CN215361528U

CN215361528U - Cleaning robot and driven wheel assembly thereof

Info

Publication number: CN215361528U
Application number: CN202121341801.6U
Authority: CN
Inventors: 毛世鑫; 向斯睿
Original assignee: Jiutian Innovation Guangdong Intelligent Technology Co ltd
Current assignee: Jiutian Innovation Guangdong Intelligent Technology Co ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-12-31
Anticipated expiration: 2031-06-16

Abstract

The utility model relates to the field of cleaning robots and discloses a cleaning robot and a driven wheel assembly thereof. The wheel body is arranged on the wheel frame and can rotate in a vertical plane relative to the wheel frame; the motor component is arranged between the robot main body and the wheel carrier and can drive the wheel carrier to rotate in a horizontal plane relative to the robot main body; the angle detection device is used for detecting the horizontal angle of the wheel frame relative to the robot main body. Through configuration motor element, motor element can adjust the horizontal angle of wheel carrier to the horizontal angle of adjustment wheel body, thereby when cleaning machines people's action wheel turned to, the horizontal angle of adjustment wheel body in advance, in order to avoid leading to from the problem that the driving wheel is not nimble enough from the driving wheel from the driving steering.

Description

Cleaning robot and driven wheel assembly thereof

Technical Field

The utility model relates to the field of cleaning robots, in particular to a cleaning robot and a driven wheel assembly thereof.

Background

The cleaning robot, also known as an automatic cleaner, intelligent dust collection, a robot dust collector and the like, can be applied to indoor or outdoor calling, and can automatically finish ground cleaning work by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection, and floor cleaning is also collectively called a cleaning robot.

The cleaning robot is provided with a power wheel and a driven wheel capable of steering, wherein the power wheel is used for providing power, and the driven wheel can steer.

At present, a driven wheel is generally a universal wheel and cannot actively steer, so that when a driving wheel steers, the driven wheel cannot flexibly follow the driving wheel to steer due to factors such as friction, and further certain deviation exists between a cleaning robot path and a preset path, and further the working efficiency is influenced.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a cleaning robot and a driven wheel assembly thereof, and aims to solve the technical problem that in the prior art, the driven wheel cannot steer actively, so that the driven wheel is not flexible.

The embodiment of the utility model adopts the following technical scheme for solving the technical problems: there is provided a driven wheel assembly for a cleaning robot including a robot main body, the driven wheel assembly including:

a wheel carrier;

the wheel body is arranged on the wheel frame and can rotate in a vertical plane relative to the wheel frame;

the motor assembly is arranged between the robot main body and the wheel frame and can drive the wheel frame to rotate in a horizontal plane relative to the robot main body; and

and the angle detection device is used for detecting the horizontal angle of the wheel carrier relative to the robot main body.

In some embodiments, the wheel carriage comprises a fixed carriage, a movable carriage, and a shock absorber;

the motor assembly is used for being installed between the robot main body and the fixing support; the movable bracket is arranged on the fixed bracket, and the wheel body is arranged on the movable bracket; the shock absorber is arranged between the fixed bracket and the movable bracket;

the amount of compression of the shock absorber increases when the movable bracket swings upward relative to the fixed bracket, and decreases when the movable bracket swings downward relative to the fixed bracket.

In some embodiments, the wheel carriage comprises two of the movable mounts and two of the shock absorbers;

the two movable supports are all installed on the fixed support, the wheel body is installed between the two movable supports, and the two shock absorbers are respectively arranged between the two movable supports and the fixed support.

In some embodiments, the motor assembly includes a motor, a first rotating portion, a second rotating portion, and a transmission mechanism;

the motor and the first rotating part are fixed on the wheel carrier, the second rotating part is installed on the first rotating part and used for being fixed on the robot main body, the transmission mechanism is arranged between a rotating shaft of the motor and the second rotating part, and the motor is used for acting on the second rotating part through the transmission mechanism so as to drive the first rotating part to rotate in a horizontal plane relative to the second rotating part.

In some embodiments, the first rotating portion is an inner ring member of a slewing bearing and the second rotating portion is an outer ring member of the slewing bearing.

In some embodiments, the transmission mechanism comprises a toothed portion and a first gear;

the tooth part is convexly arranged on the outer circumferential surface of the outer ring piece, and the first gear is coaxially fixed on the rotating shaft of the motor and meshed with the tooth part.

In some embodiments, the angle detection device includes an encoder and a second gear;

the encoder is fixed on the wheel carrier, and the second gear is coaxially fixed on a rotating shaft of the encoder and meshed with the tooth part.

In some embodiments, the encoder is an absolute encoder.

In some embodiments, the motor assembly further comprises a speed reducer;

the speed reducer is arranged between the rotating shaft of the motor and the second rotating part.

The embodiment of the utility model also adopts the following technical scheme for solving the technical problems: provided is a cleaning robot including:

a robot main body; and

the driven wheel assembly is mounted on the robot main body, and the motor assembly is used for driving the wheel carrier to rotate in a horizontal plane relative to the robot main body.

Compared with the prior art, in the cleaning robot and the driven wheel assembly thereof provided by the embodiment of the utility model, the motor assembly is configured, and the motor assembly can adjust the horizontal angle of the wheel frame to adjust the horizontal angle of the wheel body, so that when a driving wheel of the cleaning robot turns, the horizontal angle of the wheel body is adjusted in advance to avoid the problem that the driven wheel is not flexible due to the fact that the driven wheel cannot turn actively.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic structural diagram of a driven wheel assembly according to one embodiment of the present invention;

FIG. 2 is a schematic view of the driven wheel assembly shown in FIG. 1 at another angle.

Detailed Description

In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "upper", "lower", "top" and "bottom" used in the present specification indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Referring to fig. 1 and 2, a driven wheel assembly 100 for a cleaning robot is provided according to an embodiment of the present invention. The cleaning robot includes a robot main body.

The driven wheel assembly 100 includes a wheel frame 10, a motor assembly 20, a wheel body 30, and an angle detecting device 40. The wheel body 30 is mounted on the wheel frame 10 and can rotate in a vertical plane relative to the wheel frame 10, and the motor assembly 20 is disposed between the wheel frame 10 and the robot main body and is used for driving the wheel frame 10 to rotate in a horizontal plane relative to the robot main body. The angle detecting means 40 is used for detecting the horizontal angle of the wheel frame 10 relative to the robot main body.

The wheel frame 10 includes a fixed bracket 12, a movable bracket 14, and a damper 16. The fixed bracket 12 is used for mounting the motor assembly 20. The movable support 14 is used for mounting the wheel body 30. The movable bracket 14 is mounted on the fixed bracket 12, and the damper 16 is mounted between the fixed bracket 12 and the movable bracket 14. Wherein the amount of compression of the shock absorber 16 increases as the movable bracket 14 swings upward relative to the fixed bracket 12; as the movable bracket 14 swings downward relative to the fixed bracket 12, the amount of compression of the shock absorber 16 decreases.

The fixing bracket 12 includes a mounting plate 120, two support brackets 122, and two connecting blocks 124.

The mounting plate 120 is substantially horizontal.

The support shelf 122 has a generally vertical bar configuration.

The upper ends of the two support frames 122 and the two connecting blocks 124 are fixed on the lower surface of the mounting plate 120, and the fixing points of the two support frames 122 and the two connecting blocks 124 on the mounting plate 120 are respectively at four corners of a rectangular area, wherein the fixing points of the two support frames 122 are respectively at two adjacent corners of the rectangular area, and the fixing points of the two connecting blocks 124 are respectively at the other two adjacent corners of the rectangular area.

The wheel carriage 10 includes two movable brackets 14 and two dampers 16.

The two movable brackets 14 are both mounted on the fixed bracket 12, the wheel body 30 is mounted between the two movable brackets 14, and the two shock absorbers 16 are respectively arranged between the two movable brackets 14 and the fixed bracket 12. By arranging the wheel body 30 between the two movable supports 14, the driven wheel assembly 100 can be made to be neutral, which facilitates stable support of the robot main body.

Each of the movable brackets 14 is substantially bar-shaped. Each of the shock absorbers 16 has a substantially bar shape, and when the compression amount of the shock absorber 16 is increased, the distance between both ends of the shock absorber 16 is decreased, and when the compression amount of each of the shock absorbers 16 is decreased, the distance between both ends of the shock absorber 16 is increased.

One end of each of the movable brackets 14 is hinged to a lower end of a corresponding one of the support frames 122, the other end of each of the movable brackets 14 is hinged to one end of a corresponding one of the dampers 16, and the other end of each of the dampers 16 is hinged to a corresponding one of the connection blocks 124. The wheel body 30 is hinged at a position between both ends of each of the movable brackets 14.

The motor assembly 20 includes a motor 22, a first rotating portion 24, a second rotating portion 26, and a transmission 28. The motor 22 and the first rotating portion 24 are both fixed on the wheel carrier 10, the second rotating portion 26 is mounted on the first rotating portion 24 and is used for being fixed on the robot main body, the transmission mechanism 28 is arranged between the rotating shaft of the motor 22 and the second rotating portion 26, and the motor 22 is used for acting on the second rotating portion 26 through the transmission mechanism 28 so as to drive the first rotating portion 24 to rotate in a horizontal plane relative to the second rotating portion 26.

It is understood that the transmission mechanism 28, the first rotating portion 24 and the second rotating portion 26 may be omitted according to actual requirements. For example, the motor 22 is fixed on the robot main body, and the rotating shaft of the motor 22 is fixed on the wheel carrier 10; for example, the motor 22 is fixed to the wheel carrier 10, and a rotation shaft of the motor 22 is fixed to the robot main body.

The first rotating part 24 is an inner ring member of the slewing bearing, and the second rotating part 26 is an outer ring member of the slewing bearing. The inner ring piece can be fixed on the wheel carrier 10 through screws, the outer ring piece can be fixed on the robot main body through screws, and a rolling ball can be arranged between the inner ring piece and the outer ring piece.

It is understood that the first rotating portion 24 and the second rotating portion 26 may have other configurations according to actual requirements, for example, the first rotating portion 24 is a rotating shaft, the second rotating portion 26 is a shaft seat, for example, the first rotating portion 24 is a sphere, and the second rotating portion 26 is a ball socket. It is sufficient that the first and second rotating portions 24 and 26 can rotate with each other after they are connected.

The transmission 28 includes a toothed portion 280 and a first gear 282.

The tooth 280 is protruded on the outer circumference of the outer ring, and the first gear 282 is coaxially fixed on the rotating shaft of the motor 22 and engaged with the tooth 280.

The teeth 280 may be integrally formed with the outer ring member, or may be assembled to the outer ring member by a process such as welding, screwing, riveting, or the like.

The first gear 280 may be sleeved outside the rotating shaft of the motor 22 and transmit torque through a key.

The motor assembly 20 also includes a reducer 29.

The speed reducer 29 is disposed between the rotation shaft of the motor 33 and the second rotating portion 26.

The decelerator 29 is used to decelerate the rotation speed of the motor 22 and increase the torque of the motor 22, so as to improve the control accuracy of the motor 22.

It will be appreciated that the reducer 29 may be omitted, depending on the actual requirements. For example, the rotating shaft of the motor 22 is directly connected to the first gear 282.

The angle detection device 40 includes an encoder 42 and a second gear 44;

the encoder 42 is fixed to the wheel carrier 10, and the second gear 44 is coaxially fixed to a rotating shaft of the encoder 42 and engaged with the tooth portion 280. When the wheel frame 10 rotates, the second gear 44 acts on the tooth portion 280 to drive the rotating shaft of the encoder 42 to rotate, so as to detect the horizontal angle of the wheel frame 10.

The encoder 42 may be an absolute encoder.

The second gear 44 can be sleeved outside the rotating shaft of the encoder 42 and transmit torque through a key.

Another embodiment of the present invention provides a cleaning robot including a robot main body and the driven wheel assembly 100 according to the foregoing embodiments. The motor assembly 20 is mounted on the robot main body for driving the wheel carriage 10 to rotate in a horizontal plane relative to the robot main body.

Compared with the prior art, in the cleaning robot and the driven wheel assembly 100 thereof provided by the embodiment of the utility model, by configuring the motor assembly 20, the motor assembly 20 can adjust the horizontal angle of the wheel frame 10 to adjust the horizontal angle of the wheel body 30, so that when the driving wheel of the cleaning robot turns, the horizontal angle of the wheel body is adjusted in advance to avoid the problem that the driven wheel is not flexible enough due to the fact that the driven wheel cannot turn actively.

In addition, since the slewing bearing, the first gear 282 and the second gear 44 are substantially in the same horizontal space, the driven wheel assembly 100 is compact in structure, and the outer ring member of the slewing bearing is used for being fixed on the robot main body, so that the driven wheel of the existing cleaning robot can be replaced by the driven wheel assembly 100 provided by the embodiment of the utility model, and the robot main body of the existing cleaning robot is not required to be modified basically.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the utility model, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; while the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driven wheel assembly for a cleaning robot including a robot body, the driven wheel assembly comprising:

a wheel carrier;

2. The driven wheel assembly of claim 1, wherein the wheel carrier includes a fixed bracket, a movable bracket, and a shock absorber;

3. The driven wheel assembly as in claim 2, wherein the wheel carrier comprises two of the movable brackets and two of the shock absorbers;

4. The driven wheel assembly of any of claims 1-3, wherein the motor assembly comprises a motor, a first rotating portion, a second rotating portion, and a transmission mechanism;

5. The driven wheel assembly of claim 4, wherein the first rotating portion is an inner race member of a slew bearing and the second rotating portion is an outer race member of a slew bearing.

6. The driven wheel assembly of claim 5, wherein the transmission mechanism includes a toothed portion and a first gear;

7. The driven wheel assembly as defined in claim 6, wherein the angle detection device includes an encoder and a second gear;

8. The driven wheel assembly of claim 7, wherein the encoder is an absolute encoder.

9. The driven wheel assembly of claim 4, wherein the motor assembly further comprises a speed reducer;

10. A cleaning robot, characterized by comprising:

a robot main body;

a driven wheel assembly according to any one of claims 1 to 9, the motor assembly being mounted to the robot body for driving the wheel carriage to rotate relative to the robot body in a horizontal plane.