the wheel set 20, the wheel set 20 and the slide rail limiting plate 333 can slide downward relative to the machine body lower cover 120, so that the height of the wheel set 20 relative to the main body is lowered, so that the wheel set 20 is constantly attached to the ground, and power is provided. After the robot crossed sunken or bellied barrier, the linkage of robot would resume normal steady state as shown in fig. 6 again, promptly the utility model discloses a wheelset can be according to the height of the height condition on ground under linkage's effect self-adaptation ground adjustment for the height of main part for ground is hugged closely constantly to the wheelset, provides power for advancing of robot.

In addition, as can be seen from fig. 6, when the robot normally works on a flat ground, the wheel set 20 is at the highest position relative to the machine body lower cover 120, the distance between the bottom surface of the machine body lower cover 120 and the ground is small, and the obstacle crossing capability of the robot in this state is small. When the robot passes through a sunken or raised obstacle, as shown in fig. 7 and 8, the wheel set 20 and the tension spring 620 lose balance, and under the action of the gravity of the wheel set and the tension of the tension spring 620, the wheel set 20 and the slide rail limiting plate 333 can slide downwards relative to the machine body lower cover 120, so that the position of the wheel set 20 is lowered relative to the main body 10, the distance between the bottom surface of the machine body lower cover 12 and the ground is increased, and the obstacle crossing capability of the robot is improved.

In the above embodiment, as shown in fig. 5, the output end 614 of the second arm 612 of the lever 610 is in a hook shape bent downward, and the output end 614 is inserted and abutted above the detent groove 334. As shown by the arrow in fig. 5, under the pulling force of the tension spring 620, the lever 610 can rotate counterclockwise relative to the lower cover of the machine body around the rotating shaft 122, so that the output end 614 can apply a downward pressure on the catch 336, so that the wheel set 20 can slide downward relative to the main body, and the wheel set 20 can be constantly pressed against the ground to provide the robot with the traveling power. It will be appreciated that in other embodiments, the output end 614 of the second arm 612 of the lever 610 may be of other shapes, so long as it is capable of connecting with the detent and exerting downward pressure on the detent so that the wheel set can slide downwardly relative to the main body.

In a specific embodiment, as shown in fig. 9, the output end 614 is provided with a sleeve hole 616, the sleeve hole 616 is a waist-shaped hole, the first sliding groove 121 is a straight sliding groove in the vertical direction, the output end 614 is sleeved on the clamping member 336 of the sliding rail limiting plate 333 through the sleeve hole 616, when the lever 610 rotates counterclockwise relative to the machine body lower cover 120 with the rotating shaft 122 as the axis under the action of the pulling force of the tension spring 620, the output end 614 can apply a downward pressure to the clamping member 336, so that the wheel set 20 can slide downward relative to the main body along the first sliding groove 121, and further, the wheel set 20 can be attached to the ground constantly to provide the robot with the traveling power.

In another specific embodiment, as shown in fig. 10, the output end 614 is provided with a sleeve hole 616, the sleeve hole 616 is a circular hole, the first sliding groove 121 is a circular arc sliding groove, the output end 614 is sleeved on the clamping member 336 of the sliding rail limiting plate 333 through the sleeve hole 616, when the lever 610 rotates counterclockwise relative to the machine body lower cover 120 around the rotating shaft 122 under the action of the pulling force of the tension spring 620, the output end 614 can apply a downward pressure to the clamping member 336, so that the wheel set 20 can slide downward relative to the main body along the circular arc first sliding groove 121, and further the wheel set 20 can be attached to the ground constantly to provide the robot with the traveling power.

In the above embodiment, the lever 610 functions to change the tension direction of the tension spring 620, so that the position of the tension spring 620 is not limited to the height direction of the main body, as shown in fig. 5, the tension spring 620 may be disposed in the horizontal direction or the nearly horizontal direction of the machine body lower cover 12, the space of the machine body lower cover 12 in the horizontal direction is fully utilized, and the space of the machine lower cover 120 in the horizontal direction is larger than the space in the height direction, so in the present embodiment, the working stroke of the tension spring 620 is longer, the working state of the tension spring 620 is relatively stable, and the parameters of the tension spring 620 may be easily adjusted, so as to meet the suspension performance requirements under different environments.

It will be appreciated that in other embodiments the lever may be replaced by other steering means, provided that the direction of tension of the tension spring is in a first direction, provided that the steering means is capable of directing the direction of tension of the tension spring in a second direction, different to the second direction, which in a particular embodiment may be horizontal, and capable of transmitting the tension of the tension spring to the detent of the inner hub assembly such that the wheel set is able to slide downwardly relative to the body under the action of the suspension means. In another embodiment, the steering device may further include a hook and a steering portion, the steering portion is fixed to the bottom of the lower cover of the machine body, a second hook position for connecting a tension spring is also located at the bottom of the lower cover of the machine body, the second hook position is located at one end far away from the steering portion, one end of the hook is connected with the blocking member, the other end of the hook bypasses the steering portion and is connected with the tension spring, one end of the tension spring is connected with the hook, the other end of the tension spring is connected with the second hook position, so that the tension spring is in a horizontal or nearly horizontal state, the hook can apply a downward tension to the blocking member, the wheel set slides downwards relative to the main body, and the wheel set can be attached to the ground.

The robot in above-mentioned each embodiment, through the reasonable structure that sets up main part, wheelset and linkage and the relation of connection each other for the wheelset can adjust the height for the main part according to the height condition self-adaptation on ground, makes the wheelset hug closely ground constantly, provides power for advancing of robot, and the wheelset is exactly the height that hangs of wheelset for gliding height about the main part, the utility model discloses a with wheelset sliding connection in the side of main part, thereby make the wheelset for gliding scope greatly increased about the main part, make the robot can stride across the high higher barrier, obviously promoted the obstacle crossing ability of robot.

In addition, the wheel set of the robot of the present invention is not only an exterior member but also a functional member, as shown in fig. 11 and 12, the driving member 310, the transmission member 320 and the power supply member 360 are further provided in the inner hub assembly 300, the partition plate 370 is further provided in the support frame 340, the partition plate 370 divides the space in the support frame 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 member 360. By adopting the design, the electrical distance between the power supply assembly 360 and the driving member 310 and the transmission member 320 is effectively ensured, and the electrical safety interval is improved.

In addition, as shown in fig. 11, the inner hub assembly includes a bracket 340, the bracket 340 is a first cylinder 348 having a first base plate 341, the outer hub assembly 400 includes a second cylinder 450 having a second base plate 410, the second base plate 410 and the second cylinder 450 enclose a receiving cavity for receiving the inner hub assembly, a first shaft hole 420 is formed in a center position of the second base plate 410, a wheel skin is wrapped on an outer side of the second cylinder 450, a center of the second base plate 410 extends toward the bracket 340 to form a first boss 460, the first shaft hole 420 is disposed on the first boss 460, a bearing 430 is fixedly disposed in the first shaft hole 420, when the inner hub assembly 300 and the outer hub assembly 400 are assembled together, as shown in fig. 16, the wheel shaft 350 is inserted into the first shaft hole 420, and the bearing 430 is disposed outside the wheel shaft 350, so that the outer hub assembly 400 is rotatably connected with the inner hub assembly 300. In addition, as shown in fig. 11, a driven member is fixedly disposed outside the first boss 460, and the driving member 310 transmits a torque to the driven member through the transmission member 320, so that the driven member drives the outer hub assembly 400 to rotate relative to the inner hub assembly 300.

Further, as shown in fig. 11, 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. 11, 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 engaged with the first worm gear 322, the first gear 323 is engaged 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. 11 and 16, the center position of the first base plate 341 extends and protrudes toward the main body, so that the first base plate 341 is formed with a second boss 342 and a recess 343 at a side close to the main body (i.e., an inner side of the first base plate 341) and a side away from the main body (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 in the bracket 340, the second boss 342 is provided with a notch 344, and as shown in fig. 12 to 16, the second output gear 326 and the driven gear 440 are engaged at the notch 344. Fig. 12 is a front view of the inner hub assembly 300 and the outer hub assembly 400 with the inner cover 330 hidden, fig. 13 and 14 are partial sectional views of the bracket 340 and the outer hub assembly 400 taken along the line a-a in fig. 12, respectively, fig. 15 is a schematic structural view of the bracket 340 and the outer hub assembly 400 in fig. 13 and 14, respectively, fig. 16 is a sectional view of the drive wheel 20 taken along the line B-B in fig. 7, and it can be seen from fig. 15 that 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. 16, 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.

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. The sweeping robot is characterized by comprising a main body, a wheel set and a suspension device, wherein the wheel set comprises an inner hub assembly and an outer hub assembly rotating relative to the inner hub assembly, and the wheel set is positioned on the side edge of the main body and can slide up and down relative to the main body; the suspension arrangement enables the wheel set to slide downwards relative to the main body.

2. The sweeping robot according to claim 1, wherein a first sliding groove or a first sliding rail is arranged on the side of the main body, a second sliding groove or a second sliding groove is arranged on the side of the inner hub assembly close to the main body, and the first sliding groove can be matched with the second sliding rail, or the second sliding groove can be matched with the first sliding rail, so that the wheel set is slidably connected to the side of the main body.

3. The sweeping robot of claim 2, wherein the first or second chute is linear or curvilinear.

4. The sweeping robot of claim 2, wherein a stopper is further disposed on the inner hub assembly or the main body to prevent the wheel set from being separated from the main body after the inner hub assembly is slidably connected to the main body.

5. The sweeping robot of claim 1, wherein a detent is disposed on or connected to a side of the inner hub assembly adjacent to the main body for engaging with the suspension device when the inner hub assembly is slidably connected to the main body.

6. The sweeping robot according to claim 5, wherein the suspension device is disposed in the main body, a part or all of the locking member is disposed in the main body, the suspension device comprises an elastic member, one end of the suspension device is connected to the locking member, and the other end of the suspension device is connected to the main body.

7. The sweeping robot of claim 6, wherein the direction of the pulling force of the elastic member is a first direction, and the suspension device further comprises a steering device connected to the elastic member for steering the pulling force of the elastic member from the first direction to a second direction, so that the wheel set can slide downward relative to the main body under the action of the suspension device.

8. The sweeping robot according to claim 7, wherein the steering device comprises a lever, the lever is rotatably connected with the main body, the lever comprises a first force arm and a second force arm which form an included angle, a first hook position and an output end are respectively arranged at positions, away from the rotation axis of the lever, of the first force arm and the second force arm, one end of the elastic piece is connected with the first hook position, the other end of the elastic piece is connected with the main body, and the output end can apply downward pressure to the clamping piece, so that the wheel set slides downwards relative to the main body.

9. The sweeping robot according to claim 8, wherein a clamping groove is further provided on the clamping member, and the output end can abut above the clamping groove; or, the output end is provided with a sleeve hole, and the output end can be sleeved with the clamping piece through the sleeve hole.

10. The sweeping robot according to claim 7, wherein the steering device further comprises a hook cable and a steering part, the steering part is fixed in the main body, one end of the hook cable is connected with the clamping part, the other end of the hook cable bypasses the steering part and is connected with the elastic part, one end of the elastic part is connected with the hook cable, and the other end of the elastic part is connected with the main body; the hook cable can apply downward pulling force to the blocking piece, so that the wheel set slides downwards relative to the main body.

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