CN211324796U

CN211324796U - Cleaning robot

Info

Publication number: CN211324796U
Application number: CN201922122366.7U
Authority: CN
Inventors: 程杰锋; 业明坤; 张军歌; 李清; 李忠华; 曹国新
Original assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Current assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-08-25
Anticipated expiration: 2029-12-02

Abstract

The utility model is suitable for an intelligence house technical field provides a cleaning machines people, including drive assembly and crawler assembly, crawler assembly includes: the supporting piece is connected with the driving assembly or the shell of the cleaning robot through a connecting piece; the transmission component is connected with the driving assembly; the guide wheel assembly is movably arranged on the supporting piece and comprises a first guide wheel and a second guide wheel which are arranged below the transmission part and positioned on two sides; the traveling wheel assembly is arranged below the guide wheel assembly and is positioned between the first guide wheel and the second guide wheel; and a track disposed around the surfaces of the transmission member, the guide wheel assembly, and the travel wheel assembly to form at least a first incline between the first guide wheel and the travel wheel assembly and a second incline between the second guide wheel and the travel wheel assembly. The utility model discloses well track walking subassembly can reliably realize turning over of clean in-process barrier, has promoted cleaning machines people self-cleaning's reliability.

Description

Cleaning robot

Technical Field

The utility model belongs to the technical field of the intelligence house, especially, relate to a cleaning robot.

Background

In modern life, the appearance of the autonomous cleaning device provides convenience for cleaning the ground, and reduces the labor intensity. A household cleaning robot is a common autonomous cleaning device, and can automatically travel in a home room and simultaneously suck peripheral dust or foreign substances, thereby completing floor cleaning.

In a household, step doorsills exist in many occasions, such as a balcony living room, a living room toilet, a sliding door and the like, and the step doorsills can become barriers to the movement of the cleaning robot. When meeting the obstacles, a large part of the existing sweeping robots can be blocked, and people are required to intervene to get rid of difficulties. In order to improve the obstacle crossing capability of the cleaning robot, the roller is usually adopted for obstacle crossing, and the problem of easy unbalance or poor obstacle crossing capability still exists when the roller crosses the obstacle, so that the use requirement of reliable obstacle crossing cannot be really met.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a cleaning robot to solve cleaning robot and cross the poor problem of barrier ability.

In order to solve the above problem, the technical scheme of the utility model is realized like this: a cleaning robot comprising a drive assembly and a crawler assembly, the crawler assembly comprising: a support connected with the driving assembly or with a housing of the cleaning robot through a connection member; the transmission part is movably arranged on the supporting part and is connected with the driving assembly so as to rotate under the driving of the driving assembly; the guide wheel assembly is movably arranged on the supporting piece and comprises a first guide wheel and a second guide wheel which are arranged below the transmission part and positioned on two sides along the cleaning advancing direction; the travelling wheel assembly is movably connected with the support piece, is arranged below the guide wheel assembly and is positioned between the first guide wheel and the second guide wheel; a track disposed about a surface of the drive member, the guide wheel assembly, and the travel wheel assembly to form at least a first incline between the first guide wheel and the travel wheel assembly and a second incline between the second guide wheel and the travel wheel assembly.

Preferably, the slope of the first slope is the same as the slope of the second slope.

Preferably, the road wheel assembly includes a plurality of horizontally spaced rollers, the track includes a third plane below the rollers, and the first and second ramps are connected by the third plane.

Preferably, the transmission component comprises a sleeve and transmission teeth, the sleeve is fixedly connected with the driving assembly, and the transmission teeth are circumferentially arranged on the surface of one end of the sleeve.

Preferably, the sleeve end is the end of the sleeve remote from the drive assembly.

Preferably, the track includes a fourth slope between the transmission member and the first guide wheel and a fifth slope between the transmission member and the second guide wheel, and a slope of the fourth slope is the same as a slope of the fifth slope.

Preferably, the drive assembly comprises a drive member and a gearbox, the drive member being connected to an input shaft of the gearbox and the transmission member being connected to an output shaft of the gearbox.

Preferably, the support member is provided with a through hole, the output shaft of the gearbox passes through the through hole, and the connecting member is arranged between the output shaft and the support member for connection.

Preferably, the support is located inside the transmission member, the guide wheel assembly, the walking wheel assembly and the track.

Preferably, the crawler belt assembly further comprises an end cap disposed opposite the support member and located outside the transmission member, the guide wheel assembly, the walking wheel assembly and the crawler belt: the end cover is connected with the guide wheel assembly and the walking wheel assembly.

The utility model provides a cleaning machines people, leading wheel subassembly among the crawler travel assembly sets to including first leading wheel and second leading wheel, moreover, first leading wheel and second leading wheel set up in drive disk assembly's below and lie in drive disk assembly's both sides. Meanwhile, the walking wheel assembly is arranged between the first guide wheel and the second guide wheel and is positioned below the guide wheel assembly; and the surfaces of the transmission component, the guide wheel component and the walking wheel component are wound with a crawler belt, so that a first inclined surface is formed at least between the first guide wheel and the walking wheel component, and a second inclined surface is formed between the second guide wheel and the walking wheel component. Therefore, the cleaning robot has inclined planes in the front and the back in the cleaning advancing direction, the obstacle crossing capability of the cleaning robot is enhanced through the inclined planes, the obstacle crossing in the advancing direction and the obstacle crossing in the retreating direction can be reliably realized, and the double obstacle crossing performance is realized. And moreover, the crawler belt is in contact with the obstacle to move, so that the contact area is large, and the stability in the obstacle crossing process is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present invention;

fig. 2 is a schematic view of an assembly between the crawler belt assembly and the housing according to an embodiment of the present invention;

fig. 3 is a schematic view of the assembly between the crawler belt assembly and the housing according to the embodiment of the present invention, in which the end cap is omitted;

fig. 4 is an assembly diagram of the driving assembly and the crawler belt unit according to the embodiment of the present invention, in which the end caps are omitted.

Description of reference numerals:

1. a cleaning robot; 10. a housing; 11. a drive assembly; 111. a drive member; 112. a gearbox; 12. a crawler belt traveling assembly; 121. a transmission member; 1211. a sleeve; 1212. a transmission gear; 122. a support member; 1241. a first guide wheel; 1242. a second guide wheel; 125. a traveling wheel assembly; 1251. a roller; 126. a crawler belt; 1261. a first inclined plane; 1262. a second inclined plane; 1263. a third plane; 1264. a fourth slope; 1265. a fifth bevel; 127. and (4) end covers.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, directly disposed or connected, or indirectly disposed or connected through intervening elements or intervening structures.

The individual features and embodiments described in the detailed description can be combined in any suitable manner, for example different embodiments and solutions can be formed by combining different specific features, without departing from the scope of the invention. In order to avoid unnecessary repetition, various combinations of the specific features of the present invention are not described separately.

As shown in fig. 1, an embodiment of the present invention provides a cleaning robot 1, which includes a driving assembly 11 (see fig. 4) and a crawler belt assembly 12. The crawler belt traveling assembly 12 is used to carry a housing 10 supporting the cleaning robot 1, and other necessary components (such as a control assembly, a rolling brush, a dust box, and the like) capable of performing an automatic cleaning function are installed in the housing 10 and will not be described in detail herein. Thus, the housing 10 is supported by the crawler belt units 12 with a certain distance between the housing 10 and the cleaning surface; and the driving assembly 11 is used to provide a driving force capable of driving the crawler belt walking assembly 12 to rotate, so that the movement of the entire cleaning robot 1 can be achieved by the rotation of the crawler belt walking assembly 12 for adjusting the cleaning position.

As shown in fig. 2 and 3, the crawler belt unit 12 (see fig. 1) includes a driving member 121, a support member 122, a guide wheel assembly, a traveling wheel assembly 125, and a crawler belt 126 (see fig. 1). The transmission part 121 is movably arranged on the support 122 and is fixedly connected with the driving assembly 11 so as to be capable of rotating under the driving of the driving assembly 11; the supporting member 122 is connected with the driving assembly 11 or the housing 10 of the cleaning robot 1 through a connecting member, so that the supporting member 122 and the driving assembly 11 can rotate relatively; the guide wheel assembly is movably arranged on the support 122, and along the cleaning traveling direction, the guide wheel assembly comprises a first guide wheel 1241 and a second guide wheel 1242 which are arranged below the transmission part 121 and positioned at two sides, and both the first guide wheel 1241 and the second guide wheel 1242 can rotate relative to the support 122; the walking wheel assembly 125 is connected with the support 122, is arranged below the guide wheel assembly and is positioned between the first guide wheel 1241 and the second guide wheel 1242; the track 126 is then disposed about the surfaces of the drive component 121, the guide wheel assembly, and the road wheel assembly 125 to form a first ramp 1261 between at least the first guide wheel 1241 and the road wheel assembly 125 and a second ramp 1262 between the second guide wheel 1242 and the road wheel assembly 125. Through setting up like this, realized should be integrated into an independent part with crawler travel assembly 12, during the installation, only need drive assembly 121 and drive assembly 11 fixed connection can, the simple to operate nature is good. Further, the first inclined surface 1261 and the second inclined surface 1262 are respectively positioned at the front and the rear in the cleaning traveling direction of the cleaning robot 1, that is, inclined surfaces are respectively formed at the front and the rear in the cleaning traveling direction, and the obstacle crossing capability of the cleaning robot 1 is enhanced by the inclined surfaces, so that the forward obstacle crossing or the backward obstacle crossing can be reliably realized, and the double obstacle crossing performance is provided. In addition, the crawler belt 126 moves in contact with the obstacle, and the crawler belt 126 has a large area, so that the contact area with the obstacle is increased, and the stability in the obstacle crossing process is improved.

As shown in fig. 2 and 3, the crawler belt unit 12 (see fig. 1) provided in the embodiment of the present invention is configured such that the traveling wheel unit 125 is disposed between the first guide wheel 1241 and the second guide wheel 1242 and is located below the first guide wheel 1241 and the second guide wheel 1242. Thus, after the track 126 is disposed around the surfaces of the driving part 121, the guide wheel assembly, and the road wheel assembly 125, a first inclined surface 1261 is formed between the first guide wheel 1241 and the road wheel assembly 125 and a second inclined surface 1262 is formed between the second guide wheel 1242 and the road wheel assembly 125, and the first inclined surface 1261 is inclined in an obliquely upward direction, i.e., the self-cleaning surface extends upward with an increasing distance from the cleaning surface. Thus, the opening of the inclined plane is the same as the direction of the cleaning movement of the cleaning robot 1 (see fig. 1), and is directed forward in the movement cleaning direction, so that the obstacle which the cleaning robot 1 touches during the movement cleaning enters the inclined plane from the opening side of the inclined plane, and can pass over the obstacle along with the rotation of the crawler 126, thereby crossing over the obstacle. Similarly, the second inclined surface 1262 is inclined obliquely upward in the inclined direction, that is, the cleaning surface extends upward at a greater distance from the cleaning surface. Thus, the opening of the inclined plane is the same as the direction of the cleaning movement and the retreating of the cleaning robot 1, so that the cleaning robot 1 can enter the inclined plane from the opening side of the inclined plane in the moving and retreating process, and can pass over the obstacle along with the rotation of the crawler 126, and can also realize the purpose of turning over the obstacle. By forming the inclined surface on the track 126, the obstacle crossing ability of the cleaning robot 1 is enhanced, and the forward obstacle crossing or the backward obstacle crossing can be reliably realized. In the obstacle crossing process, the contact area of the crawler belt 126 and the obstacle is large, and therefore the obstacle crossing stability is improved.

As shown in fig. 2 and 3, the first inclined surface 1261 and the second inclined surface 1262 are respectively located at the front and the rear of the cleaning robot 1 (refer to fig. 1) for moving cleaning, that is, in a specific use, the obstacle crossing requirement in the forward direction can be met by the first inclined surface 1261, and the obstacle crossing can be performed by the second inclined surface 1262 when the cleaning robot 1 moves backwards. Thus, the provision of the first inclined surface 1261 and the second inclined surface 1262 enables obstacle surmounting in the forward direction and the backward direction, and improves the obstacle surmounting performance of the cleaning robot 1. Moreover, in a practical setting, it is preferable to set the slope of the first slope 1261 to be the same as the slope of the second slope 1262 so as to have the same obstacle crossing performance. Of course, it is understood that in other embodiments, the slope of first ramp 1261 and second ramp 1262 may be set differently depending on different design requirements.

As shown in fig. 2 and 3, the traveling wheel assembly 125 includes a plurality of rollers 1251 spaced apart in a horizontal direction, and the track 126 is wound around the surface of each roller 1251 such that the track 126 (see fig. 1) is formed to include a third plane 1263 positioned below the roller 1251, and the first inclined surface 1261 and the second inclined surface 1262 are connected by the third plane 1263. Thus, the third plane 1263 is used to contact the cleaning surface during a particular movement, and the third plane 1263 has a larger area. Thus, the third plane 1263 contacts with the cleaning surface, so that the stability of the position action process is improved. Of course, the traveling wheel assembly 125 may be provided with only one roller 1251 on the premise that the cleaning robot 1 is smoothly moved.

As shown in fig. 3 and 4, in the embodiment of the present invention, the transmission member 121 is connected to the driving assembly 11 to provide a driving force to the entire crawler belt unit 12, and the transmission member 121 rotates to drive the crawler belt 126 (see fig. 1) to rotate, thereby moving the cleaning robot 1 as a whole. Therefore, in order to improve the reliability of the transmission between the transmission member 121 and the track 126, the transmission member 121 is configured to include a sleeve 1211 and transmission teeth 1212, wherein the sleeve 1211 is fixedly connected to the driving assembly 11, and the transmission teeth 1212 are circumferentially disposed on a surface of one end of the sleeve 1211. Also, one end of the sleeve 1211 is preferably the end of the sleeve 1211 that is distal from the drive assembly 11. With this arrangement, the track 126 is not only wound around the sleeve 1211, but also a transmission structure is formed between the track 126 and the transmission teeth 1212 for the transmission of the drive by the engagement of the transmission teeth 1212, so that the transmission between the transmission member 121 and the track 126 is ensured, the sliding between the track 126 and the transmission member 121 is prevented, and the track 126 is reliably rotated to ensure the reliability of the movement of the cleaning position.

As shown in fig. 2 and 3, the track 126 further includes a fourth inclined surface 1264 between the driving part 121 and the first guide wheel 1241 and a fifth inclined surface 1265 between the driving part 121 and the second guide wheel 1242, and it is preferable that the slope of the fourth inclined surface 1264 is set to be the same as the slope of the fifth inclined surface 1265. That is, since the transmission member 121 is disposed above between the first guide roller 1241 and the second guide roller 1242, the fourth inclined surface 1264 and the fifth inclined surface 1265 are formed. In this way, the overall shape of the crawler belt walking assembly 12 is a pentagonal structure, the overall aesthetic property is good, the crawler belt walking assembly not only has reliable obstacle crossing capability, but also has good driving reliability because the transmission part 121 is positioned above the first guide wheel 1241 and the second guide wheel 1242 for transmission, and the guide wheels are used for guiding no matter the driving part rotates forwards or backwards.

As shown in fig. 4, the driving assembly 11 includes a driving member 111 and a transmission case 112, the driving member 111 is connected to an input shaft of the transmission case 112, and a transmission member 121 is connected to an output shaft of the transmission case 112. In this way, the driving force provided by the driving member 111 can obtain a large driving force after being converted by the transmission case 112, and thus, not only the variation of the cleaning position but also the obstacle crossing can be reliably achieved.

In the embodiment of the present invention, the whole crawler belt unit 12 is integrated as an independent part, and then connected to the driving unit 11 through the connecting member. The connection mode is specifically as follows: a through hole is formed on the support member 122, the output shaft of the transmission case 112 passes through the through hole to be connected with the transmission member 121, and a connecting member is provided between the output shaft and the support member 122, through which the movable connection between the output shaft and the support member 122 is realized. Thus, the drive member 121, guide wheel assembly and walking wheel assembly 125 are all located on the same side of the support member 122, with support provided by the support member 122. Under the connecting action of the connecting member, the whole crawler belt walking assembly 12 is movably connected with the output shaft of the gearbox 112, so that the output shaft can rotate relative to the supporting member 122, and the transmission part 121 is driven to rotate. In a particular arrangement, the connection is preferably provided as a bearing.

As shown in fig. 3, in the embodiment of the present invention, the guide wheel assembly and the traveling wheel assembly 125 are both movably connected to the support member 122, and the support member 122 is preferably disposed inside the transmission member 121, the guide wheel assembly, the traveling wheel assembly 125 and the track 126. Thus, the support 122 is coupled to the output shaft at a location that is relatively close to the location of the gearbox 112, and the weight of the entire crawler travel assembly 12 is supported by the output shaft. Thus, by providing the supporting member 122 in this manner, the stability of the entire structure can be improved.

As shown in fig. 1 and 2, in order to provide reliable movable support for the guide wheel assembly and the walking wheel assembly 125, in the embodiment of the present invention, the crawler belt walking assembly 12 is further configured to further include an end cap 127, and the end cap 127 is disposed opposite to the supporting member 122 and located outside the transmission part 121 (see fig. 3), the guide wheel assembly, the walking wheel assembly 125 and the crawler belt 126, and at the same time, the end cap 127 is connected to the guide wheel assembly and the walking wheel assembly 125. In this way, the two ends of the installed guide wheel assembly and the end cap 127 are respectively provided with the supporting member 122 and the end cap 127, that is, the two ends of the guide wheel assembly and the end cap 127 are respectively provided with the supporting member 122 and the end cap 127 to provide movable support, so that the stability of the whole structure of the crawler belt walking assembly 12 is improved.

The embodiment of the utility model provides an in the cleaning robot who provides, through adopting with the integrated independent part that sets to of crawler travel assembly, simple to operate nature is good. Simultaneously, through adopting to set the crawler travel subassembly to including first inclined plane and second inclined plane at least, this first inclined plane and second inclined plane can be used for going in the middle of carrying out the turning over of barrier, and obstacle crossing ability is strong moreover, and the good reliability can effectively realize turning over of barrier, makes the clear reliability of cleaning robot obtain the promotion.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A cleaning robot comprising a drive assembly and a crawler track assembly, the crawler track assembly comprising:

a support connected with the driving assembly or with a housing of the cleaning robot through a connection member;

the transmission part is movably arranged on the supporting part and is connected with the driving assembly so as to rotate under the driving of the driving assembly;

the guide wheel assembly is movably arranged on the supporting piece and comprises a first guide wheel and a second guide wheel which are arranged below the transmission part and positioned on two sides along the cleaning advancing direction; the travelling wheel assembly is movably connected with the support piece, is arranged below the guide wheel assembly and is positioned between the first guide wheel and the second guide wheel;

a track disposed about a surface of the drive member, the guide wheel assembly, and the travel wheel assembly to form at least a first incline between the first guide wheel and the travel wheel assembly and a second incline between the second guide wheel and the travel wheel assembly.

2. The cleaning robot of claim 1, wherein a slope of the first slope is the same as a slope of the second slope.

3. The cleaning robot of claim 2, wherein the walking wheel assembly includes a plurality of horizontally spaced rollers, the track includes a third plane below the rollers, and the first and second ramps are connected by the third plane.

4. The cleaning robot as claimed in claim 2 or 3, wherein the transmission member includes a sleeve fixedly connected to the driving assembly and a transmission tooth circumferentially provided on a surface of one end of the sleeve.

5. The cleaning robot of claim 4, wherein the sleeve end is an end of the sleeve distal from the drive assembly.

6. The cleaning robot of claim 4, wherein the track includes a fourth slope between the driving member and the first guide wheel and a fifth slope between the driving member and the second guide wheel, and a slope of the fourth slope is the same as a slope of the fifth slope.

7. A cleaning robot as claimed in any one of claims 1 to 3, wherein the drive assembly comprises a drive member and a gearbox, the drive member being connected to an input shaft of the gearbox and the transmission member being connected to an output shaft of the gearbox.

8. The cleaning robot as claimed in claim 7, wherein said support member is provided with a through hole through which an output shaft of said transmission case passes, and said connecting member is provided between said output shaft and said support member for connection.

9. The cleaning robot of claim 8, wherein the support is located inside the drive member, the guide wheel assembly, the walking wheel assembly, and the track.

10. The cleaning robot of claim 9, wherein the track walking assembly further comprises an end cap disposed opposite the support, outboard of the drive member, the guide wheel assembly, the walking wheel assembly, and the track: the end cover is connected with the guide wheel assembly and the walking wheel assembly.