CN219115155U - Caster wheel assembly and cleaning robot - Google Patents

Abstract

The application discloses a castor assembly and a cleaning robot. The castor assembly comprises a lower shell, an upper shell, a castor and a lifting mechanism. The castor is rotatably connected with the lower shell and can rotate around a first axis which is parallel to the axial direction of the castor. The upper shell is in plug-in matching with the lower shell and is matched with the lower shell to form a first accommodating cavity. The lifting mechanism is arranged in the first accommodating cavity and connected with the upper shell and the lower shell, the lifting mechanism allows the lower shell to rotate around a second axis relative to the upper shell, the second axis is perpendicular to the first axis, the lifting mechanism is used for driving the lower shell to lift relative to the upper shell, and the lifting direction of the lower shell relative to the upper shell is parallel to the extending direction of the second axis. In this way, the present application enables the height of the caster assembly to be adjusted.

Description

Caster wheel assembly and cleaning robot

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a castor assembly and a cleaning robot.

Background

The movable casters are often mounted on products requiring movement, such as tables and chairs, equipment or robots. The movable castor wheel can roll on the working surface and can rotate by corresponding angles according to the moving direction, so that the product with the movable castor wheel can move towards different directions on the working surface. The movable casters in the related art have the problems that the height cannot be adjusted, so that the product cannot actively avoid an obstacle and the distance between the movable casters and a working surface cannot be adjusted.

Disclosure of Invention

Embodiments of the present application provide a caster assembly and a cleaning robot that enable the height of the caster assembly to be adjusted.

In a first aspect, embodiments of the present application provide a caster assembly. The castor assembly comprises a lower shell, an upper shell, a castor and a lifting mechanism. The castor is rotatably connected with the lower shell and can rotate around a first axis which is parallel to the axial direction of the castor. The upper shell is in plug-in matching with the lower shell and is matched with the lower shell to form a first accommodating cavity. The lifting mechanism is arranged in the first accommodating cavity and connected with the upper shell and the lower shell, the lifting mechanism allows the lower shell to rotate around a second axis relative to the upper shell, the second axis is perpendicular to the first axis, the lifting mechanism is used for driving the lower shell to lift relative to the upper shell, and the lifting direction of the lower shell relative to the upper shell is parallel to the extending direction of the second axis.

In a second aspect, embodiments of the present application provide a cleaning robot. The cleaning robot comprises an equipment main body, a driving wheel assembly, a cleaning module and the caster wheel assembly. The driving wheel assembly comprises a left driving wheel and a right driving wheel which are respectively arranged at the left side and the right side of the equipment main body, and the driving wheel assembly is used for driving the equipment main body to walk on a working surface. The cleaning module is connected with the equipment main body and is used for cleaning the working surface. The upper shell of the caster assembly is connected with the equipment main body.

The beneficial effects of this application are: different from the prior art, through the rotation connection of truckle and inferior valve for the truckle can roll relative inferior valve. The first accommodation cavity formed by the upper shell and the lower shell can accommodate the lifting mechanism, so that the lifting mechanism is isolated from the outside, and the influence of dust or water stain and the like on the lifting mechanism is reduced. The lifting mechanism rotates and connects the upper shell and the lower shell, so that the lower shell can drive the casters to rotate relative to the upper shell, and the caster assemblies can move towards different directions, thereby realizing the function of universal. Further, the lifting mechanism can drive the lower shell to lift along the lifting direction relative to the upper shell, so that the whole height of the trundle assembly can be adjusted in the using process of the trundle assembly, different using scenes can be adapted, and the using range of the trundle assembly is widened.

Drawings

FIG. 1 is a schematic view of a cleaning robot of the present application;

FIG. 2 is a schematic structural view of the caster assembly of the present application;

FIG. 3 is a schematic view of a portion of the exploded view of the caster assembly of FIG. 2;

FIG. 4 is a schematic view of one embodiment of the structure of the lift mechanism of the caster assembly of FIG. 3;

FIG. 5 is a schematic view of one embodiment of the structure of the lift mechanism of the caster assembly of FIG. 3;

FIG. 6 is a schematic view of the attachment of the anchor bracket to the upper shell of the caster assembly of FIG. 3;

FIG. 7 is a schematic illustration of the swivel shaft of the caster assembly of FIG. 3 coupled to the lower housing;

FIG. 8 is a schematic view of the lifting mechanism of FIG. 4 in a raised state;

FIG. 9 is a schematic view of the lifting mechanism of FIG. 5 in a raised state;

FIG. 10 is a schematic view of an exploded view of the lift mechanism of FIG. 4;

fig. 11 is an exploded view of the lifting mechanism of fig. 5.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Referring to fig. 1, a cleaning robot 1 embodiment of the present application provides an exemplary structure of a cleaning robot 1. The cleaning robot includes an apparatus main body 20, a driving wheel assembly, a cleaning module 40, and a caster assembly 10. The driving wheel assembly includes left and right driving wheels 30 and 31 provided at left and right sides of the apparatus body 20, respectively, for driving the apparatus body 20 to walk on a working surface. The cleaning module is connected to the apparatus body 20, and the cleaning module is used for cleaning a work surface. The upper case 11 (see fig. 2) of the caster assembly 10 is connected to the apparatus body 20.

The caster assembly 10 may carry an apparatus body 20, the apparatus body 20 being movable on a work surface by the caster assembly 10. The cleaning module 40 may be a dust collection module, which may suck dust or garbage on the working surface, so as to clean the working surface. The cleaning module 40 may also be a mopping module capable of mopping a work surface to clean the work surface.

The caster assembly 10 embodiments of the present application provide an exemplary construction of the caster assembly 10.

Referring to fig. 2 and 3, the caster assembly 10 includes a lower case 12, casters 14, an upper case 11, and a lifting mechanism 100. The caster 14 is rotatably coupled to the lower housing 12 and is rotatable about a first axis. The first axis is parallel to the axial direction of the caster. Optionally, the first axis is parallel to the working surface. The castor wheel 14 is adapted to contact and roll on a work surface. The rolling of the casters 14 moves the lower housing 12 over the work surface. The upper case 11 is inserted and matched with the lower case 12 in a direction perpendicular to the first axis, and cooperates with the lower case 12 to form a first accommodation chamber 13. The upper case 11 may be mounted to the apparatus main body 20 of the cleaning robot 1. The direction perpendicular to the first axis may be referred to as the second axis. Alternatively, in some embodiments, the second axis may be at an angle other than a right angle to the first axis.

Referring to fig. 3, the lifting mechanism 100 is disposed in the first accommodating cavity 13. The upper and lower cases 11 and 12 can isolate the first receiving chamber 13 from the outside to reduce the influence of external dust or mist and the like on the elevating mechanism 100. The lifting mechanism 100 is rotatably coupled to the upper and lower shells 11 and 12 to allow the lower shell 12 to rotate about a second axis relative to the upper shell 11. The lower shell 12 rotates relative to the upper shell 11 to drive the caster 14 to rotate relative to the upper shell 11, so that the caster 14 can roll towards different directions through the rotation relative to the upper shell 11, and further the lower shell 12 and the upper shell 11 are driven to move towards different directions, and the caster assembly 10 has a universal function. The lifting mechanism 100 further drives the lower case 12 to lift and lower relative to the upper case 11. The lifting direction of the lower case 12 relative to the upper case 11 is parallel to the extending direction of the second axis. Alternatively, the lower shell 12 may be lifted and lowered relative to the upper shell 11 along the second axis or in a direction having an angle with the second axis.

Further, referring to fig. 4 and 5, the lifting mechanism 100 includes a fixed bracket 110, a sliding bracket 120, a driving mechanism 130, and a rotational connection mechanism 140.

With further reference to fig. 6 and 7, the fixed bracket 110 is fixed on the upper shell 11, the sliding bracket 120 is slidably matched with the fixed bracket 110 along the lifting direction, the rotating connection mechanism 140 connects the sliding bracket 120 with the lower shell 12, and the driving mechanism 130 drives the sliding bracket 120 to slide along the lifting direction relative to the fixed bracket 110. Specifically, the sliding fit of the sliding bracket 120 with the fixed bracket 110 has various forms. For example, a sliding groove is extended on the fixed bracket 110, and the sliding bracket 120 has a sliding block, and the sliding block is slidably connected with the sliding groove. For another example, the fixed bracket 110 is diffraction-provided with a sliding rod, and the sliding bracket 120 has a sliding hole that is slidably engaged with the sliding rod.

The driving mechanism 130 can drive the sliding bracket 120 and the fixed bracket 110 toward or away from each other. The sliding support 120 can drive the lower shell 12 and the caster 14 to move, and the fixed support 110 can drive the upper shell 11 to move, so that the upper shell 11 and the lower shell 12 can be close to or far away from each other, and further the height adjustment of the caster assembly 10 is realized.

Referring to fig. 8 to 11, in detail, the fixing bracket 110 includes a first side plate 111 and a second side plate 112 disposed along a lifting direction and disposed side by side with each other, and a first lower end plate 114 connected between the first side plate 111 and the second side plate 112 at one end of the fixing bracket 110 near the caster 14. The first side plate 111 and the second side plate 112 are formed with a first spacing region 113 at a spacing. The first spacing region 113 may be used to carry and house the drive mechanism 130. The drive mechanism 130 includes a motor 131 and a threaded rod 132. The threaded rod 132 is disposed in the first spaced area 113 formed by the first side plate 111 and the second side plate 112, and is disposed in a direction perpendicular to the first axis. The motor 131 is connected to one end of the threaded rod 132 remote from the caster 14 and drives the threaded rod 132 to rotate, and the other end of the threaded rod 132 near the caster 14 is rotatably supported on the first lower end plate 114. The motor 131 may be mounted on the upper case 11 or on the fixing bracket 110, and is not limited thereto.

Further, referring to fig. 10, the fixing bracket 110 includes a first upper end plate 115 connected between the first side plate 111 and the second side plate 112 at the other end of the fixing bracket 110 near the caster 14, and the motor 131 is fixed to the first upper end plate 115, and the first upper end plate 115 is fixedly connected to the upper case 11. The first upper end plate 115 is provided with a second receiving cavity 115a. The first upper end plate 115 may be provided with a cover plate 117, and the cover plate 117 may close the second receiving chamber 115a. The driving mechanism 130 further includes a speed reducing mechanism (not shown) disposed in the second accommodating chamber 115a to separate the speed reducing mechanism from the first accommodating chamber 13, so as to reduce the influence of various components in the first accommodating chamber 13 on the operation of the speed reducing mechanism, and further reduce the entry of external dust and mist. The motor 131 is connected to the threaded rod 132 via a reduction mechanism. Through the mode, the driving mechanism 130 and the fixed support 110 can be organically combined, so that the motor 131, the threaded rod 132 and the speed reducing mechanism of the driving mechanism 130 can be accommodated and installed at different positions of the fixed support 110, the whole structure is more compact, the space utilization rate can be improved, and the miniaturization and the intensification of the whole structure are facilitated.

In another embodiment, referring to fig. 11, the driving mechanism 130 includes a motor 131, a threaded rod 132, a reduction mechanism (not shown), and a mounting frame 133. The motor 131, the speed reducing mechanism and the threaded rod 132 are respectively arranged on the mounting frame 133, the motor 131 is in transmission connection with the speed reducing mechanism, and the speed reducing mechanism is in transmission connection with the threaded rod 132. So configured, the drive mechanism 130 can be made as a single unit, and the drive mechanism 130 can be individually designed, manufactured, and assembled, or customized and purchased, depending on the size of the mounting bracket 110. It is possible to realize the assembly of the driving mechanism 130 with the fixing bracket 110 after the assembly is completed. Thus, the complex assembly relation between the fixed bracket 110 and the driving mechanism 130 can be reduced, the specific manufacturing of the components is realized, the overall manufacturing and assembly difficulty is reduced, and the improvement of the production efficiency is facilitated.

Referring to fig. 10 and 11, the sliding bracket 120 includes a third side plate 122 and a fourth side plate 123 disposed along the lifting direction and side by side with each other, and a lateral extension 121 connected between the third side plate 122 and the fourth side plate 123 at an end of the sliding bracket 120 remote from the caster 14 and extending perpendicular to the lifting direction. The lateral extension 121 extends at least partially into the first spacing zone 113 and is provided with a threaded hole 121a into which the threaded rod 132 is inserted. In this manner, the drive mechanism 130 forms a threaded transmission with the sliding support 120. The driving mechanism 130 is mounted on the fixed bracket 110, and the threaded rod 132 of the driving mechanism 130 rotates to drive the sliding bracket 120 to slide along the extending direction of the threaded rod 132, so that the fixed bracket 110 and the sliding bracket 120 are close to or far away from each other, and further the height of the caster assembly 10 is adjustable.

The third side plate 122 and the fourth side plate 123 are at least partially located outside the first spaced region 113 and form a second spaced region 124. In this way, the influence of the third side plate 122 and the fourth side plate 123 on the driving mechanism 130 can be reduced. Meanwhile, the third side plate 122 and the fourth side plate 123 are partially positioned in the first interval region 113, so that the assembly of the fixing bracket 110 and the mounting bracket can be more compact, and the space utilization rate can be improved.

Further, fig. 5 and 9 are combined with fig. 4 and 8. The motor 131 is disposed to enter the second interval region 124 after the sliding bracket 120 is raised to a predetermined height as compared to the fixed bracket 110. In other words, the second interval region 124 can accommodate the motor 131 when the sliding bracket 120 and the fixed bracket 110 are close to each other. By the arrangement, the interference between the motor 131 and the sliding support 120 can be reduced in the process of moving the sliding support 120 close to the fixed support 110, so that the sliding support 120 can be lifted to a higher height, the minimum distance between the fixed support 110 and the sliding support 120 can be reduced, and the minimum distance between the upper shell 11 and the lower shell 12 is reduced. This can increase the maximum stroke of the relative movement of the slide bracket 120 and the fixed bracket 110 when the maximum distance between the upper case 11 and the lower case 12 is not changed, and further, the height range in which the caster assembly 10 can be adjusted is increased. In addition, the second spacing area 124 accommodates the motor 131 to further make the structure of the caster assembly 10 more compact, thereby further improving the space utilization.

Referring to fig. 7 to 9, the rotation connection mechanism 140 rotatably connects the sliding bracket 120 and the lower case 12, and allows the lower case 12 to be rotatable about the second axis with respect to the sliding bracket 120. By this arrangement, the influence of the relative rotation of the lower case 12 and the upper case 11 on the relative movement process of the driving mechanism 130 to drive the fixed bracket 110 and the sliding bracket 120 can be reduced, and the interference of the upper case 11 and the lower case 12 on the lifting mechanism 100 can be reduced. Specifically, the rotary connection mechanism 140 includes a shaft sleeve 141 and a rotary shaft 142, the shaft sleeve 141 is disposed in the second interval region 124 and is fixed relative to the sliding support 120, and the rotary shaft 142 is rotatably inserted into the shaft sleeve 141 and is connected to the lower case 12. The arrangement of the shaft sleeve 141 and the rotating shaft 142 can enable the rotation connection between the lower shell 12 and the lifting mechanism 100 to be smoother, reduce the resistance of the lower shell 12 to rotate relatively, and facilitate the caster assembly 10 to move towards different directions.

Optionally, the sleeve 141 is integrally provided with the sliding bracket 120, referring to fig. 10, radial ribs are provided on a peripheral wall of the sleeve 141, and the radial ribs are further connected to the third side plate 122 and/or the fourth side plate 123, so that the sleeve 141 is more stably mounted to the sliding bracket 120. In some embodiments, the sleeve 141 is removably coupled to the sliding bracket 120.

Further, the sliding bracket 120 includes a second lower end plate 125 connected between the third side plate 122 and the fourth side plate 123 at an end of the sliding bracket 120 near the caster 14. The sleeve 141 is fixed to a side of the second lower end plate 125 facing the second spacing region 124, and the rotating shaft 142 is partially exposed to the other side of the second lower end plate 125 facing away from the second spacing region 124. The exposed portion of the shaft 142 is adapted for relatively fixed connection with the lower housing 12.

Referring to fig. 10 and 11, a window 141a is provided on a peripheral wall of the shaft sleeve 141, an annular groove (shown, but not labeled) is provided on a peripheral wall of the rotating shaft 142, and the rotating connection mechanism 140 further includes an elastic locking member 143, where the elastic locking member 143 is fixed on an outer side of the shaft sleeve 141 and is embedded in the annular groove through the window 141a to limit the rotating shaft 142 along an axial direction of the shaft sleeve 141. Specifically, the annular groove is provided such that the rotation of the rotation shaft 142 is not interfered by the elastic latching member 143, but the movement of the rotation shaft 142 in the circumferential direction is interfered by the elastic latching member 143. Thus, the rotating shaft 142 can be rotatably installed in the shaft sleeve 141, and the axial movement of the rotating shaft 142 is limited, so that the situation that the rotating shaft 142 is separated from the shaft sleeve 141 is reduced. Further, the elastic locking piece 143 can be elastically deformed by an external force. When the shaft sleeve 141 is mounted, the elastic locking member 143 can be deformed by an external force, so that the rotating shaft 142 is inserted into the shaft sleeve 141. After the rotating shaft 142 is installed in place, the elastic locking piece 143 elastically returns to limit the rotating shaft 142. The elastic locking member 143 may be deformed by an external force to release the limit of the rotating shaft 142, so as to detach the rotating shaft 142 from the sleeve 141. The arrangement of the opening 141a and the elastic locking member 143 can facilitate the detachable installation of the rotation shaft 142 and the shaft sleeve 141, and further facilitate the detachable installation of the lower case 12 and the lifting mechanism 100.

In connection with the above embodiment, the threaded rod 132 of the drive mechanism 130 is located in the first spaced region 113. The lateral extension 121 of the sliding bracket 120 can extend into the first spaced region 113, and the third and fourth side plates 122 and 123 are partially located in the first spaced region 113. The sleeve 141 and a part of the rotation shaft 142 are positioned at the second interval region 124, and the motor 131 can enter the second interval region 124 when the sliding bracket 120 is lifted. In this way, the size of the space occupied by the lifting mechanism 100 can be reduced, the structure of the lifting mechanism 100 can be made relatively compact, the space utilization can be improved, and the lifting mechanism 100 can realize the lifting function in a smaller volume. Further, the caster assembly 10 can be made more compact, which is advantageous for miniaturization and intensification of the caster assembly 10.

In summary, the caster 14 is rotatably coupled to the lower housing 12 such that the caster 14 can roll relative to the lower housing 12. The first accommodating cavity 13 formed by the upper shell 11 and the lower shell 12 can accommodate the lifting mechanism 100, so that the lifting mechanism 100 is isolated from the outside, and the influence of dust or water stain and the like on the lifting mechanism 100 is reduced. The lifting mechanism 100 rotationally connects the upper shell 11 and the lower shell 12, so that the lower shell 12 can drive the caster 14 to rotate relative to the upper shell 11, and the caster assembly 10 can move towards different directions, thereby realizing the function of universal. Further, the lifting mechanism 100 can drive the lower shell 12 to lift along the lifting direction relative to the upper shell 11, so that the overall height of the caster assembly 10 can be adjusted during the use process of the caster assembly 10, thereby adapting to different use situations and widening the use range of the caster assembly 10.

The cleaning robot 1 to which the caster assembly 10 is applied can actively adjust the height of the caster assembly 10. Adjusting the height of the caster assembly 10 enables the cleaning robot 1 to perform obstacle avoidance operations on the one hand. On the other hand, the height of the chassis of the cleaning robot 1 can be adjusted, so that the clearance between the cleaning module 40 and the working surface can be adjusted to actively change the cleaning effect. Can make the robot that has the module of mopping the floor adjust the height through the truckle subassembly 10, reduce to drag the long-term and working surface or bottom plate contact of rag, be convenient for drag the rag to air-dry, reduce mould and breed. By this arrangement, the contamination of the floor cleaning cloth to the surface such as a carpet which is not required to be cleaned can be reduced, and the cleaning robot 1 can be adapted to different floor cleaning situations.

The foregoing is only examples of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.

Claims (10)

1. A caster assembly, comprising:

a lower case;

the castor is rotatably connected with the lower shell and can rotate around a first axis, and the first axis is parallel to the axial direction of the castor;

the upper shell is in plug-in matching with the lower shell and is matched with the lower shell to form a first accommodating cavity;

the lifting mechanism is arranged in the first accommodating cavity and is connected with the upper shell and the lower shell, the lifting mechanism allows the lower shell to rotate around a second axis relative to the upper shell, the second axis is perpendicular to the first axis, the lifting mechanism is used for driving the lower shell to lift relative to the upper shell, and the lifting direction of the lower shell relative to the upper shell is parallel to the extending direction of the second axis.

2. The caster assembly of claim 1, wherein said lifting mechanism comprises a fixed bracket secured to said upper housing, a sliding bracket slidably engaged with said fixed bracket in said lifting direction, a drive mechanism driving said sliding bracket relative to said fixed bracket to slide in said lifting direction, and a rotational connection mechanism connecting said sliding bracket to said lower housing and allowing said lower housing to rotate relative to said sliding bracket about said second axis.

3. The caster assembly according to claim 2, wherein said drive mechanism comprises a motor and a threaded rod, said motor being mounted on said fixed bracket or said upper housing, said threaded rod extending in said lifting direction, said motor being drivingly connected to said threaded rod and being adapted to drive said threaded rod in rotation, said sliding bracket being threadedly engaged with said threaded rod, said threaded rod being rotated to drive said sliding bracket to move along said threaded rod.

4. A castor assembly according to claim 2 or 3, wherein one of the fixed and sliding brackets is provided with a runner, the other runner extending in the lifting direction, the runner being slidably disposed within the runner.

5. The caster assembly according to claim 2, wherein said rotational connection mechanism comprises a sleeve fixedly disposed on said sliding support and a shaft rotatably engaged with said sleeve and connected to said lower housing.

6. The caster assembly according to claim 5, wherein a window is provided in a peripheral wall of said axle housing, an annular groove is provided in a peripheral wall of said axle housing, and said rotational coupling mechanism further comprises an elastic locking member fixed to an outer side of said axle housing and inserted into said annular groove through said window to limit said axle housing in an axial direction of said axle housing.

7. The caster assembly of claim 2, wherein said fixed bracket has a first spaced area, said sliding bracket including a lateral extension slidably disposed within said first spaced area, said sliding bracket having a second spaced area outside of said first spaced area, said drive mechanism including a motor mounted on said fixed bracket and received within said second spaced area when said caster is in a raised state.

8. The caster assembly of claim 7, wherein said fixed bracket includes oppositely disposed first and second side plates forming said first spaced region therebetween, said sliding bracket includes oppositely disposed third and fourth side plates each connected to said lateral extension, said third and fourth side plates forming said second spaced region therebetween.

9. The caster assembly of claim 8, wherein said slip bracket further comprises a second lower end plate connected between said third side plate and said fourth side plate, said rotational connection mechanism comprising a sleeve disposed on said second lower end plate and located in said second spaced-apart region, and a rotating shaft rotatably engaged with said sleeve, a portion of said rotating shaft passing through said second lower end plate and connected to said lower shell.

10. A cleaning robot, comprising:

an apparatus main body;

the driving wheel assembly comprises a left driving wheel and a right driving wheel which are respectively arranged at the left side and the right side of the equipment main body, and the driving wheel assembly is used for driving the equipment main body to walk on a working surface;

the cleaning module is connected with the equipment main body and is used for cleaning a working surface; and

the castor assembly of any of claims 1-9, the upper housing being connected to the apparatus body.

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