CN220447594U - Walking assembly and cleaning robot - Google Patents

Abstract

The utility model provides a walking assembly and a cleaning robot. The walking assembly comprises a shell, a swing arm, a driving wheel and a mounting mechanism, wherein the driving wheel and the mounting mechanism are arranged on the swing arm, the mounting mechanism detachably connects the swing arm into the shell, the mounting mechanism comprises a mounting part and a plurality of separable limiting parts, the mounting part is positioned in a limiting cavity formed by surrounding the limiting parts in a combined state, the mounting part is detachable from the limiting cavity in a separated state, the shell comprises a plurality of sub-shells which are detachably connected, the limiting parts are respectively arranged on the sub-shells, and the mounting part is arranged on the swing arm; or the swing arm comprises a plurality of sub-swing arms which are detachably connected, a plurality of limiting parts are respectively arranged on the plurality of sub-swing arms, and the mounting part is arranged on the shell. The installation process of the walking assembly is simple and labor-saving, the installation efficiency is higher, parts are convenient to replace, a user can automatically disassemble and assemble the swing arm and the driving wheel, and further maintenance cost is reduced, and user experience is better.

Description

Walking assembly and cleaning robot

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a walking assembly and a cleaning robot.

Background

Along with the progress of science and technology, intelligent robots are becoming more and more widely used, and in order to enable the intelligent robots to have mobility, driving wheels are usually arranged on the intelligent robots.

In the existing intelligent robot, the driving wheel is freely rotatably installed on the swing arm. The two sides of the swing arm are provided with rotating shafts which are rotatably inserted into rotating shaft holes oppositely arranged on the chassis of the intelligent robot. When the ground is uneven, the swing arm can swing up and down by taking the rotating shaft as an axis. In addition, an elastically deformable telescopic mechanism can be arranged between the swing arm and the chassis. The telescopic mechanism can provide elastic buffering for the chassis when the swing arm swings up and down so as to reduce vibration of the chassis.

The connection of the swing arm to the chassis is typically by means of an elongated shaft. During installation, the shaft needs to pass through the chassis from one side of the swing arm to the other side, and both ends of the shaft are connected to the chassis. And, the shaft also requires an interference fit with the swing arm or chassis to mount the swing arm to the chassis. This mounting process requires the application of a large external force and thus requires the assurance that the elongated shaft has sufficient strength. In addition, the interference fit makes it difficult to remove the axle, so the swing arm is not easily removed from the chassis.

Disclosure of Invention

In order to at least partially solve the problems of the prior art, according to one aspect of the present utility model, a walking assembly is provided. The walking assembly comprises a shell, a swing arm, a driving wheel and a mounting mechanism, wherein the driving wheel and the mounting mechanism are arranged on the swing arm, the mounting mechanism detachably connects the swing arm into the shell, the mounting mechanism comprises a mounting part and a plurality of separable limiting parts, the mounting part is positioned in a limiting cavity formed by surrounding the limiting parts in a combined state, the mounting part is detachable from the limiting cavity in a separated state, the shell comprises a plurality of sub-shells which are detachably connected, the limiting parts are respectively arranged on the sub-shells, and the mounting part is arranged on the swing arm; or the swing arm comprises a plurality of sub-swing arms which are detachably connected, a plurality of limiting parts are respectively arranged on the plurality of sub-swing arms, and the mounting part is arranged on the shell.

In the walking assembly provided by the application, because a plurality of limiting parts in the installation mechanism for connecting the swing arm and the shell are separable, the installation part can be inserted to a preset position in advance when the plurality of limiting parts are separated, and then the plurality of limiting parts can be surrounded to form a limiting cavity along with the plurality of sub-shells or the plurality of sub-swing arms so as to limit the installation part positioned at the preset position. The installation process of such traveling assembly is simple laborsaving, and installation effectiveness is higher, only need to dismantle the dismantlement of just can accomplishing the installation department with a plurality of parts that a plurality of spacing portions are located when dismantling moreover, and consequently it is more convenient to dismantle, is convenient for change spare part, and the user can dismouting swing arm and drive wheel by oneself, and then has reduced maintenance cost, and user experience is better. In addition, the length of the mounting part only needs to be limited in the limiting cavity, so that overlong is not needed, and the mounting part is more convenient to process and manufacture. The walking assembly still has a simple structure, is easy to realize, does not cause obvious increase of manufacturing cost, but obviously reduces the use cost of users.

Illustratively, the plurality of limiting portions includes a first limiting portion and a second limiting portion, a first groove is provided on the first limiting portion, a second groove is provided on the second limiting portion, the first limiting portion and the second limiting portion are in a combined state, a limiting cavity is formed by surrounding the first groove and the second groove, and the mounting portion is connected to the limiting cavity. The first limiting part and the second limiting part both have limiting effect on the mounting part, so that the whole device is more stable.

Illustratively, the plurality of limiting portions includes a first limiting portion and a second limiting portion, the first limiting portion is provided with a first groove, the mounting portion is mounted into the first groove via a notch of the first groove, and the second limiting portion covers the notch of the groove to form the limiting cavity. The first groove can form guiding and positioning functions on the mounting part, and the first groove can be convenient for a technician to confirm that the mounting part can be in place when being inserted to the preset position, namely, before the second sub-shell is mounted and connected to the first sub-shell, the mounting part can be ensured to be inserted to the preset position only by inserting the mounting part into the first groove. Then, when the second sub-shell is mounted on the first sub-shell, the second limiting part can block the first groove to limit the mounting part to a preset position. When the swing arm and the driving wheel are detached, the second sub-shell can be detached firstly, and then the swing arm and the driving wheel are removed from the first sub-shell, so that the swing arm and the driving wheel are more convenient to replace.

The plurality of sub-housings include a first sub-housing and a second sub-housing, the first limiting portion is disposed on the first sub-housing, the second limiting portion is disposed on the second sub-housing, and a notch of the first groove faces the second sub-housing. In this way, the slot is maximally exposed when the second sub-housing is removed, thereby facilitating removal of the mounting portion from the first recess.

The second sub-housing is located below the first sub-housing, the second sub-housing having an opening through which at least a portion of the drive wheel extends out of the housing. In such a walking assembly, when an opening with a smaller size is adopted, only a small part of the driving wheel extends out of the shell, the whole gravity center of the walking assembly can be lower, the stability of the walking assembly during movement can be improved, and the whole height of the walking assembly can be reduced.

Illustratively, the mounting portion has an included angle between a direction in which the mounting portion protrudes from the component and a removal direction in which the mounting portion is removed from the spacing cavity. This allows the mounting portion to be inserted into the spacing cavity from its side.

The mounting portion is rotatable about a predetermined axis in a combined state of the plurality of limiting portions so that the swing arm can swing up and down, and the traveling assembly includes a telescopic mechanism that is telescopic at least in a direction perpendicular to the predetermined axis, the telescopic mechanism being located between the swing arm and the housing so that the telescopic mechanism is telescopic when the swing arm swings. The telescopic mechanism can enable the walking assembly to change the distance extending out of the shell more smoothly when the walking assembly is in a pit with larger sinking degree or an obstacle with a certain height on the moving ground, so that the walking assembly can overcome the pit with larger sinking degree or the obstacle with a certain height more smoothly and adapt to the use of various grounds.

Illustratively, one end of the telescoping mechanism is connected or abutted to the swing arm, and the other end of the telescoping mechanism is abutted to the housing. The telescopic mechanism is not connected with the shell, so that the telescopic mechanism can be removed only after the swing arm and the driving wheel are detached from the shell.

The telescopic mechanism comprises a connecting member having opposite first and second ends, the first end being pivotably connected to the swing arm, the second end being against the housing, and an elastic member having opposite third and fourth ends, the third end being connected to the swing arm, the fourth end being connected to the second end of the connecting member. When the walking assembly passes through a pit with larger sinking degree or an obstacle with a certain height, the driving wheel can be far away from or close to the shell in the height direction, and when the walking assembly returns to the flat ground, the telescopic mechanism can rebound in time so that the driving wheel returns to the initial position, the capability of overcoming the obstacle is stronger when the walking assembly moves, and the walking assembly can be more stable when moving. Thus, when the convex road surface is met, the driving wheel swings upwards along with the swing arm, the elastic piece is stretched, and when the road surface is flat, the driving wheel pivots downwards along with the swing arm and forms a certain included angle with the connecting piece. When the elastic piece is on a flat road surface, the elastic piece is not in a natural state, and is still stretched by a small amount under the action of the gravity of the intelligent robot. When encountering a pit road surface, the driving wheel can be allowed to swing downwards along with the swing arm, so that the main body of the intelligent robot can be ensured to move stably.

Illustratively, the mounting portion is a pivot shaft, and a space surrounded by the plurality of limiting portions is a pivot hole. The installation part and the plurality of limiting parts matched with the shaft hole are adopted, so that the whole device is simpler in structure, the installation part and the plurality of limiting parts are easy to match in size, the design cost is reduced, and the device is easy to realize.

Illustratively, the predetermined axis is parallel to the rotational axis of the drive wheel. When the predetermined axis is parallel to the rotation axis of the driving wheel, the rotation axis of the driving wheel is still horizontal when the driving wheel swings up and down with the swing arm, and the contact area with the ground is at a maximum at this time, so that the smoothness of walking can be maintained. And, if the driving wheel swings up and down with the swing arm, the rotation axis of the driving wheel is not parallel to the horizontal plane, which may cause serious abrasion of one side of the driving wheel.

Illustratively, the mounting portion is removable from the spacing cavity in a removal direction perpendicular to the predetermined axis. In this case, the mounting portion may be more conveniently connected to the plurality of stopper portions in a direction perpendicular to the predetermined axis.

Illustratively, a bumper is disposed between the mounting portion and the plurality of spacing portions. The setting of bolster can make the resonance noise reduction between casing and the swing arm, and then makes whole device more stable. In addition, the mode that the installation part is spacing to a plurality of spacing portions that above-mentioned provided makes things convenient for the installation of bolster more. Whereas the existing hard-fit manner is difficult to mount the buffer on the mounting portion.

The buffer is illustratively sleeved on the mounting portion, or the buffer is formed on the surface of the mounting portion, or the buffer is formed on the surfaces of the plurality of limiting portions. The walking assembly is simpler in structure and easy to realize.

Illustratively, the mounting mechanisms are two and are oppositely disposed on both sides of the swing arm in a direction perpendicular to the rotational axis of the drive wheel. The swing arm is more stable with being connected between the casing like this, and two installation mechanism can even atress in the in-process that running gear removed moreover, and two installation mechanism are difficult for receiving the destruction for whole device is more stable.

According to another aspect of the present utility model, a cleaning robot is provided. The cleaning robot comprises a main body and any one of the walking assemblies as described above, wherein the housing is provided on the main body. The driving wheel and the swing arm of the cleaning robot are easy to detach, and the user experience is good.

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Advantages and features of the utility model are described in detail below with reference to the accompanying drawings.

Drawings

The following drawings are included to provide an understanding of the utility model and are incorporated in and constitute a part of this specification. Embodiments of the present utility model and their description are shown in the drawings to explain the principles of the utility model. In the drawings of which there are shown,

FIG. 1 is a perspective view of a walking assembly according to an exemplary embodiment of the present utility model;

FIG. 2 is a side view of the walking assembly shown in FIG. 1;

FIG. 3A is a cross-sectional view of the walking assembly shown in FIG. 1;

FIG. 3B is an enlarged view of a portion of FIG. 3A;

FIG. 4A is a schematic view of a housing of the walking assembly shown in FIG. 1;

FIG. 4B is an enlarged view of a portion of FIG. 4A;

FIG. 5 is an exploded view of the walking assembly shown in FIG. 1; and

fig. 6 is a perspective view of the drive wheel and swing arm of the travel assembly shown in fig. 1.

Wherein the above figures include the following reference numerals:

10. a walking assembly; 100. a housing; 110. a first sub-housing; 120. a second sub-housing; 121. an opening; 130. an installation space; 200. a driving wheel; 300. swing arms; 400. a mounting mechanism; 410. a mounting part; 420. a limit part; 421. a first limit part; 4211. a first groove; 422. a second limit part; 4221. an arc surface; 430. a buffer member; 500. a telescoping mechanism; 510. a connecting piece; 511. a first end; 512. a second end; 520. an elastic member; 521. a third end; 522. a fourth end; 600. a drive wheel motor; 700. a connector.

Detailed Description

In the following description, numerous details are provided to provide a thorough understanding of the utility model. However, it will be understood by those skilled in the art that the following description illustrates preferred embodiments of the utility model by way of example only and that the utility model may be practiced without one or more of these details. Furthermore, some technical features that are known in the art have not been described in detail in order to avoid obscuring the utility model.

According to one aspect of the present utility model, a walking assembly is provided. The walking assembly may be used with a variety of intelligent robots including, but not limited to, one or more of cleaning robots, transfer robots, and the like. The driving wheel of the walking assembly is rotatably mounted on the swing arm, and the swing arm and the shell can be mounted through the mounting mechanism, wherein the mounting mechanism can comprise a mounting part (such as a rotating shaft) and a limiting part, the limiting part can be detached, therefore, the mounting part can be placed at a preset position when each part of the limiting part is separated, the preset position refers to the position where the mounting part is located when the mounting part is connected to a plurality of limiting parts, then a limiting cavity can be formed by surrounding each part of the limiting part when the mounting part is combined, and the mounting part can be limited in the limiting cavity at the moment, so that the mounting connection of the shell and the swing arm can be completed. The swing arm and the driving wheel are easily detached from or mounted on the shell, and the structure is simple and easy to realize.

According to another aspect of the present utility model, there is provided a cleaning robot provided with a traveling assembly to move the same. The cleaning robot may include a main body and any one of the walking assemblies as described below, wherein a housing of the walking assembly may be provided on the main body of the cleaning robot. The main body of the cleaning robot may include a housing, a cleaning assembly, a battery, or the like. The housing of the traveling assembly may be integrally formed with the main body of the cleaning robot, or may be coupled to the main body in various forms such as screw connection, riveting or welding.

Referring to fig. 1, 2, 3A, and 4A in combination, the walking assembly 10 may include a housing 100, a drive wheel 200, a swing arm 300, and a mounting mechanism 400. The swing arm 300 may be detachably connected to the housing 100 by a mounting mechanism 400. The driving wheel 200 is rotatably mounted to the swing arm 300. The swing arm 300 may have various structures. The swing arm 300 may serve as a carrier for the driving wheels 200, and the driving wheels 200 may be mounted through the swing arm 300 to facilitate their mounting with the housing 100. In addition, a telescopic mechanism 500 as will be mentioned later may also be connected to the swing arm 300.

Illustratively, the length of the swing arm 300 in one direction may be greater than the length in the other direction. One end of the swing arm 300 may be connected to the housing 100 by a mounting mechanism 400, and the driving wheel 200 may be rotatably connected to the other end of the swing arm 300. The drive wheel 200 may be rotatably coupled to the swing arm 300 in various other forms that may exist or may occur in the future.

Illustratively, at least a portion of the swing arm 300 that is coupled to the housing 100 and the mounting mechanism 400 may be enclosed within the housing 100, while at least a portion of the drive wheel 200 may extend out of the housing 100. The housing 100 may be provided with an opening through which at least a portion of the drive wheel 200 may extend out of the housing 100. The driving wheel 200 can move relative to the ground when rotating, so that the driving wheel 200 can drive the intelligent robot to move.

The mounting mechanism 400 may include a mounting portion 410 and a plurality of separable stop portions 420. The mounting portion 410 is convexly provided on the component on which it is located. The mounting portion 410 is limited in a limiting cavity formed by surrounding the plurality of limiting portions 420 in a combined state of the plurality of limiting portions 420, and the mounting portion 410 is detachable from the limiting cavity in a separated state of the plurality of limiting portions 420. The mounting portion 410 may be cylindrical, polygonal, or various other shapes. When it is desired that the swing arm 300 be rotatable within the spacing cavity, the mounting portion 410 may be cylindrical. The mounting portion 410 may have other non-cylindrical configurations when the mounting portion 410 is not required to rotate within the spacing cavity. Of course, when the rotation of the mounting portion 410 is not desired, the mounting portion 410 may also have a cylindrical shape, and at this time, the swing arm 300 may be limited by other components on the swing arm 300, so as to avoid the rotation of the swing arm 300 relative to the housing 100. The plurality of stopper portions 420 may form a stopper cavity capable of accommodating the mounting portion 410 when combined. Desirably, the shape of the spacing cavity can be adapted to the shape of the mounting portion 410, so that the swing arm 300 is stably and reliably connected to the housing 100 to keep the two relatively stationary when the intelligent robot employing the walking assembly 10 walks. For example, referring to fig. 3A-3B, when the mounting portion 410 is cylindrical, the limiting cavities formed by surrounding the limiting portions 420 may be cylindrical, which is adapted to the mounting portion 410, and the cylindrical limiting cavities may be in the form of through holes or blind holes. Thus, the plurality of limiting portions 420 may be combined to limit the mounting portion 410 from rotating only within the limiting cavity but not displacing relative to the plurality of limiting portions 420. In other embodiments, not shown, the mounting portion 410 may be in a rectangular block shape, and after the plurality of limiting portions 420 are combined, the mounting portion 410 cannot rotate or displace relative to the limiting portions 420 in the limiting cavity. Those skilled in the art can design the specific form of the mounting portion 410 and the plurality of limiting portions 420 according to actual needs.

In the installation process of the installation mechanism 400, the plurality of limiting parts 420 may be in a separated state in advance, the installation part 410 may be inserted to a predetermined position, and then the plurality of limiting parts 420 may form a limiting cavity around the installation part 410, and at this time, the installation part 410 may be limited on the limiting cavity, so that the installation part 410 may be kept in the limiting cavity, thereby completing the installation process of the installation mechanism 400. It should be noted that, limiting the mounting portion 410 in the limiting cavity includes that the mounting portion 410 cannot be displaced, and whether the mounting portion 410 rotates in the limiting cavity can be set according to needs.

The mounting portion 410 may be provided on the swing arm 300, and correspondingly, the plurality of limiting portions 420 may be provided on the housing 100. Similarly, the mounting portion 410 may be provided on the housing 100, and in this case, a plurality of the stopper portions 420 may be provided on the swing arm 300. Since the mounting portion 410 cannot be displaced with respect to the plurality of stopper portions 420, the swing arm 300 can be moved in synchronization with the housing 100.

In an embodiment in which a plurality of stoppers 420 are provided on the housing 100, the housing 100 may include a plurality of sub-housings detachably connected, for example. The plurality of sub-shells can be connected together in various forms such as threaded connection or clamping connection. The number of the plurality of stopper portions 420 may be identical to the number of the plurality of sub-housings. The plurality of limiting parts 420 may be disposed on the plurality of sub-housings, respectively, thereby ensuring that the plurality of limiting parts 420 can be separated and combined together through the disassembly and assembly of the plurality of sub-housings.

For example, the number of sub-housings may be two, referring to fig. 3A and 4A, and may be the first sub-housing 110 and the second sub-housing 120, respectively, and the plurality of limiting parts 420 may include a first limiting part 421 and a second limiting part 422. Such a traveling assembly 10 may be installed by first placing the first sub-housing 110 upside down, and then placing the driving wheel 200 and the swing arm 300 on the first sub-housing 110. At this time, the mounting portion 410 may be placed at a predetermined position, and the first stopper 421 may form a support for the mounting portion 410 at the predetermined position. Finally, the second sub-housing 120 may be mounted and connected to the first sub-housing 110, and at this time, the second limiting portion 422 and the first limiting portion 421 are combined to form an enclosure, and limit the mounting portion 410 at a predetermined position. Thus, the installation of the traveling assembly 10 is completed. For ease of description, in other embodiments, the number of the limiting portions 420 may be three or more, and correspondingly, the number of the sub-housings may be three or more. Also, the form of the mounting portion 410 is not limited to a cylindrical shape, and will not be described here.

Of course, in embodiments (not shown) in which a plurality of limit stops are provided on the swing arm, the swing arm may also include a plurality of sub-swing arms that are detachably connected. The plurality of sub-swing arms can be connected together in various forms such as threaded connection or clamping connection. The number of the plurality of limit parts may be identical to the number of the plurality of sub-swing arms. The plurality of limiting parts can also be respectively arranged on the plurality of sub-swing arms, and the mounting part can be arranged on the shell. The number of sub-swing arms may be two, three or more. For example, the swing arm may include a first sub-swing arm and a second sub-swing arm that are detachably connected, and the plurality of limiting portions may include a first limiting portion and a second limiting portion, where the first limiting portion is disposed on the first sub-swing arm, the second limiting portion is disposed on the second sub-swing arm, and when the second sub-swing arm and the first sub-swing arm are connected, the second limiting portion and the first limiting portion may be combined to form a limiting cavity, and the mounting portion is limited in the limiting cavity. The drive wheel may be rotatably mounted on one of the sub-swing arms. When the walking assembly is installed, one sub-swing arm (for example, the sub-swing arm connected with the driving wheel) can be placed in the shell, the installation part on the shell can be located at a preset position, then other sub-swing arms can be installed and connected to the sub-swing arm, and a plurality of limiting parts on the sub-swing arms surround to form a limiting cavity and limit the installation part. Thus, the installation of the walking assembly is completed.

In the walking assembly 10 provided in the present application, since the plurality of limiting parts 420 in the mounting mechanism 400 connecting the swing arm 300 with the housing 100 are separable, the mounting part 410 may be inserted into a predetermined position in advance when the plurality of limiting parts 420 are separated, and then the plurality of limiting parts 420 may be surrounded to form a limiting cavity along with the plurality of sub-housings or the plurality of sub-swing arms being connected to each other to form a limit for the mounting part 410 located at the predetermined position. The installation process of the walking assembly 10 is simple and labor-saving, the installation efficiency is higher, the installation portion 410 can be detached only by disassembling a plurality of parts where the limiting portions 420 are located when the walking assembly is detached, so that the walking assembly is more convenient to detach and convenient to replace parts, a user can detach the swing arm 300 and the driving wheel 200 by himself, the maintenance cost is reduced, and the user experience is better. In addition, the length of the mounting portion 410 only needs to be limited in the limiting cavity, so that the mounting portion is not required to be too long, and the mounting portion is more convenient to process and manufacture. The walking assembly 10 still has a simple structure, is easy to realize, does not cause obvious increase of manufacturing cost, but can obviously reduce the use cost of users.

In one embodiment of the present utility model, referring to fig. 3A, 4A and 5 in combination, the plurality of sub-housings may include a first sub-housing 110 and a second sub-housing 120. Illustratively, the first sub-housing 110 and the second sub-housing 120 may enclose an installation space 130, as shown in fig. 3A and 4A. In the illustrated embodiment, the installation space 130 may be disposed mainly within the first sub-housing 110. The first sub-housing 110 may have a downward opening, and the second sub-housing 120 may cover the opening and form the installation space 130 when connected to the first sub-housing 110. The swing arm 300 may be accommodated in the installation space 130, and at least a portion of the driving wheel 200 may protrude out of the housing 100. After being mounted on the intelligent robot, the portion of the driving wheel 200 protruding outside the housing 100 is grounded. At least a part of the driving wheel 200 extends out of the shell 100 by arranging the swing arm 300 inside the shell 100, and when the driving wheel 200 rotates to drive the walking assembly 10 to move, the swing arm 300 is not easy to fall off, so that the whole structure is more stable; and only the driving wheel 200 is exposed to the outside of the housing 100 from the external appearance, so that the structure of the traveling assembly is more compact. Desirably, the rotation shaft of the driving wheel 200 connected to the swing arm 300 may be located in the housing 100, which may protect the rotation shaft and reduce the overall height of the traveling assembly.

Illustratively, the second sub-housing 120 may be located below the first sub-housing 110, and the second sub-housing 120 may have an opening 121. At least a portion of the drive wheel 200 may extend out of the housing 100 through the opening 121. Typically, the walking assembly 10 is mounted on the intelligent robot from below, for example on the chassis of the intelligent robot. When the traveling assembly 10 is applied to an intelligent robot, the first sub-housing 110 may be fixed to the intelligent robot, and the second sub-housing 120 is disposed under the first sub-housing 110, and at this time, the second sub-housing 120 may be exposed outside the intelligent robot, and the driving wheel 200 and the swing arm 300 may be installed and removed as long as the second sub-housing 120 is removed. And the second sub-housing 120 can limit the swing arm 300 in the housing 100, so that the swing arm 300 is not easy to fall off, and the stability of the whole device is improved. In such a traveling assembly 10, when the smaller-sized opening 121 is used, only a small portion of the driving wheel 200 protrudes out of the housing 100, and the center of gravity of the traveling assembly 10 as a whole can be lower, which can improve the stability of the traveling assembly 10 when moving and reduce the overall height of the traveling assembly 10.

In the illustrated embodiment, the first sub-housing 110 and the second sub-housing 120 are arranged one above the other. But this application does not exclude other arrangements. For example, in other embodiments not shown, the first sub-housing and the second sub-housing may be arranged side-to-side, or one upper left-to-lower right, etc. When other arrangements are employed, it may be desirable to have a first sub-housing with a first sub-opening and a second sub-housing with a second sub-opening. The second sub-housing may be configured to define an opening through which the drive wheel extends when coupled to the first sub-housing. When the drive wheel and swing arm need to be installed and removed, both the first sub-housing and the second sub-housing may need to be removed from the intelligent robot. Of course, if one of the first sub-opening and the second sub-opening is sufficiently large, only one sub-housing may be detached. However, this may cause the drive wheel and a large portion of the swing arm to be exposed, be prone to damage, and the like, and be not neat in appearance; and because of the large opening, foreign matter may easily enter the housing to damage components in the housing.

In the illustrated embodiment, as shown in fig. 3A-3B and fig. 4A-4B, the plurality of detents 420 may include a first detent 421 and a second detent 422. The first limiting part 421 may be disposed on the first sub-housing 110, and the second limiting part 422 may be disposed on the second sub-housing 120. The first limiting portion 421 may be provided with a first groove 4211. Illustratively, the notch of the first groove 4211 may face the second sub-housing 120. In this way, the slot is maximally exposed when the second sub-housing 120 is removed, thereby facilitating removal of the mounting portion 410 from the recess. But "the notch of the first groove 4211 may be oriented toward the second sub-housing 120" does not mean that the first groove 4211 must be oriented toward the second sub-housing 120. Specifically, in the illustrated embodiment, the second sub-housing 120 is coupled below the first sub-housing 110, and the first recess 4211 may be directed in a vertically downward direction. In other embodiments not shown, however, the opening direction of the first grooves 4211 may be inclined at an angle toward the left or right in the drawing. So long as it is ensured that the mounting portion 410 can be mounted into the first recess 4211 via the notch to be inserted to a predetermined position. The second limiting part 422 may cover the notch of the first groove 4211 when the second sub-housing 120 is connected to the first sub-housing 110. Thereby restraining the mounting portion 410 at a predetermined position. In the illustrated embodiment, the first recess 4211 is a U-shaped recess. The second limiting portion 422 has an arcuate surface 4221. The arcuate surfaces 4221 may be inserted into the U-shaped groove such that they define a generally cylindrical space to accommodate the mounting portion 410. In other embodiments not shown, the first recess 4211 may have other shapes, for example, may be a square groove, etc., as long as the second limiting portion 422 can have a structure adapted thereto. The shape of the receiving space formed after the first recess 4211 is blocked by the second limiting portion 422 depends on various factors such as whether the mounting portion 410 rotates therein, the shape of the mounting portion 410, and the like. The cooperation of the plurality of second limiting portions 422 and the mounting portion 410 has been described in detail above, and will not be described here again.

In the process of installing the traveling assembly 10, the installation portion 410 is first inserted to a predetermined position, and since the predetermined position is the position where the installation portion 410 is located when the installation of the traveling assembly 10 is completed, the accuracy of inserting the installation portion 410 to the predetermined position is not easy to grasp when the first and second limiting portions 421 and 422 are not yet surrounded in the process of installing. The first recess 4211 may provide guiding and positioning functions for the mounting portion 410, and the first recess 4211 may be provided to facilitate a technician to confirm that the mounting portion 410 is inserted into a predetermined position, that is, to ensure that the mounting portion 410 has been inserted into the predetermined position, as long as the mounting portion 410 is inserted into the first recess 4211 before the second sub-housing 120 is mounted and connected to the first sub-housing 110. Then, when the second sub-housing 120 is mounted on the first sub-housing 110, the second limiting portion 422 can block the first recess 4211 to limit the mounting portion 410 to a predetermined position. When the swing arm 300 and the driving wheel 200 are disassembled, the second sub-housing 120 may be disassembled first, and then the swing arm 300 and the driving wheel 200 may be removed from the first sub-housing 110, so that it is more convenient to replace the swing arm 300 and the driving wheel 200.

In other embodiments not shown, the swing arms may include two sub-swing arms, and the first limit portion in the shape of a groove may be provided on one of the sub-swing arms, and the second limit portion may be provided on the other sub-swing arm. This embodiment has the same technical effect as the above-described embodiment, and can be easily assembled and disassembled to detach the driving wheel and the swing arm from the housing, and will not be further described herein for brevity.

In one embodiment of the present utility model, grooves may be provided on both the first and second stopper portions provided on the swing arm and the housing, for example, a first groove may be provided on the first stopper portion, a second groove may be provided on the second stopper portion, the first and second grooves may be surrounded to form a stopper cavity in a combined state, and the mounting portion may be connected to the stopper cavity. The first limiting part and the second limiting part can both have a limiting effect on the installation part, so that the whole device is more stable.

As described above, the mounting portion 410 may rotate within the spacing cavity formed by surrounding the plurality of spacing portions 420, and for convenience of description, an axis of the mounting portion 410 rotatable with respect to the plurality of spacing portions 420 is referred to as a predetermined axis. Illustratively, the mounting portion 410 may be a pivot shaft and the spacing cavity surrounded by the plurality of spacing portions 420 may be a pivot hole. The installation portion 410 and the plurality of limiting portions 420 which are matched with each other through the shaft holes can enable the overall device structure to be simpler, and the installation portion 410 and the plurality of limiting portions 420 are easy to match in size, so that design cost is reduced, and implementation is easy. The pivot shaft may have the following shape: a straight line segment or a curved line segment which is not perpendicular to the predetermined axis is formed in a shape surrounded by one revolution about the predetermined axis, for example, a cylindrical shape obtained by one revolution of a straight line segment parallel to the predetermined axis, an hourglass shape obtained by one revolution of a curved line segment whose middle portion is curved toward the predetermined axis, or a fusiform shape obtained by one revolution of a curved line segment whose middle portion is curved away from the predetermined axis, or the like. In the illustrated embodiment, the predetermined axial direction is parallel to the rotational axis of the drive wheel 200, i.e., perpendicular to the page. In other embodiments, not shown, the predetermined axis may be at any angle to the axis of rotation of the drive wheel 200, as well as perpendicular to each other. In practical use, it is not desirable that the swing arm 300 can rotate 360 degrees, as long as the swing arm 300 can be allowed to swing up and down. In the illustrated embodiment, the mounting portion 410 and the plurality of spacing portions 420 are located forward of the drive wheel 200. Typically, only a pair of traveling assemblies 10 will be provided on a robot. In other embodiments, not shown, the mounting portion 410 may be located between a pair of drive wheels 200 with respect to the plurality of limit portions 420. The predetermined axis may be angled with respect to the removal direction of the mounting portion 410 from the spacing cavity, so that the mounting portions 410 on both sides can be inserted into or removed from the spacing cavity even in the case where the mounting portions 410 are provided on both sides of the swing arm 300. The detaching direction refers to a direction in which the mounting portion 410 is detached from the spacing chamber when the plurality of spacing portions 420 are separated, that is, a direction in which the mounting portion 410 is inserted to a predetermined position (since the spacing chamber is not formed at this time). The mounting portion 410 may be inserted into a predetermined position from various directions, for example, referring to fig. 4, and the mounting portion 410 may be inserted upward into the first recess 4211, i.e., into a predetermined position, where the insertion direction is a vertically upward direction. After being inserted to a predetermined position, the mounting portion 410 may rotate in the first recess 4211, and the predetermined axis is perpendicular to the paper surface.

As previously mentioned, the mounting portion 410 generally protrudes from the component in which it is located. One end of the mounting portion 410 is connected to the component on which it is located, which may be referred to as a connection end; and the other end opposite the component where it is located, which may be referred to as the free end. Connected between the connecting end and the free end are the sides of the mounting portion 410. In the illustrated embodiment, the protruding direction of the mounting portion 410 coincides with the extending direction of the predetermined axis. Desirably, the mounting portion 410 is inserted into a predetermined position from a side thereof. Thus, the mounting portion 410 is mounted with less effort. Illustratively, the mounting portion 410 may have an angle between a direction in which the mounting portion 410 protrudes from the component and an insertion direction in which the mounting portion 410 is inserted to a predetermined position. This allows the mounting portion 410 to be inserted into a predetermined position from the side thereof. Of course, the present application does not exclude an embodiment in which the mounting portion 410 is inserted from the free end to a predetermined position. Even if the mounting portion 410 is inserted from the free end, since the plurality of stopper portions are separated to allow the mounting portion 410 to enter the predetermined position, the purpose of convenience in mounting and labor saving can be achieved.

For example, the disassembly direction may be perpendicular to the predetermined axis. In some embodiments, when the plurality of limiting portions 420 are in the separated state, the mounting portion 410 is inserted to the predetermined position, and after the plurality of limiting portions 420 are combined to form an enclosure, the plurality of limiting portions 420 limit the mounting portion 410, so that the mounting portion 410 cannot move along the direction of the predetermined axis. In this case, the mounting portion 410 may be more conveniently inserted to a predetermined position in a direction perpendicular to the predetermined axis.

For example, the predetermined axis may be parallel to the rotational axis of the drive wheel 200. When the traveling assembly 10 encounters a pit or a threshold while traveling, the driving wheel 200 may oscillate with the swing arm 300 with respect to the housing 100 in addition to its rotation, and when the predetermined axis is parallel to the rotation axis of the driving wheel 200, the rotation axis of the driving wheel 200 is still horizontal while the driving wheel 200 oscillates up and down with the swing arm 300, and the contact area with the ground is maximized, so that traveling smoothness can be maintained. Also, if the driving wheel 200 swings up and down with the swing arm 300, there is a state in which the rotation axis of the driving wheel 200 is not parallel to the horizontal plane, it may cause a serious abrasion of one side of the driving wheel 200.

In one embodiment of the present utility model, referring to fig. 5 and 6 in combination, the walking assembly 10 may include a telescoping mechanism 500 that is telescoping in at least a direction perpendicular to the predetermined axis. The telescopic mechanism 500 may include a connecting member and an elastic member that are engaged with each other, or may be configured only by an elastic member or the like having telescopic characteristics, or may be configured in other ways that allow the driving wheel 200 and the swing arm 300 to be telescopic with respect to the housing 100. The predetermined axis refers to the rotational axis of the mounting portion 410 when rotated within the spacing cavity. The term "telescopic" as used herein means that the telescopic mechanism 500 is telescopic in all directions in a plane perpendicular to the predetermined axis. The telescopic mechanism 500 may be located between the swing arm 300 and the housing 100 such that the telescopic mechanism 500 may be telescopic when the swing arm 300 swings. When the traveling assembly 10 passes over the pit or the threshold, the driving wheel 200 is far away from or near the housing 100 in the height direction, and the telescopic mechanism 500 can change the telescopic amount, so that the swing arm 300 swings relatively smoothly relative to the housing 100. For convenience of description, the position of the driving wheel 200 with respect to the housing 100 when the traveling assembly 10 moves on a flat ground will be referred to as an initial position hereinafter. Specifically, when the traveling assembly 10 encounters a threshold having a certain height while moving, the driving wheel 200 approaches the housing 100 in the height direction. At this time, the driving wheel 200 swings upward with the swing arm 300, and the telescopic mechanism 500 stretches. After the traveling assembly 10 returns to the flat ground, the telescopic mechanism 500 can release elastic potential energy, the driving wheel 200 swings downward with the swing arm 300, and the driving wheel 200 moves away from the housing 100 in the height direction, that is, returns to the initial state. The walking assembly 10 encounters a pit with a large depression when moving, and similar to the pit, the description thereof will be omitted. It will be appreciated that the telescoping mechanism 500 is either stretched or compressed as the travel assembly 10 passes over a pit or threshold, as this application is not specifically limited. The telescopic mechanism 500 can enable the traveling assembly 10 to change the distance extending out of the housing 100 more smoothly when the traveling assembly 10 has a pit with a large sinking degree or an obstacle with a certain height on the moving ground, so that the traveling assembly 10 can overcome the pit with a large sinking degree or the obstacle with a certain height more smoothly and adapt to the use of various grounds.

Illustratively, one end of the telescoping mechanism 500 may be connected or abutted to the swing arm 300. The telescoping mechanism 500 may oscillate relative to the swing arm 300, for example, one end of the telescoping mechanism 500 may be pivotally connected to the swing arm 300. The other end of the telescoping mechanism 500 may abut the housing 100. That is, the telescopic mechanism 500 is not coupled to the housing 100, so that the telescopic mechanism 500 can be removed only after the swing arm 300 and the driving wheel 200 are detached from the housing 100.

Illustratively, the telescoping mechanism 500 may include a connector 510 and an elastic member 520, as shown in fig. 5-6. The connection 510 may be provided as a single connection rod, a double connection rod, or a multiple connection rod. When the connection member 510 is a single connection rod, the elastic member 520 may have one end connected to the connection rod and the other end connected to the swing arm 300. When the connection member 510 is a double connection rod, the elastic member 520 may be connected between two connection rods, or one end of the elastic member 520 is connected to one of the connection rods, and the other end is connected to the swing arm 300. When the connection member 510 is a multi-connection rod, the elastic member 520 may be provided as one or more, the elastic member 520 may be connected between the connection rod and the swing arm 300, or the elastic member 520 may be connected between the connection rod and the connection rod. In the embodiment shown in fig. 5 and 6, the connector 510 is in the form of a single connecting rod, and the connector 510 may have opposite first and second ends 511, 512, the first end 511 may be pivotably connected to the swing arm 300, and the second end 512 may abut the housing 100. The elastic member 520 may have opposite third and fourth ends 521 and 522, the third end 521 may be connected to the swing arm 300, and the fourth end 522 may be connected to the second end 512 of the connection member 510. When the traveling assembly 10 passes over a pit with a large concavity or an obstacle with a certain height, the driving wheel 200 can be far away from or close to the shell 100 in the height direction, and when the traveling assembly 10 returns to the flat ground, the telescopic mechanism 500 can rebound in time so that the driving wheel 200 returns to the initial position, and the capability of overcoming the obstacle when the traveling assembly 10 moves is stronger and the traveling assembly can be more stable when moving.

As shown in fig. 6, the connection member 510 is abutted against the driving wheel 200, and the elastic member 520 is in a stretched state. In fact, the connection member 510 should be pivoted upward by a certain angle without being subjected to an external force, and the deformation amount of the elastic member 520 is small. In a state where these components are mounted to the housing 100 as shown in fig. 6, the link 510 may be spaced above the driving wheel 200 from the driving wheel 200 by a certain distance. Thus, when the driving wheel 200 swings upward with the swing arm 300 upon encountering a raised road surface, the elastic member 520 is stretched, and when the road surface is flat, the driving wheel 200 pivots downward with the swing arm 300 to form an angle with the link 510. When on a flat road, the elastic member 520 is not in a natural state, and is still stretched by a small amount under the gravity of the intelligent robot itself. When encountering a pit road surface, the driving wheel 200 may be allowed to swing downward with the swing arm 300, thereby ensuring that the body of the intelligent robot can move smoothly.

In one embodiment of the present utility model, referring to fig. 5 and 6 in combination, a buffer 430 may be provided between the mounting portion 410 and the plurality of stopper portions 420. The buffer member 430 may include a rubber member or other damping member having a certain elasticity. The buffer 430 may reduce resonance noise between the mounting portion 410 and the plurality of stopper portions 420. The specific size and shape of the buffer 430 can be designed by those skilled in the art according to practical situations, and will not be described herein. The provision of the buffer member 430 may reduce resonance noise between the housing 100 and the swing arm 300, thereby making the overall apparatus more stable. In addition, the above-mentioned manner of providing the plurality of limiting portions 420 to limit the mounting portion 410 facilitates the mounting of the buffer member 430. While the existing hard-fitting manner is difficult to mount the buffer member 430 on the mounting portion 410.

For example, the buffer 430 may be sleeved on the mounting portion 410. In this way, the buffer member 430 can protect the mounting portion 410, and the buffer member 430 can wear during use, so that the buffer member 430 sleeved on the mounting portion 410 can be easily maintained and replaced.

Illustratively, the buffer 430 may be formed on a surface of the mounting portion 410. The buffer 430 may be integrally formed with the mounting portion 410, and the buffer 430 may be a part of an end of the mounting portion 410. Such a walking assembly 10 is simpler in construction and easier to implement.

For example, the buffer 430 may be formed on the surfaces of the plurality of stoppers 420. The buffer 430 may be integrally formed with the plurality of stopper portions 420, and the buffer 430 may be a portion of the surface of the plurality of stopper portions 420. Such a walking assembly 10 is simpler in construction and easier to implement.

In one embodiment of the present utility model, referring to fig. 5 and 6 in combination, the walking assembly 10 may include a driving wheel motor 600, the driving wheel motor 600 may power the driving wheel 200, and the driving wheel motor 600 may be fixedly connected to the swing arm 300. The traveling assembly 10 may include a connector 700, the connector 700 may be provided on the swing arm 300, the connector 700 may have a box shape, and the connector 700 may receive a connection harness between the driving wheel motor 600 and the driving wheel 200.

In one embodiment of the present utility model, referring to fig. 5 and 6 in combination, the mounting mechanism 400 may be two and oppositely disposed at both sides of the swing arm 300 in a direction perpendicular to the rotation axis of the driving wheel 200. The two mounting mechanisms 400 are arranged on both sides of the driving wheel 200 in parallel to the advancing direction of the traveling assembly 10, so that the connection between the swing arm 300 and the housing 100 is more stable, and the two mounting mechanisms 400 can be uniformly stressed in the moving process of the traveling assembly 10, and the two mounting mechanisms 400 are not easily damaged, so that the whole device is more stable.

In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front", "rear", "upper", "lower", "left", "right", "transverse", "vertical", "horizontal", and "top", "bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely for convenience of describing the present utility model and simplifying the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, without limiting the scope of protection of the present utility model; the orientation terms "inner" and "outer" refer to the inner and outer relative to the outline of the components themselves.

For ease of description, regional relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein to describe regional positional relationships of one or more components or features to other components or features illustrated in the figures. It will be understood that the relative terms of regions include not only the orientation of the components illustrated in the figures, but also different orientations in use or operation. For example, if the element in the figures is turned over entirely, elements "over" or "on" other elements or features would then be included in cases where the element is "under" or "beneath" the other elements or features. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". Moreover, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and all such cases are intended to be encompassed herein.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, components, assemblies, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.

The present utility model has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the embodiments described. In addition, it will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the utility model, which variations and modifications are within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims (15)

1. The walking assembly is characterized by comprising a shell, a swing arm, a driving wheel and a mounting mechanism, wherein the driving wheel is arranged on the swing arm, the mounting mechanism is used for detachably connecting the swing arm into the shell, the mounting mechanism comprises a mounting part and a plurality of separable limiting parts, the mounting part is positioned in a limiting cavity formed by surrounding the limiting parts in a combined state, and the mounting part is detachable from the limiting cavity in a separated state;

The shell comprises a plurality of sub-shells which are detachably connected, the plurality of limiting parts are respectively arranged on the plurality of sub-shells, and the mounting part is arranged on the swing arm; or alternatively

The swing arms comprise a plurality of sub-swing arms which are detachably connected, the limiting parts are respectively arranged on the sub-swing arms, and the mounting part is arranged on the shell.

2. The walking assembly of claim 1, wherein the plurality of limiting portions comprises a first limiting portion and a second limiting portion, the first limiting portion is provided with a first groove, the second limiting portion is provided with a second groove,

the first limiting part and the second limiting part are in a combined state, and the first groove and the second groove surround to form the limiting cavity.

3. The walking assembly of claim 1, wherein the plurality of limit portions comprises a first limit portion and a second limit portion, the first limit portion is provided with a first groove, the mounting portion is mounted into the groove via a notch of the first groove, and the second limit portion covers the notch to form the limit cavity.

4. A walking assembly according to claim 2 or 3, wherein the plurality of sub-housings comprises a first sub-housing and a second sub-housing, the first limit portion being provided on the first sub-housing, the second limit portion being provided on the second sub-housing, the notch of the first recess being oriented towards the second sub-housing.

5. The travel assembly of claim 1 wherein the plurality of sub-housings includes a first sub-housing and a second sub-housing, the second sub-housing being positioned below the first sub-housing, at least a portion of the drive wheel extending out of the housing through an opening in the second sub-housing.

6. The walking assembly of claim 1, wherein the mounting portion has an included angle between a direction in which the mounting portion protrudes from the component and a removal direction in which the mounting portion is removed from the spacing cavity.

7. The walking assembly of claim 1, wherein said mounting portion is rotatable about a predetermined axis within said spacing cavity to enable said swing arm to swing up and down,

the walking assembly comprises a telescopic mechanism which is telescopic at least along the direction perpendicular to the preset axis, and the telescopic mechanism is positioned between the swing arm and the shell, so that the telescopic mechanism stretches and contracts when the swing arm swings.

8. The walking assembly of claim 7, wherein one end of the telescoping mechanism is connected to or abuts against the swing arm and the other end of the telescoping mechanism abuts against the housing.

9. The walking assembly of claim 7, wherein said telescoping mechanism comprises a connector having opposed first and second ends, said first end being pivotally connected to said swing arm and said second end abutting said housing,

the elastic member has opposite third and fourth ends, the third end being connected to the swing arm and the fourth end being connected to the second end of the connecting member.

10. The walking assembly of claim 7, wherein the mounting portion is a pivot shaft and the space surrounded by the plurality of limiting portions is a pivot hole.

11. The walking assembly of claim 7, wherein the walking assembly comprises a plurality of wheels,

the predetermined axis is parallel to the rotational axis of the drive wheel; and/or

The dismounting direction of the mounting part from the limiting cavity is perpendicular to the preset axis.

12. The walking assembly of claim 1, wherein a bumper is disposed between the mounting portion and the plurality of stop portions.

13. The walking assembly of claim 12, wherein the cushioning member is sleeved on the mounting portion, or the cushioning member is formed on a surface of the plurality of limiting portions.

14. The walking assembly of claim 1, wherein said mounting mechanism is two and is oppositely disposed on both sides of said swing arm in a direction perpendicular to the rotational axis of said drive wheel.

15. A cleaning robot comprising a main body and a walking assembly according to any one of claims 1-14, wherein the housing is provided on the main body.