CN217894166U

CN217894166U - Mechanism for climbing stairs

Info

Publication number: CN217894166U
Application number: CN202222364193.1U
Authority: CN
Inventors: 吴琳波; 吴琳珊
Original assignee: Gao Wei Intelligent Robot Shenzhen Co ltd
Current assignee: Gao Wei Intelligent Robot Shenzhen Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-11-25
Anticipated expiration: 2032-09-06

Abstract

The utility model discloses a mechanism for stair climb, it includes: the bottom surface of the shell is provided with a walking groove; a front-back adjusting mechanism is arranged in the walking groove, the front-back adjusting mechanism is connected with the lifting mechanism or the rotating connecting mechanism, and a walking device is arranged in the walking groove; the locking device is fixedly arranged on the first bracket or the second bracket and used for locking the first bracket and the second bracket; when the mechanism which is arranged on the second guide rail in a sliding way is a lifting mechanism, the first support is connected with the lifting mechanism; when the mechanism which is arranged on the second guide rail in a sliding way is a rotating connecting mechanism, the first bracket is connected with the second guide rail in a sliding way, and the lifting mechanism is fixedly connected with the second bracket; the walking device is connected with the lifting mechanism or the rotating connecting mechanism; the climbing structure of the simple stair is realized, the occupied size of internal components is reduced, the whole equipment is miniaturized, meanwhile, the climbing structure can be conveniently inclined, and the floor sweeping robot can be rapidly installed or detached.

Description

Mechanism for climbing stairs

Technical Field

The utility model relates to stair climbing mechanism mechanical equipment field especially involves a mechanism for stair climb.

Background

The current robot of sweeping the floor can not carry out stair and climb, needs every floor all to be provided with at least one alone, just can realize carrying out automatic intelligence to a plurality of floors and clean. The manual moving sweeping robot is inconvenient and quick to execute a sweeping task, and needs to be moved back to the original floor sweeping robot base station after sweeping is completed.

The existing stair climbing device is multipurpose for the stair cleaning robot, the structure of the stair climbing device is not suitable for carrying the floor sweeping robot, and due to the requirement of miniaturization of intelligent equipment, the floor sweeping robot body cannot be greatly changed in the mechanism, and a climbing mechanism consistent with the stair cleaning robot is added. The existing stair climbing carrying equipment is mostly used for carrying heavy objects, the climbing mechanism of the stair climbing carrying equipment is relatively large, and the stair climbing carrying equipment is small and exquisite as a household appliance and is not suitable for being used as a carrying device of a sweeping robot.

The miniaturized climbing carrying structure further needs to solve the problem of how to automatically load and unload the sweeping robot under the condition that the climbing capability of the sweeping robot is limited, and how to reduce the whole volume of the climbing carrying mechanism, and when the carried goods are goods without a power system, how to automatically unload the carried goods.

Accordingly, there is a need for a mechanism for stair climbing that addresses one or more of the above problems.

SUMMERY OF THE UTILITY MODEL

In order to solve one or more problems existing in the prior art, the utility model provides a mechanism for climbing stairs. The utility model discloses a solve the technical scheme that above-mentioned problem adopted and be: a mechanism for stair climbing comprising: the floor sweeping robot comprises a shell, wherein a walking groove is formed in the bottom surface of the shell, supporting parts are arranged on two sides of the walking groove, the shell is provided with a parking chamber, at least one side of the parking chamber is provided with an opening, and the parking chamber is used for carrying a floor sweeping robot or other objects;

the front and back adjusting mechanism is arranged in the walking groove and is provided with a second guide rail, and a lifting mechanism or a rotating connecting mechanism is slidably arranged on the second guide rail;

the second driving device is arranged in the shell and drives a mechanism arranged on the second guide rail to move;

the rotary connecting mechanism is provided with a first bracket and a second bracket, and the first bracket is rotationally connected with the second bracket;

a locking device mounted on the first bracket or the second bracket, the locking device enabling switching between locking and unlocking of the first bracket and the second bracket;

when the mechanism which is arranged on the second guide rail in a sliding mode is the lifting mechanism, the first support is connected with the lifting mechanism;

when the mechanism which is arranged on the second guide rail in a sliding way is the rotating connecting mechanism, the first support is connected with the second guide rail in a sliding way, and the lifting mechanism is fixedly connected with the second support;

the traveling device is arranged in the traveling groove;

when the mechanism which is arranged on the second guide rail in a sliding manner is the lifting mechanism, the walking device is connected with the second support through a connecting support, or the walking device is directly connected with the second support;

and when the mechanism which is arranged on the second guide rail in a sliding way is the rotating connection mechanism, the walking device is connected with the lifting mechanism through the connection support.

Further, the shell is provided with an installation cavity, and a gravity center adjusting device is installed in the installation cavity.

Further, the gravity center adjusting device is provided with a first guide rail and a first driving device, a balancing weight is slidably mounted on the first guide rail, and the first driving device drives the balancing weight to move on the first guide rail.

Further, be provided with on the casing and dodge the position, it sets up to dodge the position the one end of casing bottom is located park the below of cavity opening one side.

Furthermore, the avoidance position is in a slope shape or an arc shape; and a rolling shaft is arranged on one surface of the avoidance position, which is in contact with the ground.

Furthermore, the locking device comprises a lock tongue and a lock head, a lock hole matched with the lock tongue is formed in the lock head, a driving device for driving the lock tongue to move is arranged in the locking device, and the lock tongue and the lock head are respectively installed on the first support and the second support.

Furthermore, the front end of the lock tongue is provided with a chamfer or a fillet.

Further, the first end of the first bracket is rotatably connected with the first end of the second bracket, and the locking device is arranged at a second end opposite to the first end of the first bracket or at a second end opposite to the first end of the second bracket.

Furthermore, the lifting mechanism is provided with a movable frame, a third guide rail is arranged on the movable frame, at least two adjusting pieces which slide relatively are slidably arranged on the third guide rail, the lifting mechanism is provided with a third driving device, the third driving device drives the two adjusting pieces to slide relatively, and the adjusting pieces are rotatably connected with a lifting connecting rod;

when the lifting action is executed, the lifting connecting rods which are rotatably connected on the two adjusting pieces are in a cross shape;

when the mechanism which is arranged on the second guide rail in a sliding way is the lifting mechanism, the movable frame is arranged on the second guide rail in a sliding way, and one end of the lifting connecting rod, which is far away from the adjusting piece, is rotationally connected with the first support;

the mechanism of slidable mounting on the second guide rail does when rotating coupling mechanism, movable frame installs on the second support or with the second support is integrative to be set up, the lifting connecting rod is kept away from the one end of regulating part with the connection support rotates and connects.

Furthermore, the third driving device is provided with a third driving shaft, two sections of threads are arranged on the third driving shaft, the two sections of threads are opposite, the first adjusting piece is connected with the first section of threads, and the second adjusting piece is connected with the second section of threads.

Further, the second driving device is provided with a second driving shaft which is in threaded connection with the driven mechanism.

Further, the running gear is a crawler-type running gear; and a movable butt strap is arranged at the opening of the parking chamber.

The utility model discloses the beneficial value who gains is: the utility model realizes the storage of the sweeping robot through the parking chamber by connecting the shell, the front and back adjusting mechanism, the rotating connecting mechanism, the locking device, the lifting mechanism, the walking device and other devices and mechanisms together through an ingenious structure, thereby realizing the carrying sweeping robot in the stair climbing process; the gravity center of the whole equipment is adjusted through the gravity center adjusting device, so that the phenomenon that the gravity center is unstable during climbing to cause toppling is avoided; the climbing action in the stairs is realized through the front-back adjusting mechanism, the lifting mechanism and the walking device; the shell is obliquely arranged through the rotating connecting mechanism, the locking device and the avoiding position, so that the sweeping robot can conveniently enter the parking chamber, and a normal climbing function is guaranteed; through the connecting rod formula lifting mechanism reduces the volume that occupies of mechanism, simplifies other mechanisms, equipment simultaneously, reduces whole volume, and then realizes the miniaturization of equipment. The utility model discloses a practical value has greatly improved above.

Drawings

Fig. 1 is a schematic view I of the present invention;

fig. 2 is a schematic view II of the present invention;

fig. 3 is a cross-sectional view of the present invention;

FIG. 4 is a partial view of the present invention;

fig. 5 is an internal schematic view I of the present invention;

fig. 6 is an internal schematic view II of the present invention;

fig. 7 is a schematic connection diagram of the present invention;

fig. 8 is a schematic view of a first embodiment of the present invention;

fig. 9 is a schematic view of a second embodiment of the present invention.

[ reference numerals ]

101. Casing

102. Parking chamber

103. Traveling groove

104. Mounting chamber

110. Support part

111. Avoiding position

112. Roller

120. Movable butt strap

201. Center of gravity adjusting device

202. First guide rail

203. Counterweight block

204. Belt

210. First drive arrangement

301. Traveling device

401 front and back regulating mechanism

402. Second guide track

410. Second drive device

411 second drive shaft

501 lifting mechanism

502. Movable frame

503. Connecting part

504. Third guide rail

510. Third drive device

511. Third drive shaft

520. Regulating part

521 · a lifting connecting rod

601. First support

602. Second support

610. Locking device

701. Connecting the support.

Detailed Description

In order to make the above objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms without departing from the spirit or essential characteristics thereof, and it should be understood that the invention is not limited to the embodiments disclosed herein.

As shown in fig. 1-9, the utility model discloses a mechanism for stair climbing, it includes: the floor sweeping robot comprises a shell 101, wherein a walking groove 103 is formed in the bottom surface of the shell 101, supporting parts 110 are arranged on two sides of the walking groove 103, an installation chamber 104 is formed in the shell 101, a gravity center adjusting device 201 is installed in the installation chamber 104, a parking chamber 102 is formed in the shell 101, at least one side of the parking chamber 102 is provided with an opening, a movable butt strap 120 can be installed at the opening, and the parking chamber is used for carrying a floor sweeping robot or other objects;

the front-back adjusting mechanism 401 is installed in the walking groove 103, the front-back adjusting mechanism 401 is provided with a second guide rail 402, and the second guide rail 402 is provided with a lifting mechanism 501 or a rotating connecting mechanism in a sliding manner;

a second driving device 410, wherein the second driving device 410 is disposed in the housing 101 (and can be mounted on the lifting mechanism 501 when it drives the lifting mechanism 501), and the second driving device 410 drives the mechanism mounted on the second guide rail 402 to move;

the rotary connecting mechanism is provided with a first bracket 601 and a second bracket 602, and the first bracket 601 is rotatably connected with the second bracket 602;

a locking device 610, wherein the locking device 610 is mounted on the first bracket 601 or the second bracket 602, and the locking device 610 realizes the switching of the locking or unlocking of the first bracket 601 and the second bracket 602;

when the mechanism mounted on the second guide rail 402 in a sliding manner is the lifting mechanism 501, the first bracket 601 is connected with the lifting mechanism 501, and the lifting mechanism 501 drives the rotating connection mechanism to move up and down;

when the mechanism slidably mounted on the second guide rail 402 is the rotating connection mechanism, the first bracket 601 is slidably connected to the second guide rail 402, and the lifting mechanism 501 is fixedly connected to the second bracket 602;

the walking device 301 is arranged in the walking groove 103;

as shown in fig. 6 and 9, when the mechanism slidably mounted on the second guide rail 402 is the lifting mechanism 501, the traveling device 301 is connected to the second bracket 602 through a connecting support 701, or the traveling device 301 is directly connected to the second bracket 602;

as shown in fig. 7 and 8, when the mechanism slidably mounted on the second rail 402 is the pivot coupling mechanism, the traveling device 301 is coupled to the lifting mechanism 501 via the coupling holder 701.

In particular, the parking chamber has at least one opening oriented in the same direction as the rotation of the first support, as shown in fig. 8 and 9, the first support 601 rotates towards the left, and the opening of the parking chamber is arranged on the side of the left side thereof.

In the first embodiment, fig. 8 is a schematic diagram illustrating connection of each component when the mechanism slidably mounted on the second guide rail 402 is the rotational connection mechanism; in the second embodiment, fig. 9 is a schematic diagram illustrating connection of the components when the mechanism slidably mounted on the second rail 402 is the lifting mechanism 501.

It should be noted that the locking device 610 includes a lock tongue and a lock head, a lock hole matched with the lock tongue is arranged on the lock head, a driving device for driving the lock tongue to move is arranged in the locking device, and the lock tongue and the lock head are respectively installed on the first support and the second support; the front end of the lock tongue is provided with a chamfer or a fillet so as to slide into the lock hole and be tightly attached to the lock tongue and the lock hole after sliding in (the front end of the lock tongue is tightly attached to the lock hole later), so that the lock tongue is prevented from shaking. Referring to fig. 5 and 6, a first end of the first bracket 601 is rotatably connected to a first end of the second bracket 602, and the locking device 610 is disposed at a second end opposite to the first end of the first bracket 601 or disposed at a second end opposite to the first end of the second bracket 602.

It should be noted that the running gear 301 may be a crawler running gear, which is a common moving gear, and therefore will not be described in detail herein. A driving source (such as a motor and a matching transmission mechanism) for driving the movable access board 120 to rotate or move is arranged in the housing 101, and the sweeping robot can crawl through the movable access board 120 and then enter the parking chamber 102, or the movable access board 120 only plays a role in sealing the parking chamber 102.

Specifically, as shown in fig. 3 and 4, the gravity center adjusting device 201 is provided with a first guide rail 202 and a first driving device 210, a counterweight 203 is slidably mounted on the first guide rail 202, the first driving device 210 drives the counterweight 203 to move on the first guide rail 202, and the first driving device 210 is connected with the counterweight 203 through a belt 204. In particular, the first driving device 210 and the second driving device 410 are a common driving power source and a matching transmission member, such as: motor + driving medium.

Specifically, as shown in fig. 1 to fig. 3, an avoiding position 111 is disposed on the housing 101, and the avoiding position 111 is disposed at one end of the bottom of the housing 101 and is located below one side of the opening of the parking chamber, or is located below the movable strap 120; the avoiding position 111 is in a slope shape or an arc shape, and a rolling shaft 112 is arranged on one surface of the avoiding position 111, which is in contact with the ground. The avoidance position 111 enables the parking chamber 102 to be tightly attached to the ground, so that the sweeping robot can enter the parking chamber conveniently.

Specifically, as shown in fig. 5 and 6, the lifting mechanism 501 is provided with a movable frame 502, a third guide rail 504 is provided on the movable frame 502, at least two adjusting pieces 520 which slide relatively are slidably mounted on the third guide rail 504, the lifting mechanism 501 is provided with a third driving device 510, the third driving device 510 drives the two adjusting pieces 520 to slide relatively, and the adjusting pieces 520 are rotatably connected with a lifting link 521;

when the lifting action is performed, the lifting connecting rods 521 rotatably connected on the two adjusting pieces 520 are in a cross shape;

when the mechanism slidably mounted on the second rail 402 is the lifting mechanism 501, the movable frame 502 is slidably mounted on the second rail 402, and one end of the lifting link 521, which is far away from the adjusting element 520, is rotatably connected to the first bracket 601;

as shown in fig. 7, when the mechanism slidably mounted on the second rail 402 is the rotating connection mechanism, the movable frame 502 is mounted on the second bracket 602 or integrally provided with the second bracket 602, and one end of the lifting link 521, which is far away from the adjuster 520, is rotatably connected to the connecting support 701.

It should be noted that the third driving device 510 is provided with a third driving shaft 511, two sections of threads are provided on the third driving shaft 511, and the two sections of threads are opposite, the first adjusting member 520 is connected with the first section of threads, and the second adjusting member 520 is connected with the second section of threads, so as to drive the two adjusting members 520 to perform relative movement. The second driving device 410 is provided with a second driving shaft 411, the second driving shaft 411 is screwed with a driven mechanism, as shown in fig. 5, the movable frame 502 is provided with a connecting portion 503, and the connecting portion 503 is screwed with the second driving shaft 411.

The utility model discloses when carrying out the robot of sweeping the floor and packing into or oblique down, front and back adjustment mechanism 401 drives running gear 301 is toward keeping away from the one end of dodging position 111 is removed, then locking device 610 removes the locking, then lifting mechanism 501 carries out the lifting action, corresponding focus adjustment action is also carried out to focus adjusting device 201 lifting mechanism 501 and gravity down under the effect, casing 101 and internal connection's mechanism, device wind second support 602 rotates, and then make the rear end slope of casing 101, dodge position 111 and support subaerial, alright execution sweep the robot afterwards pack into or lift off.

The utility model discloses the process of carrying out the action of climbing can refer to "a cleaning robot's structure of climbing" that patent number CN202220103469.8 disclosed, or refer to "a cleaning robot with stair climbing function" that patent number CN202122843287.2 disclosed.

To sum up, the utility model realizes the storage of the sweeping robot through the parking chamber by connecting the shell, the front and back adjusting mechanism, the rotating connecting mechanism, the locking device, the lifting mechanism, the walking device and other devices and mechanisms together through an ingenious structure, thereby realizing the carrying sweeping robot in the stair climbing process; the gravity center of the whole equipment is adjusted through the gravity center adjusting device, so that the phenomenon that the gravity center is unstable during climbing to cause toppling is avoided; climbing in the stairs is realized through the front and back adjusting mechanism, the lifting mechanism and the walking device; the shell is obliquely arranged through the rotating connecting mechanism, the locking device and the avoiding position, so that the sweeping robot can conveniently enter the parking chamber, and a normal climbing function is guaranteed; through the connecting rod formula lifting mechanism reduces the volume that occupies of mechanism, simplifies other mechanisms, equipment simultaneously, reduces whole volume, and then realizes the miniaturization of equipment. The utility model discloses a practical value has greatly improved above.

The embodiments described above merely represent one or more embodiments of the present invention, which are described in detail and concrete, but cannot be understood as limitations of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A mechanism for stair climbing, comprising: the floor sweeping robot comprises a shell, wherein a walking groove is formed in the bottom surface of the shell, supporting parts are arranged on two sides of the walking groove, a parking chamber is formed in the shell, at least one side of the parking chamber is provided with an opening, and the parking chamber is used for carrying a floor sweeping robot or other objects;

the locking device is arranged on the first bracket or the second bracket and is used for realizing the locking or unlocking switching of the first bracket and the second bracket;

the walking device is arranged in the walking groove;

when the mechanism which is arranged on the second guide rail in a sliding way is the rotating connection mechanism, the walking device is connected with the lifting mechanism through the connection support.

2. A mechanism for climbing stairs as claimed in claim 1 wherein the housing is provided with a mounting chamber within which is mounted a means of adjustment of the centre of gravity.

3. A mechanism for climbing stairs as claimed in claim 2, wherein the gravity center adjusting device is provided with a first guide rail and a first driving device, a counterweight is slidably mounted on the first guide rail, and the first driving device drives the counterweight to move on the first guide rail.

4. A mechanism for climbing stairs as claimed in claim 1, wherein an escape location is provided on the housing, the escape location being provided at one end of the bottom of the housing and below one side of the opening of the parking chamber.

5. A mechanism for climbing stairs as claimed in claim 4, wherein said escape position is ramp-shaped or arc-shaped.

6. A mechanism for climbing stairs according to claim 4 or 5, wherein a roller is arranged on the surface of the avoiding position contacting with the ground.

7. The mechanism for climbing stairs of claim 1, wherein the locking device comprises a lock tongue and a lock head, the lock head is provided with a lock hole matched with the lock tongue, the locking device is provided with a driving device for driving the lock tongue to move, and the lock tongue and the lock head are respectively installed on the first bracket and the second bracket.

8. A mechanism for a stair climb according to claim 7 wherein the front end of the bolt is chamfered or radiused.

9. A mechanism for climbing stairs as claimed in claim 1, wherein a first end of said first bracket is pivotally connected to a first end of said second bracket, and said locking means is provided at a second end opposite to the first end of said first bracket or at a second end opposite to the first end of said second bracket.

10. A mechanism for climbing stairs according to claim 1, wherein the lifting mechanism is provided with a movable frame, a third guide rail is arranged on the movable frame, at least two adjusting members sliding relatively are slidably arranged on the third guide rail, the lifting mechanism is provided with a third driving device, the third driving device drives the two adjusting members to slide relatively, and the adjusting members are rotatably connected with a lifting connecting rod;

11. A mechanism for climbing stairs as claimed in claim 10, wherein said third drive means is provided with a third drive shaft, said third drive shaft having two threaded lengths, and wherein the two threaded lengths are reversed, a first of said adjustment members being threadedly connected to the first length and a second of said adjustment members being threadedly connected to the second length.

12. A mechanism for stair climbing according to claim 1 wherein the second drive means is provided with a second drive shaft, the second drive shaft being in threaded connection with the mechanism to be driven.

13. A mechanism for climbing stairs as claimed in claim 1, wherein the running gear is a crawler-type running gear.

14. A mechanism for climbing stairs as claimed in claim 1, wherein a removable access panel is mounted at the opening of the parking chamber.