CN216526890U - High-precision driving device and cleaning robot - Google Patents
High-precision driving device and cleaning robot Download PDFInfo
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- CN216526890U CN216526890U CN202122886577.5U CN202122886577U CN216526890U CN 216526890 U CN216526890 U CN 216526890U CN 202122886577 U CN202122886577 U CN 202122886577U CN 216526890 U CN216526890 U CN 216526890U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model relates to a high-precision driving device and a cleaning robot, wherein the high-precision driving device comprises a shell, a wheel set assembly and an auxiliary assembly, the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is arranged on the shell in a sliding manner, and the rotating power element is used for driving the pulley to rotate; the auxiliary assembly comprises a supporting piece, an auxiliary wheel and a sensor, the supporting piece is slidably arranged on the shell, the auxiliary wheel is rotatably connected to the supporting piece, the sensor is installed on the supporting piece, and the sensor is used for measuring mileage data of the auxiliary wheel. The high-precision driving device drives the pulley to rotate by rotating the power element, thereby realizing the motion function and improving the motion flexibility; the fixing seat and the supporting piece are arranged on the shell in a sliding mode, so that the fixing seat and the supporting piece can move up and down along with the external terrain, and the obstacle crossing performance is improved; the mileage data of the auxiliary wheel is measured through the sensor, the motion track is fed back, closed-loop control is achieved, and the rotating accuracy is improved.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a high-precision driving device and a cleaning robot.
Background
At present, most of solar panel intelligent cleaning robots provide motion power for the robots through crawler structures arranged on two sides of the robots. The crawler belt scheme is mainly composed of a motor, a plurality of transmission wheel sets and a crawler belt, the motor drives the crawler belt, the transmission is carried out through the transmission wheel sets and the crawler belt, and the moving functions of advancing, retreating and rotating are provided for the robot through the friction force between the crawler belt and a contact surface. However, due to the limitation of the length of the track, the robot is large in size, heavy in weight and complex in structure, the robot moves slowly, the center deviation of the robot is uncontrollable when the robot rotates, the movement accuracy is not high, and the robot is inconvenient for a user to use.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide a high-precision driving device and a cleaning robot which are compact in structure and convenient to use.
A high-precision driving device comprises a shell, a wheel set assembly and an auxiliary assembly, wherein the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is arranged on the shell in a sliding mode, and the rotating power element is used for driving the pulley to rotate; the auxiliary assembly comprises a supporting piece, an auxiliary wheel and a sensor, the supporting piece is slidably arranged on the shell, the auxiliary wheel is rotatably connected to the supporting piece, the sensor is installed on the supporting piece, and the sensor is used for measuring mileage data of the auxiliary wheel.
In one embodiment, the wheel assembly further includes a plurality of first rolling members, each of the first rolling members is rotatably connected to the fixing base, and the first rolling members are slidably disposed on the inner side of the outer shell.
In one embodiment, the wheel set assembly further includes a plurality of first brackets, each of the first brackets is respectively mounted at two opposite ends of the fixed seat, and each of the first rolling members is respectively rotatably connected to the first brackets; the first rolling piece is arranged at one end of the shell in a sliding mode.
In one embodiment, the wheel assembly further includes a plurality of second brackets, the second brackets are mounted on one side of the first brackets, and each of the first rolling members is rotatably connected to the second brackets.
In one embodiment, the wheel set assembly further comprises a plurality of sliding members, and each sliding member is rotatably connected to the first bracket; the sliding piece is arranged on one side of the shell in a sliding mode.
In one embodiment, the device further comprises a position sensing part and a control system, wherein the position sensing part is mounted on the shell and used for sensing the position of the first bracket; the position sensing piece, the rotating power element and the sensor are respectively in signal connection with the control system.
In one embodiment, the wheel assembly further includes a plurality of first elastic members, one end of each first elastic member is connected to the first bracket, and the other end of each first elastic member is connected to the housing.
In one embodiment, the wheel assembly further comprises a sensor, wherein the sensor is embedded in the rotating power element.
In one embodiment, the auxiliary assembly further includes a mounting frame, a plurality of second rolling members and a second elastic member, the mounting frame is connected to the supporting member, the second rolling members are respectively rotatably connected to the mounting frame, and the second rolling members are slidably disposed on the inner side of the outer shell; the second elastic component is a plurality of, the one end of second elastic component is connected the mounting bracket, and the other end is connected the shell.
A cleaning robot comprises the high-precision driving device.
Compared with the prior art, the utility model has the following beneficial effects:
the high-precision driving device drives the pulley to rotate by rotating the power element, so that the moving functions of advancing, retreating and rotating are realized, and the flexibility of movement is improved; the fixing seat and the supporting piece are arranged on the shell in a sliding mode, so that the fixing seat and the supporting piece can move up and down along with the external terrain, and the obstacle crossing performance is improved; the mileage data of the auxiliary wheel is measured through the sensor, the motion track is fed back, closed-loop control is realized, and the rotation precision is improved; the high-precision driving device has compact structure and convenient use.
Drawings
FIG. 1 is a schematic diagram of an assembly structure of a high precision driving apparatus according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of another angle of the high-precision driving apparatus shown in FIG. 1;
FIG. 3 is a schematic structural view of the wheel set assembly of FIG. 2, wherein the cover plate and the first resilient member are not shown;
FIG. 4 is a schematic structural view of the auxiliary assembly of FIG. 2, wherein the second elastic member is not shown;
fig. 5 is a diagram of an example of an application of the cleaning robot with the high precision driving device according to the embodiment of the present invention.
Reference is made to the accompanying drawings in which:
a high-precision driving device 100;
the wheel set assembly comprises a shell 10, a shell 11, an abdicating groove 111, a first limiting groove 112, a second limiting groove 113, a first sliding groove 114, a second sliding groove 115, a partition plate 12, a wheel set assembly 20, a fixed seat 21, a bottom shell 211, a cover plate 212, a rotating power element 22, a pulley 23, a driven wheel 24, a first rolling piece 25, a first support 26, a second support 27, a sliding piece 28, a first elastic piece 29, an auxiliary assembly 30, a support piece 31, an auxiliary wheel 32, a sensor 33, a mounting frame 34, a second rolling piece 35, a second elastic piece 36 and a position sensing piece 40.
Detailed Description
In order that the utility model may be more fully understood, reference will now be made to the following description. This 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. When the number of an element is referred to as "a plurality," it can be any number of two or more. 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 utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 5, a high precision driving apparatus 100 according to a preferred embodiment of the present invention includes a housing 10, a wheel set assembly 20 and an auxiliary assembly 30, wherein the wheel set assembly 20 includes a fixing base 21, a rotating power element 22 and a pulley 23, and the auxiliary assembly 30 includes a supporting member 31, an auxiliary wheel 32 and a sensor 33; the high-precision driving device 100 of the utility model drives the pulley 23 to rotate by rotating the power element 22, thereby realizing the moving functions of advancing, retreating and rotating and improving the flexibility of movement; the fixed seat 21 and the supporting piece 31 are arranged on the shell 10 in a sliding manner, so that the shell can move up and down along with the external terrain, and the performance of crossing obstacles is improved; the sensor 33 is used for measuring the mileage data of the auxiliary wheel 32, the motion track is fed back, closed-loop control is realized, and the rotating precision is improved.
As shown in fig. 1 and fig. 2, in the present embodiment, the outer shell 10 includes a shell 11 and a partition 12 connecting the shell 11, and the partition 12 divides the shell 11 into a wheel set accommodating cavity (not shown) and an auxiliary wheel accommodating cavity (not shown); optionally, one side of the housing 11 is provided with a yielding groove 111, two ends of the housing 11 are respectively provided with a plurality of first limiting grooves 112 and a plurality of second limiting grooves 113, and inner sides of two ends of the housing 11 are respectively provided with a plurality of first sliding grooves 114 and a plurality of second sliding grooves 115; the housing 11 is fixed to an external frame by screws; furthermore, the number of the first limiting grooves 112 and the number of the second limiting grooves 113 are two, the two first limiting grooves 112 are respectively communicated with two ends of the wheel set accommodating cavity, and the two second limiting grooves 113 are respectively communicated with two ends of the auxiliary wheel accommodating cavity; the number of the first sliding grooves 114 is four, and two first sliding grooves 114 are respectively arranged on two sides of the first limiting groove 112; the number of the second sliding grooves 115 is four, and two second sliding grooves 115 are respectively disposed on two sides of the second limiting groove 113.
As shown in fig. 2 and fig. 3, the wheel set assembly 20 includes a fixing seat 21, a rotating power element 22 and a pulley 23, the fixing seat 21 is accommodated in the wheel set accommodating cavity, and the fixing seat 21 is slidably disposed on the housing 10; the rotating power component 22 is arranged on the fixed seat 21, and the rotating power component 22 is used for driving the pulley 23 to rotate; the pulley 23 is rotatably connected to the fixed seat 21; optionally, the fixing base 21 includes a bottom shell 211 and a cover plate 212 covering the bottom shell 211, the rotating power element 22 is installed at one side of the bottom shell 211, and the rotating power element 22 is slidably disposed in the receding groove 111; further, the rotary power element 22 is a motor, and the pulley 23 is a rubber wheel. The wheelset assembly 20 further includes a sensor (not shown) disposed within the rotating power element 22 for calculating a rotational speed of the rotating power element 22; optionally, the sensing element is an encoder. In an embodiment, the wheelset assembly 20 further includes a driving wheel (not shown), a synchronizing wheel (not shown), and a driven wheel 24, wherein the driving wheel, the synchronizing wheel, and the driven wheel 24 are all disposed in the fixing base 21, the rotating power element 22 is configured to drive the driving wheel to rotate, the synchronizing wheel is respectively engaged with the driving wheel and the driven wheel 24, and the driven wheel 24 is connected to the pulley 23.
As shown in fig. 3, the wheel assembly 20 further includes a plurality of first rolling members 25, each of the first rolling members 25 is rotatably connected to the fixing base 21, and the first rolling members 25 are slidably disposed inside the outer shell 10. Optionally, the first rolling element 25 is slidably disposed at one end of the housing 10; further, the first rolling member 25 is slidably disposed in the first sliding groove 114, and the first rolling member 25 is a bearing. In an embodiment, the wheel assembly 20 further includes a plurality of first brackets 26, each first bracket 26 is respectively installed at two opposite ends of the fixed base 21, and each first rolling member 25 is respectively rotatably connected to the first brackets 26; optionally, the first bracket 26 is convexly disposed on the housing 10, and the first bracket 26 is slidably disposed in the first limiting groove 112 for limiting; further, the first rolling members 25 are mounted on both sides of the first bracket 26; the number of the first brackets 26 is two, and the two first brackets 26 are respectively connected with two ends of the fixed seat 21. In an embodiment, the wheel assembly 20 further includes a plurality of second brackets 27, the second brackets 27 are mounted on one side of the first bracket 26, and each of the first rolling members 25 is rotatably connected to the second bracket 27; optionally, the first rolling members 25 are mounted on both sides of the second bracket 27; the number of the second brackets 27 is two, and the two second brackets 27 are respectively connected with two ends of the fixed seat 21. In one embodiment, the wheel assembly 20 further includes a plurality of sliding members 28, each sliding member 28 is rotatably connected to the first bracket 26; the sliding part 28 is arranged inside the shell 10 in a sliding way to ensure the stable structure; optionally, the sliding member 28 is slidably disposed on one side of the housing 10, and the sliding member 28 is a bearing; further, each sliding member 28 is rotatably connected to the second bracket 27, preferably, the sliding members 28 are mounted on both sides of the first bracket 26, the sliding members 28 are mounted on both sides of the second bracket 27, one sliding member 28 is slidably disposed on one side of the housing 11, and one sliding member 28 is slidably disposed on one side of the partition 12.
As shown in fig. 2, the wheel assembly 20 further includes a plurality of first elastic members 29, one end of each first elastic member 29 is connected to the first bracket 26, and the other end of each first elastic member 29 is connected to the housing 10, so that the first bracket 26 is reset; optionally, there are two first elastic members 29, and the first elastic members 29 are disposed in one-to-one correspondence with the first brackets 26; further, the first elastic member 29 is a tension spring.
As shown in fig. 2 and 4, the auxiliary assembly 30 includes a supporting member 31, an auxiliary wheel 32 and a sensor 33, the supporting member 31 is accommodated in the auxiliary wheel accommodating cavity, the supporting member 31 is slidably disposed on the housing 10, the auxiliary wheel 32 is rotatably connected to the supporting member 31, the sensor 33 is mounted on the supporting member 31, and the sensor 33 is used for measuring mileage data of the auxiliary wheel 32; optionally, the sensor 33 is an encoder; further, the auxiliary assembly 30 further includes a coupling member (not shown) having one end fixedly connected to the auxiliary wheel 32 and the other end connected to the sensor 33. Since the speed calculated by the sensing element in the rotating power element 22 is affected by various factors (e.g., the faceplate is wet and the pulley 23 is slipping, etc.), positioning by the sensing element in the rotating power element 22 alone is not reliable, and the sensor 33 is added to improve accuracy.
In an embodiment, the auxiliary assembly 30 further includes a mounting bracket 34, a second rolling element 35 and a second elastic element 36, the mounting bracket 34 is accommodated in the auxiliary wheel accommodating cavity, and the mounting bracket 34 is connected to the supporting element 31; the number of the second rolling members 35 is multiple, each second rolling member 35 is rotatably connected to the mounting frame 34, and the second rolling members 35 are slidably disposed inside the housing 10; optionally, the mounting frame 34 is slidably disposed in the second limiting groove 113 for limiting; the second rolling element 35 is arranged at one end of the shell 10 in a sliding way; further, the second rolling members 35 are mounted on two sides of the mounting frame 34, the second rolling members 35 are slidably disposed in the second sliding groove 115, and the second rolling members 35 are bearings. The second elastic member 36 is provided with a plurality of second elastic members 36, one end of each second elastic member 36 is connected with the mounting frame 34, and the other end of each second elastic member 36 is connected with the shell 10, so that the mounting frame 34 can be reset; optionally, two second elastic members 36 are provided, and the two second elastic members 36 are respectively mounted at two ends of the mounting frame 34; further, the second elastic member 36 is a tension spring.
As shown in fig. 2, the high-precision driving apparatus 100 further includes a position sensing member 40 and a control system, the position sensing member 40 is mounted on the housing 10, and the position sensing member 40 is used for sensing the position of the first bracket 26; the position sensing member 40, the rotary power element 22, the sensing member and the sensor 33 are respectively in signal connection with the control system. Optionally, the position sensing member 40 is mounted at one end of the housing 10, and further, the position sensing member 40 is a touch switch. In operation, the first bracket 26 does not trigger the position sensing member 40; when the housing 10 is lifted, the first support 26 slides down along the housing 10 until the first support 26 triggers the position sensor 40, and after the control system receives the information fed back by the position sensor 40, the control system controls the rotating power element 22 to stop operating, thereby playing the role of an automatic control switch.
When the robot is used, under the action of the first rolling piece 25 and the sliding piece 28, the fixed seat 21 is arranged on the shell 10 in a vertically sliding manner, and under the fixing and reacting force of the first elastic piece 29, an independent suspension system capable of moving up and down along with the external terrain is formed, so that the robot is assisted to cross obstacles with different heights, and the movement flexibility is increased; the rotating power element 22 drives the pulley 23 to rotate through the matching of the driving wheel, the synchronous wheel and the driven wheel 24, and the moving functions of advancing, retreating and rotating are realized through one pulley 23, so that the volume and the weight are greatly reduced; wheelset subassembly 20 replaces traditional track scheme, and very big simplification structure volume makes things convenient for production, installation and maintenance, reduction in production cost, makes things convenient for the production of productization, moreover, more adds accurately at rotatory in-process, and the rotation center is more stable, makes things convenient for calculation and the planning of algorithm. Under the action of the second rolling element 35, the mounting frame 34 is arranged on the housing 10 in a sliding manner up and down, and under the fixing and reacting force of the second elastic element 36, an independent suspension system capable of moving up and down along with the external terrain is formed; the pulley 23 drives the shell 10 to move, the shell 10 drives the auxiliary wheel 32 to rotate, and then the rotation of the coupling part is driven, so that the sensor 33 can measure the mileage data of the auxiliary wheel 32, the motion track is fed back, closed-loop control is realized, the distance and the posture of operation are conveniently measured and calculated, and the accuracy of rotation is improved.
Referring to fig. 5, an application example of the cleaning robot with the high-precision driving device 100 according to the embodiment of the present invention is shown, based on the above embodiment, in an alternative embodiment, the cleaning robot includes a frame and the above high-precision driving device 100, optionally, two high-precision driving devices 100 are respectively mounted on the frame, two wheel set assemblies are more accurate in the rotation process than the track scheme, the rotation center is relatively stable, and calculation and planning of the algorithm are facilitated. When the device is used, the average value of the sensing pieces in the two rotating power elements is converted into the linear speed of the machine, and the phase difference value of the two sensing pieces is converted into the rotating speed of the machine; the average value of the two sensors is converted into the linear speed of the machine, and the phase difference value of the two sensors is converted into the rotation speed of the machine, so that the movement accuracy is improved.
The high-precision driving device 100 of the utility model drives the pulley 23 to rotate by rotating the power element 22, thereby realizing the moving functions of advancing, retreating and rotating and improving the flexibility of movement; the fixed seat 21 and the supporting piece 31 are arranged on the shell 10 in a sliding manner, so that the shell can move up and down along with the external terrain, and the performance of crossing obstacles is improved; the sensor 33 measures the mileage data of the auxiliary wheel 32, and the motion trail is fed back, so that closed-loop control is realized, and the rotation accuracy is improved; the high-precision driving device 100 has a compact structure and is convenient to use.
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 express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A high-precision driving device is characterized by comprising a shell, a wheel set assembly and an auxiliary assembly, wherein the wheel set assembly comprises a fixed seat, a rotating power element and a pulley, the fixed seat is arranged on the shell in a sliding manner, and the rotating power element is used for driving the pulley to rotate; the auxiliary assembly comprises a supporting piece, an auxiliary wheel and a sensor, the supporting piece is slidably arranged on the shell, the auxiliary wheel is rotatably connected to the supporting piece, the sensor is installed on the supporting piece, and the sensor is used for measuring mileage data of the auxiliary wheel.
2. The high-precision driving device according to claim 1, wherein the wheel assembly further comprises a plurality of first rolling members, each of the first rolling members is rotatably connected to the fixed base, and the first rolling members are slidably disposed inside the housing.
3. The high-precision driving device according to claim 2, wherein the wheel set assembly further comprises a plurality of first brackets, each of the first brackets is respectively mounted at two opposite ends of the fixed seat, and each of the first rolling members is respectively rotatably connected to the first brackets; the first rolling piece is arranged at one end of the shell in a sliding mode.
4. A high precision driving device according to claim 3, wherein the wheel assembly further comprises a plurality of second brackets, the second brackets are mounted on one side of the first bracket, and each of the first rolling members is rotatably connected to the second brackets.
5. A high precision driving device according to claim 3, wherein the wheel set assembly further comprises a plurality of sliding members, each of the sliding members is rotatably connected to the first bracket; the sliding piece is arranged on one side of the shell in a sliding mode.
6. A high precision driving apparatus according to claim 3, further comprising a position sensing member and a control system, said position sensing member being mounted on said housing, said position sensing member being adapted to sense a position of said first carriage; the position sensing piece, the rotating power element and the sensor are respectively in signal connection with the control system.
7. A high precision driving apparatus according to claim 3, wherein said wheel assembly further comprises a plurality of first elastic members, one end of said first elastic member is connected to said first bracket, and the other end of said first elastic member is connected to said housing.
8. A high precision drive apparatus according to claim 1 wherein said wheelset assembly further comprises a sensing member, said sensing member being embedded within said rotational power element.
9. The high-precision driving device according to claim 1, wherein the auxiliary assembly further comprises a mounting frame, a plurality of second rolling members and a second elastic member, the mounting frame is connected to the supporting member, the plurality of second rolling members are respectively rotatably connected to the mounting frame, and the second rolling members are slidably disposed inside the housing; the second elastic piece is a plurality of, the one end of second elastic piece is connected the mounting bracket, and the other end is connected the shell.
10. A cleaning robot characterized by comprising the high-precision driving device according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122886577.5U CN216526890U (en) | 2021-11-23 | 2021-11-23 | High-precision driving device and cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122886577.5U CN216526890U (en) | 2021-11-23 | 2021-11-23 | High-precision driving device and cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114204896A (en) * | 2021-11-23 | 2022-03-18 | 优兔创新有限公司 | High-precision driving device and cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114204896A (en) * | 2021-11-23 | 2022-03-18 | 优兔创新有限公司 | High-precision driving device and cleaning robot |
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