CN220800913U - Moving wheel mechanism, cleaning robot and cleaning robot system - Google Patents

Abstract

The utility model discloses a moving wheel mechanism, a cleaning robot and a cleaning robot system, and the main technical scheme of the utility model is as follows: a mobile wheel mechanism for a cleaning robot, comprising: the traveling wheel assembly comprises a fixed frame, a wheel frame and at least two traveling wheels, wherein the traveling wheels are connected with the wheel frame, and the wheel frame is connected with the fixed frame; the first power piece comprises a central rotating shaft, and the first power piece is connected with the travelling wheel and is used for driving the travelling wheel to rotate around the central rotating shaft relative to the wheel frame; the second power piece is connected with the wheel frame and is used for driving the wheel frame to rotate around a revolution shaft between at least two travelling wheels relative to the fixed frame and driving the travelling wheels to rotate around the revolution shaft. The first power piece drives the travelling wheels to rotate, so that the cleaning robot can walk, the second power piece drives the wheel frame to rotate, the travelling wheels are driven to circumferentially move around the revolution axis, and then the travelling wheels move to the obstacle, so that obstacle crossing is realized through alternation of the travelling wheels.

Description

Moving wheel mechanism, cleaning robot and cleaning robot system

Technical Field

The utility model relates to the technical field of intelligent home, in particular to a mobile wheel mechanism, a cleaning robot and a cleaning robot system.

Background

With the continuous popularization of intelligent home technology, particularly the gradual development of the home cleaning robot, a plurality of help is provided for the home cleaning work, and the intelligent home cleaning robot is popular in more families. The cleaning robot is generally provided with a position sensing member and a traveling mechanism, tests an indoor environment through the position sensing member, and then specifies a traveling route according to the environment, and moves and cleans through the traveling mechanism. The travelling mechanism generally comprises two active travelling wheels arranged on a tray frame at the bottom of the cleaning robot at intervals and universal wheels arranged on the tray frame at the bottom and close to the front of the cleaning robot, the active travelling wheels are driven by a driving piece, and the cleaning robot can travel in a straight line and change direction by matching with the universal wheels.

Because the limit of cleaning machine people's volume, the unable very big of doing of initiative walking wheel, current cleaning machine people are used for the cleanness on level ground mostly, and when higher laid things such as carpet, foam ground mat were laid on ground, or drop debris such as books, slippers, because the restriction of obstacle crossing ability of initiative walking wheel, the phenomenon that appears at the obstacle edge skidding, block, can't realize the obstacle crossing process when vertical abrupt change of ground is great.

Disclosure of utility model

In view of the above, the present utility model provides a moving wheel mechanism, a cleaning robot and a cleaning robot system, wherein a first power member drives a travelling wheel to rotate, so as to realize the travelling of the cleaning robot, a second power member drives a wheel frame to rotate, so as to drive the travelling wheel to circumferentially move around a revolution axis and then move onto an obstacle, and the obstacle is surmounted by the alternation of the travelling wheel.

In one aspect, the present utility model provides a moving wheel mechanism for a cleaning robot, comprising:

The traveling wheel assembly comprises a fixed frame, a wheel frame and at least two traveling wheels, wherein the traveling wheels are connected with the wheel frame, and the wheel frame is connected with the fixed frame;

The first power piece comprises a central rotating shaft, and the first power piece is connected with the travelling wheel and is used for driving the travelling wheel to rotate around the central rotating shaft relative to the wheel frame;

The second power piece is connected with the wheel frame and is used for driving the wheel frame to rotate around a revolution shaft between at least two travelling wheels relative to the fixed frame and driving the travelling wheels to rotate around the revolution shaft.

The number of the walking wheels is three, and the three walking wheels are distributed in a triangle shape;

or the number of the walking wheels is two, and the two walking wheels are arranged in parallel at intervals.

The device comprises a fixed frame, a first power piece, a first driving piece, a first wheel frame, a second driving piece, a first driving piece and a second driving piece, wherein the first driving piece is connected with the fixed frame;

the travelling wheels are provided with travelling wheel transmission parts, and the travelling wheel transmission parts of at least two travelling wheels are connected with the first transmission part;

The first power piece is used for driving the first transmission piece to rotate so as to drive at least two travelling wheels to rotate simultaneously through the cooperation of the first transmission piece and the travelling wheel transmission piece;

The second power piece is used for driving the wheel frame to rotate around the first transmission piece and driving the travelling wheel to rotate around the first transmission piece.

The first transmission piece comprises a connecting shaft and a first transmission gear, the first transmission gear is connected with the connecting shaft, the traveling wheel transmission pieces are gears, at least two traveling wheel transmission pieces are connected with the first transmission gear in a toothed manner, and the wheel carrier is connected with the connecting shaft in a rotating manner.

The wheel carrier comprises a front end plate, a rear end plate and at least two wheel columns, wherein the front end plate and the rear end plate are arranged at intervals in parallel, the wheel columns are arranged between the front end plate and the rear end plate, the travelling wheels are in one-to-one correspondence with the wheel columns and are rotationally connected, the connecting shafts are respectively rotationally connected with the front end plate and the rear end plate, and the first transmission gear is positioned between the front end plate and the rear end plate.

The first transmission piece further comprises a bearing, the connecting shaft is fixedly connected with the inner ring of the bearing in a penetrating way, and the bearing is connected with the wheel frame through the outer ring.

The device further comprises a second transmission piece, the wheel frame is provided with a wheel frame transmission piece, the second power piece is connected with the second transmission piece, and the second transmission piece is connected with the wheel frame transmission piece;

The second power piece is used for driving the second transmission piece to rotate so as to drive the wheel frame to rotate through the cooperation of the second transmission piece and the wheel frame transmission piece.

The second transmission piece comprises a driving gear and a second transmission gear, and the wheel carrier transmission piece is a gear;

The driving gear is connected with the second power piece, and the second transmission gear is rotationally connected with the fixing frame and is respectively connected with the driving gear and the wheel frame transmission piece in a toothed manner.

The first power piece and the second power piece are positioned on the same side of the fixing frame and are positioned on different sides of the fixing frame with the wheel frame;

the first power piece is connected with the fixed frame, passes through the first perforation and then is connected with the travelling wheel;

The second power piece is connected with the fixed frame and connected with the wheel frame after passing through the second perforation.

Wherein, still include: the cover plate is used for being selectively connected with the fixing frame in a covering way so as to form a containing cavity, and the second transmission piece is positioned in the containing cavity;

The cover plate is provided with a cover plate opening, and the wheel carrier transmission member is at least partially arranged in the accommodating cavity through the cover plate opening.

In another aspect, the present utility model also provides a cleaning robot including the moving wheel mechanism of any one of the above, and a cleaning robot main body,

The number of the movable wheel mechanisms is two, the travelling wheel assemblies of the two movable wheel mechanisms are arranged at intervals, and the fixing frame is connected with the cleaning robot main body.

The cleaning robot comprises a cleaning robot main body, a fixing frame, a mounting shaft, a torsion spring, a shaft hole, a torsion spring hanging piece and a spring force sensor, wherein the mounting shaft and the torsion spring are arranged on the cleaning robot main body, the fixing frame is provided with the shaft hole and the torsion spring hanging piece, the mounting shaft is connected to the shaft hole in a penetrating mode, the torsion spring is connected to the torsion spring hanging piece in a hanging mode, the fixing frame is used for rotating relative to the mounting shaft under the action of external force, and the torsion spring is used for applying elastic force to the fixing frame in the opposite rotating direction;

the axle hole and the torsional spring hanging piece are arranged at one end of the fixing frame far away from the wheel frame.

The limiting head is used for interacting with the cleaning robot main body to limit the rotation limit position of the fixing frame.

In yet another aspect, the present utility model also provides a cleaning robot system, including the cleaning robot of any one of the foregoing, and a cleaning base station, where the cleaning robot can selectively dock with the cleaning base station.

According to the movable wheel mechanism, the cleaning robot and the cleaning robot system, the first power piece drives the travelling wheels to rotate so as to realize the walking of the cleaning robot, the second power piece drives the wheel frame to rotate so as to drive the travelling wheels to do circular motion around the revolution axis, and obstacle crossing is realized through alternation of the travelling wheels. In the related art, due to the limitation of the volume of the cleaning robot, the active travelling wheel cannot be made very large, the existing cleaning robot is mostly used for cleaning the flat ground, and when higher laid objects such as carpets, foam ground mats and the like are paved on the ground, or sundries such as books, slippers and the like fall down, due to the limitation of the obstacle crossing capability of the active travelling wheel, the phenomenon of slipping and blocking at the edge of an obstacle often occurs, and the obstacle crossing process when the longitudinal abrupt change of the ground is large cannot be realized. According to the technical scheme, at least two travelling wheels are arranged on the wheel frame, in a non-obstacle area, the first power piece is adopted to drive the travelling wheels to rotate around a rotating shaft of the cleaning robot, so that the cleaning robot can stably move, when the cleaning robot contacts an obstacle, the second power piece is used to drive the wheel frame to rotate relative to the fixed frame, so that the at least two travelling wheels circumferentially move around a revolution shaft between the travelling wheels, the other travelling wheel different from the travelling wheel in contact with the non-obstacle area rotates to the obstacle, longitudinal lifting and forward pushing of the cleaning robot are realized through interaction with the obstacle, and obstacle crossing is realized through alternation of the travelling wheels.

Drawings

Fig. 1 is a schematic structural diagram of a mobile turbine mechanism according to an embodiment of the present utility model at a first view angle;

Fig. 2 is a schematic structural diagram of a mobile turbine mechanism according to an embodiment of the present utility model at a second view angle;

fig. 3 is a schematic view of a part of a structure of a mobile turbine mechanism according to an embodiment of the present utility model;

Fig. 4 is a schematic structural diagram of a first transmission member according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a connecting shaft according to an embodiment of the present utility model;

fig. 6 is a schematic structural view of a wheel carrier according to an embodiment of the present utility model;

Fig. 7 is a schematic structural diagram of a fixing frame according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of another embodiment of a moving wheel mechanism;

fig. 9 is a schematic view of a part of a structure of a cleaning robot according to an embodiment of the present utility model;

Fig. 10 is a partial structural schematic view of the cleaning robot shown in fig. 9;

The traveling wheel assembly-100, a fixed frame-110, a first perforation-111, a second perforation-112, a wheel carrier-120, a front end plate-121, a rear end plate-122, a wheel column-123, a supporting rib-124, an abutting plate-125, a traveling wheel-130, a cover plate-140, a first power piece-210, a first transmission piece-220, a connecting shaft-221, a mounting hole-2211, a threaded gasket-2212, a first clamping table-2213, a first transmission gear-222, a traveling wheel transmission piece-230, a second power piece-310, a second transmission piece-320, a driving gear-321, a second transmission gear-322, a wheel carrier transmission piece-330 and a chassis-400.

Detailed Description

In order to further describe the technical means and effects adopted by the present utility model to achieve the preset purpose, the following detailed description refers to the specific implementation, structure, features and effects of a mobile wheel mechanism according to the present utility model with reference to the accompanying drawings and preferred embodiments.

In one aspect, as shown in fig. 1-3, the present utility model provides a mobile wheel mechanism for a cleaning robot. The cleaning robot can also be called a self-cleaning robot, a sweeping robot, an intelligent cleaner and the like, has the functions of moving, sweeping, dust collection and the like, and also comprises the functions of mopping, terrain detection, indoor area scanning and the like. The cleaning robot can be in various shapes, and in order to achieve stability and be suitable for cleaning of various scenes, such as areas under a bed, the outer contour of the cleaning robot is generally in a flat cylinder structure. The housing of the cleaning robot mainly includes a chassis 400 and a cover connected to the chassis 400 and enclosing a receiving chamber, as shown in fig. 9, the chassis 400 has a generally approximately circular shape, and the cover includes a circular top surface adapted to the contour of the chassis 400 and side coamings extending toward the chassis 400. The shell of the cleaning robot can be made of various materials, such as the outer cover and the chassis 400 can be made of the same material, and also can be made of different materials, and as the chassis 400 faces to be connected with components such as a travelling mechanism and a mop mechanism, the structure and the effect of the chassis 400 are more complex, and the structure comprises various hollowed-out structures, mounting grooves, buckles and the like, so that the chassis 400 is stable and easy to process, and plastic material integrated injection molding can be adopted. The outer cover can be formed by plastic injection molding, and can also be made of metal materials and the like for realizing the durability and the attractive appearance. The outer cover and the chassis 400 can be connected by bolts, or can be connected by clamping, screwing or the like. The housing and chassis 400 define an interior cavity for receiving various components for the cleaning robot to operate, such as a controller for controlling the cleaning assembly and the running mechanism, a power supply, sensing components such as a camera, scanner, gyroscope, etc., a cleaning mechanism, and a running mechanism. The cleaning assembly includes a roller brush and/or a side brush, and a driving device for driving the roller brush and/or the side brush to rotate is also accommodated in the inner cavity, and an embedded space is provided for the recess of the chassis 400. The specific structure and components of the housing components of the inner chamber and the chassis 400 are not limited by the present utility model, and the description of the specific structure of the inner chamber and the chassis 400 will be described only in connection with the moving wheel mechanism of the present utility model, and it will be understood that the structures of the chassis 400 and the inner chamber may be various in order to accommodate various cleaning functions.

The travelling mechanism is main functional equipment of the cleaning robot, and the common travelling mechanism mainly comprises a moving wheel and an auxiliary steering wheel. All or part of the moving wheels protrude below the chassis 400 to be in contact with the ground, and are driven by a driving motor in the inner cavity, so that the moving wheels rotate to drive the cleaning robot to walk. The auxiliary steering wheel may be a universal wheel fixed under the chassis 400, and the steering of the cleaning robot may be achieved by the cooperation of the auxiliary steering wheel through the rotation and stop of the moving wheel. The cleaning robot further includes a front side, a rear side, and left and right sides, the front side refers to a side facing the forward direction when the cleaning robot cleans, the rear side refers to a side opposite to the front side, the left and right sides refer to other sides of a line perpendicular to the front and rear sides, the auxiliary steering wheel is generally disposed on the chassis 400 near the front side, and the moving wheel is generally disposed on the chassis 400 near the left and right sides, respectively. In the prior art, the moving wheel is an independent roller, because the cleaning robot is flat, the wheel diameter of the moving wheel is usually smaller, when encountering an obstacle, the tangent plane at the position where the side wall of the moving wheel is abutted against the obstacle is close to vertical, when the moving wheel rotates, downward pressure cannot be applied to the obstacle, and upward reaction force cannot be applied to the cleaning robot, namely, the cleaning robot cannot obtain longitudinal lifting force, and when the obstacle is higher, obstacle crossing requirements cannot be met, so that the application provides the moving wheel mechanism capable of taking walking and obstacle crossing into consideration.

In one embodiment, the mobile wheel mechanism comprises a travelling wheel assembly 100, wherein the travelling wheel assembly 100 comprises a fixed frame 110, a wheel frame 120 and at least two travelling wheels 130, the travelling wheels 130 are connected with the wheel frame 120, and the wheel frame 120 is connected with the fixed frame 110;

The first power piece 210, the walking wheel includes a central rotating shaft, the first power piece 210 is connected with the walking wheel 130, and is used for driving the walking wheel 130 to rotate around the central rotating shaft relative to the wheel frame 120;

The second power member 310, the second power member 310 is connected to the wheel frame 120, and is used for driving the wheel frame 120 to rotate around the revolution axis between the at least two travelling wheels 130 relative to the fixed frame 110, and driving the travelling wheels 130 to rotate around the revolution axis.

The fixing frame 110 is used for being connected with a shell of the cleaning robot, an opening for the traveling wheel assembly 100 to protrude is formed in the chassis 400 of the cleaning robot, the first power piece 210 and the second power piece 310 are located in an inner cavity of the shell, and part of the traveling wheel assembly 100 protrudes out of the chassis 400 from the opening of the chassis 400 so that the traveling wheel 130 protrudes out of the chassis 400 to be in contact with the ground or an obstacle. The travelling wheel 130 is rotatably connected with the wheel frame 120, the travelling wheel 130 is rotated around the rotation axis of the travelling wheel 130 under the driving of the first power member 210, and the travelling wheel 130 is rotated under the driving of the first power member 210. The rotation of the traveling wheels 130 allows the cleaning robot to smoothly travel forward or backward or to perform in-plane steering in cooperation with universal wheels. The wheel frame 120 is rotatably connected with the fixed frame 110, the wheel frame 120 is rotated around a revolution axis under the driving of the second power member 310, the wheel frame 120 rotates to enable the travelling wheel 130 to move circumferentially around the revolution axis, and the travelling wheel 130 is driven by the wheel frame 120 to perform circumferential movement to revolve. When the cleaning robot walks on the barrier-free ground, part of the walking wheels 130 can be abutted against the ground, or all the walking wheels 130 can be abutted against the ground, the walking wheels 130 comprise the walking wheels 130 which can be contacted with the barrier first, the walking wheels 130 which can be contacted with the barrier first are called as active walking wheels 130, and the walking wheels 130 which are different from the active walking wheels 130 are replaced walking wheels 130. It is understood that the replacement road wheel 130 may be suspended while the cleaning robot walks on the unobstructed ground, or the replacement road wheel 130 may contact the ground, as will be described in detail below with respect to the specific embodiments of two road wheels 130 and three road wheels 130. When the cleaning robot encounters an obstacle, the active travelling wheel 130 is abutted against the edge of the obstacle, the second power piece 310 drives the wheel frame 120 to rotate, the replacement travelling wheel 130 is enabled to approach the obstacle from top to bottom until the wheel frame 120 is abutted against the obstacle, the cleaning robot is lifted through interaction of the replacement travelling wheel 130 and the obstacle, the active travelling wheel 130 is enabled to be far away from the ground, then the replacement travelling wheel 130 rotates on the obstacle, the cleaning robot is enabled to move forwards, the replacement travelling wheel 130 becomes a new active travelling wheel 130, the cleaning robot is continuously propelled forwards, and the new travelling wheel 130 is enabled to directly jump to the upper side of the obstacle through alternation of the travelling wheel 130, so that obstacle crossing is achieved.

The traveling wheel 130 may or may not rotate when it revolves. In the same cleaning process, the revolution direction of the travelling wheel 130 is consistent with the rotation direction of the travelling wheel 130, for example, in the forward moving cleaning process, the travelling wheel 130 rotates clockwise, when encountering an obstacle, the travelling wheel 130 revolves clockwise, for example, in the backward reversing process, the travelling wheel 130 rotates anticlockwise, and when encountering an obstacle, the travelling wheel 130 revolves anticlockwise. The revolution angle may be a fixed angle, for example, three road wheels 130 are distributed in a triangle, and when an obstacle is determined, the road wheels revolve for 60 degrees, then the road wheels walk normally, and whether the road wheels pass over the obstacle is determined again, if the road wheels do not pass over the obstacle, the road wheels revolve for 60 degrees again. The judgment of whether the cleaning robot has the obstacle can be realized through positioning, when the cleaning robot is judged to be in the same position for a preset time, the second power piece 310 is started to drive the wheel frame 120 to rotate, or a collision sensing device is arranged in the cleaning robot, and when the cleaning robot is judged to have the collision, the second power piece 310 is started to drive the wheel frame 120 to rotate. In some embodiments, a preset number of times may be set for the obstacle surmounting process, for example, the obstacle may not be surmounted after the second power unit 310 drives the wheel frame 120 to rotate for a preset number of times or an angle, and may touch a wall or be surmountable by a higher obstacle, a next step may be started, for example, the obstacle may be surmounted by a back, or an alarm may be given.

In addition, the vertical distance from the travelling wheels 130 to the revolution axis can be the same, so that the height of the cleaning robot is unchanged after the travelling wheels 130 are alternated, and in the obstacle crossing process, as the revolution axis is positioned between the travelling wheels 130, in the obstacle crossing process, the farthest point of the revolution axis outside the travelling wheels 130 and Zhou Juli is abutted against the ground, so that the cleaning robot is lifted, the travelling wheels 130 can be replaced more easily, or can be abutted against higher obstacles, and the obstacle crossing capability is improved.

The rotational connection between the wheel frame 120 and the fixed frame 110 may be a direct connection or an indirect connection, for example, the first power member 210 is connected to the fixed frame 110, and the wheel frame 120 is rotationally connected to the fixed frame 110 through the first power member 210. The first power member 210 and the second power member 310 may be connected to the fixing frame 110, or may be directly connected to the housing.

The moving wheel mechanism can be used for various cleaning robots and can be of various sizes according to the use environment of the cleaning robots and the different obstacle surmounting requirements, for example, the cleaning robots are only home cleaning robots and are used for cleaning indoor floors, the obstacles are relatively low-height obstacles such as carpets, ground mats and books, and the sizes of the moving wheel mechanism such as the wheel frame 120 and the travelling wheels 130 can be set smaller; and when cleaning robot is used for corridor cleaning, when needing climbing the stair, the barrier is higher step, and the wheel carrier 120, the size that walking wheel 130 can set up are great for adjacent walking wheel 130 interval is big, or walking wheel 130 size is big, can realize climbing of higher barrier.

According to the moving wheel mechanism, the cleaning robot and the cleaning robot system, the first power piece drives the travelling wheels to rotate so as to realize the walking of the cleaning robot, the second power piece drives the wheel frame to rotate so as to drive the travelling wheels to move around the revolution shaft, and obstacle crossing is realized through alternation of the travelling wheels. In the related art, due to the limitation of the volume of the cleaning robot, the active travelling wheel cannot be made very large, the existing cleaning robot is mostly used for cleaning the flat ground, and when higher laid objects such as carpets, foam ground mats and the like are paved on the ground, or sundries such as books, slippers and the like fall down, due to the limitation of the obstacle crossing capability of the active travelling wheel, the phenomenon of slipping and blocking at the edge of an obstacle often occurs, and the obstacle crossing process when the longitudinal abrupt change of the ground is large cannot be realized. According to the technical scheme, at least two travelling wheels are arranged on the wheel frame, in a non-obstacle area, the first power piece is adopted to drive the travelling wheels to rotate around a rotating shaft of the cleaning robot, so that the cleaning robot can stably move, when the cleaning robot contacts an obstacle, the second power piece drives the wheel frame to rotate relative to the fixed frame, so that the at least two travelling wheels circumferentially move around the revolution shaft, the other travelling wheel different from the travelling wheel in contact with the non-obstacle area rotates to the obstacle, the cleaning robot can longitudinally lift and push forwards through interaction with the obstacle, and obstacle surmounting is achieved through alternation of the travelling wheels.

The number of the travelling wheels 130 may be multiple, such as two, three, four, five, etc., and it is only required to drive one of the travelling wheels 130 to rotate to the obstacle through the rotation of the wheel frame 120, and the following two embodiments are exemplified below:

In one embodiment, the number of the travelling wheels 130 is two, and the two travelling wheels 130 are arranged in parallel and spaced apart.

When the cleaning robot walks on the barrier-free ground, two walking wheels 130 can be abutted against the ground, wherein the walking wheel 130 positioned in front of the walking is the active walking wheel 130, and the other walking wheel 130 is the replacement walking wheel 130. The two traveling wheels 130 are abutted against the ground, so that the cleaning robot is more stable to move. When encountering an obstacle, the wheel frame 120 rotates 180 degrees, so that the replacement travelling wheel 130 is abutted against the obstacle, and the cleaning robot is lifted to reach the same height as the original travelling wheel 130, and is driven to move as a new active travelling wheel 130. It will be appreciated that when the cleaning robot walks on an unobstructed ground, one of the road wheels 130 may be used as the active road wheel 130 to contact the ground, and the other road wheel 130 may be located above the active road wheel 130 to be used as the replacement road wheel 130.

In another embodiment, the number of the walking wheels 130 is three, and the three walking wheels 130 are distributed in a triangle shape.

When the cleaning robot walks on the barrier-free ground, two of the three walking wheels 130 can be abutted against the ground, wherein the walking wheel 130 positioned in front of the walking is the active walking wheel 130, and the other walking wheel 130 is suspended and is used as the replacement walking wheel 130. The two travelling wheels 130 are abutted against the ground, so that the cleaning robot can move more stably, and the wheel frame 120 rotates by 60 degrees to enable the replacement travelling wheel 130 to be abutted against an obstacle and serve as a new active travelling wheel 130 to drive the cleaning robot to move, and compared with the two travelling wheel 130, the cleaning robot is more efficient.

Optionally, the vertical distance from the travelling wheel 130 to the revolution axis is the same, so that the height of the cleaning robot is unchanged after the travelling wheels 130 are alternated, and in the obstacle crossing process, the distance from the travelling wheel 130 to the revolution axis is larger than the wheel radius of the travelling wheel 130 because the revolution axis is positioned between the travelling wheels 130, and in the obstacle crossing process, the distance from the travelling wheel 130 to the revolution axis can enable the cleaning robot to be lifted, so that the travelling wheel 130 is easier to replace, or can be propped against a higher obstacle, and the obstacle crossing capability is improved.

The first power element 210 may be one and drive at least two travelling wheels 130 to rotate at the same time, or the at least two travelling wheels 130 may be respectively provided with one first power element 210 for independent rotation driving, so as to save the space of the inner cavity of the housing, and generally, the at least two travelling wheels 130 share one first power element 210. In one embodiment, as shown in fig. 3, the device further includes a first transmission member 220, the first power member 210 is connected to the fixed frame 110, the first transmission member 220 is connected to the first power member 210, and the wheel frame 120 is rotatably connected to the first transmission member 220. The road wheels 130 are provided with road wheel transmissions 230, and the road wheel transmissions 230 of at least two road wheels 130 are each connected to the first transmission 220. The first power element 210 is used for driving the first transmission element 220 to rotate, so as to drive at least two travelling wheels 130 to rotate simultaneously through the cooperation of the first transmission element 220 and the travelling wheel transmission element 230. The second power element 310 is used for driving the wheel frame 120 to rotate around the first transmission element 220, and driving the travelling wheel 130 to rotate around the first transmission element 220.

The first power member 210 is connected to the fixed frame 110 and the first transmission member 220, and the wheel frame 120 is indirectly rotatably connected to the fixed frame 110 through a rotational connection with the first transmission member 220. When the traveling wheel 130 rotates, the wheel frame 120 is not moved under the action of the second power member 310, and only the traveling wheel 130 is driven to rotate by the relative rotation of the first transmission member 220 and the wheel frame 120. When the wheel carrier 120 rotates, the wheel carrier 120 is rotationally connected with the first transmission member 220, so that the wheel carrier can rotate around the first transmission member 220, and the rotation of the travelling wheel 130 is not affected. The above structure gives consideration to the rotation of the first power member 210 driving the travelling wheel 130 and the rotational connection of the wheel frame 120 and the fixed frame 110, so that the arrangement structure of the first power member 210 and the wheel frame 120 is compact, and the volume of the whole travelling wheel mechanism can be reduced.

More specifically, as shown in fig. 4-5, the first transmission member 220 includes a connecting shaft 221 and a first transmission gear 222, the first transmission gear 222 is connected to the connecting shaft 221, the traveling wheel transmission members 230 are gears, at least two traveling wheel transmission members 230 are toothed with the first transmission gear 222, and the wheel carrier 120 is rotatably connected to the connecting shaft 221.

The first power member 210 may be a motor, the travelling wheel transmission member 230 is a gear disposed on an end surface of the travelling wheel 130 opposite to the fixed frame 110, and the travelling wheel transmission members 230 of the plurality of travelling wheels 130 have the same shape and specification, so that the first transmission member 220 can drive the plurality of travelling wheels 130 to synchronously rotate. The reference circle diameter of the first transmission member 220 is larger than that of the travelling wheel transmission member 230, so that the travelling wheel 130 can be driven to rotate by a larger angle by rotating the first power member 210 by a smaller angle, thereby providing driving efficiency and reducing energy consumption.

To increase the smoothness of the rotational connection between the wheel frame 120 and the connecting shaft 221, and avoid jamming, in one embodiment, the first transmission member 220 further includes a bearing, where the connecting shaft 221 is fixed to an inner ring of the bearing in a penetrating manner, and the bearing is connected to the wheel frame 120 by an outer ring.

As shown in fig. 4-6, the detailed description of the specific arrangement of the first transmission member 220 and the bearing is provided below in connection with a specific construction of the wheel carrier 120:

The wheel carrier 120 comprises a front end plate 121, a rear end plate 122 and at least two wheel columns 123, wherein the front end plate 121 and the rear end plate 122 are arranged at intervals in parallel, the wheel columns 123 are arranged between the front end plate 121 and the rear end plate 122, the travelling wheels 130 are in one-to-one correspondence with the wheel columns 123 and are in rotary connection, the connecting shafts 221 are respectively and rotatably connected with the front end plate 121 and the rear end plate 122, and the first transmission gear 222 is positioned between the front end plate 121 and the rear end plate 122.

The bearings include a front end bearing 223 and a rear end bearing 224, and the connecting shaft 221 is locked by passing through inner rings of the front end bearing 223 and the rear end bearing 224, respectively, with a win-win fit or with a threaded washer 2212. The front end plate 121 of the wheel frame 120 is fixed to the outer ring of the front end bearing 223, and the rear end plate 122 is fixed to the outer ring of the rear end bearing 224, so that the wheel frame 120 and the connection shaft 221 can be smoothly rotated. The front end bearing 223 and the rear end bearing 224 may each be a ball bearing. The connecting shaft 221 is provided with a first clamping table 2213, the inner wall of the first transmission gear 222 is provided with a platform matched with the clamping table 2213, and the first transmission gear 222 and the connecting shaft 221 are mutually fixed in the axial direction through the matching of the platform and the first clamping table 2213. In the radial direction, an abutment plate 125 is further provided on the wheel frame 120 between the front end plate 121 and the rear end plate 122, and the first transmission gear 222 is fixed in the radial direction by the cooperation of the abutment plate 125 and the rear end plate 122. One side of the connecting shaft 221, which is opposite to the first transmission member 220, is further provided with a mounting hole 2211, the inner wall of the mounting hole 2211 is provided with a second clamping table, the output shaft of the first transmission member 220 is provided with a platform matched with the second clamping table, the output shaft of the first transmission member 220 and the mounting hole 2211 can be in interference fit, and the output shaft of the first transmission member 220 and the circumferential limit of the connecting shaft 221 are enabled to be more accurate through the cooperation of the platform and the second clamping table.

In some embodiments, if the number of the traveling wheels 130 is three, in order to increase the stability of the wheel frame 120 when the wheel frame 120 is triangular, it is ensured that the front end plate 121 and the rear end plate 122 cannot deform to affect the rotation of the traveling wheels 130, and a plurality of supporting ribs 124 are further disposed between the front end plate 121 and the rear end plate 122, for example, three supporting ribs 124 may be disposed, and the gaps between the supporting ribs 124 and the adjacent traveling wheels 130 are opposite.

In one embodiment, the wheel carrier 120 further comprises a second transmission member 320, the wheel carrier transmission member 330 is disposed on the wheel carrier 120, the second power member 310 is connected with the second transmission member 320, and the second transmission member 320 is connected with the wheel carrier transmission member 330. The second power member 310 is used for driving the second transmission member 320 to rotate, so as to drive the wheel frame 120 to rotate through the cooperation of the second transmission member 320 and the wheel frame transmission member 330.

The second power member 310 may be a motor. Through the interaction of the second transmission member 320 and the wheel carrier transmission member 330, the second power member 310 can be arranged at any position, and the overall structure of the mobile wheel mechanism can be compact by adjusting the position of the second power member 310. In the embodiment where the wheel frame 120 is connected to the connecting shaft 221, the second power member 310 may be disposed in parallel with the first power member 210, and since the second power member 310 is far from the wheel frame 120, the second power member 310 and the first power member 210 may be located in the same direction by connecting the second transmission member 320 to the wheel frame transmission member 330 of the wheel frame 120, so that the occupied space is reduced, and the structure is tidier.

The second transmission member 320 and the wheel carrier transmission member 330 may be gears, and as shown in fig. 6, the wheel carrier transmission member 330 may be a gear surrounding the connection shaft 221 for one revolution. More specifically, in one embodiment, as shown in fig. 3, the second transmission member 320 includes a driving gear 321 and a second transmission gear 322, and the carrier transmission member 330 is a gear. The driving gear 321 is connected with the second power member 310, and the second transmission gear 322 is rotatably connected with the fixed frame 110 and is respectively meshed with the driving gear 321 and the wheel carrier transmission member 330.

Excessive adoption of the second transmission gear 322 prevents the driving gear 321 and the wheel frame transmission member 330 from taking up excessive space when the second power member 310 is far from the wheel frame 120. Further, the pitch diameter of the carrier transmission 330 is larger than the pitch diameter of the second transmission gear 322, and the pitch diameter of the second transmission gear 322 is larger than the pitch diameter of the driving gear 321. Through the sequential increase of the reference circles, the second power part 310 can finely control the rotation angle of the wheel frame 120, for example, when the second power part 310 rotates by a larger angle, the wheel frame 120 only rotates by a smaller angle, so that the cleaning robot jolt caused by excessive rotation of the wheel frame 120 is avoided.

In one embodiment, as shown in fig. 7, the fixing frame 110 is provided with a first through hole 111 and a second through hole 112, and the first power part 210 and the second power part 310 are located on the same side of the fixing frame 110 and are located on different sides of the fixing frame 110 from the wheel frame 120. The first power member 210 is connected to the fixed frame 110, and passes through the first through hole 111 to be connected to the travelling wheel 130. The second power member 310 is connected to the fixed frame 110, and is connected to the wheel frame 120 after passing through the second through hole 112.

In the embodiment including the first transmission member 220 and the second transmission member 320, the first power member 210 and the second power member 310 are located at the same side of the fixed frame 110, and may be connected to the fixed frame 110 by bolts, and the output shaft of the first power member 210 passes through the first through hole 111 and is connected to the first transmission member 220, and the output shaft of the second power member 310 passes through the second through hole 112 and is connected to the second transmission member 320, so that the first power member 210 and the second power member 310 are located at different sides of the fixed frame 110 with the travelling wheel 130 and the wheel frame 120, and the weights at both sides of the fixed frame 110 are balanced, so that the fixed frame 110 is more stable after being connected to the chassis 400, and the inner cavity space of the housing can be more reasonably utilized.

In one embodiment, as shown in fig. 8, the moving wheel mechanism further includes a cover plate 140, where the cover plate 140 is used to selectively cover and connect with the fixing frame 110 to enclose a accommodating cavity, and the second transmission member 320 is located in the accommodating cavity. The cover plate 140 is provided with a cover plate opening through which the wheel carrier transmission 330 is at least partially disposed in the receiving cavity.

The profile shape of the cover plate 140 is adapted to the fixing frame 110, and can be connected with the fixing frame 110 by bolts, so as to protect the second transmission member 320 and the wheel frame transmission member 330, and prevent dust accumulation during cleaning, which results in poor transmission.

On the other hand, as shown in fig. 9 to 10, the present utility model further provides a cleaning robot, including any one of the foregoing moving wheel mechanisms, and a cleaning robot body, the number of the moving wheel mechanisms is two, the traveling wheel assemblies 100 of the two moving wheel mechanisms are disposed at intervals, and the fixing frame 110 is connected with the cleaning robot body.

The first power parts 210 of the two moving wheel mechanisms are oppositely arranged, the walking wheel assemblies 100 are far away from each other, the maximum interval is provided for the walking wheel assemblies 100, the walking stability of the cleaning robot can be improved, and the two moving wheel mechanisms are arranged along the left side and the right side of the cleaning robot. The cleaning robot includes a moving wheel mechanism, including all of the advantages of the moving wheel mechanism described above, and will not be described in detail herein. The cleaning robot body may include a chassis 400, and the chassis 400 may be provided with grooves and connection plates, etc. adapted to the outer contour of the moving wheel mechanism. Or may be attached directly to the inner wall of the housing as previously described.

The chassis 400 of the cleaning robot or the inner wall of the outer cover is provided with a connecting part for connecting the fixing frame 110, the connecting part can be various according to different connecting modes of the fixing frame 110, for example, the connecting part is a stud, the fixing frame 110 is fixedly connected on the outer shell of the cleaning robot through the cooperation of the bolt and the stud, or in one embodiment, as shown in fig. 7, the cleaning robot main body is provided with a mounting shaft and a torsion spring, the fixing frame 110 is provided with a shaft hole 113 and a torsion spring hanging piece 114, the mounting shaft is connected with the shaft hole 113 in a penetrating manner, the torsion spring is hung on the torsion spring hanging piece 114, the fixing frame 110 is used for rotating relative to the mounting shaft under the action of external force, and the torsion spring is used for applying elastic force opposite to the rotating direction to the fixing frame 110. The shaft hole 113 and the torsion spring hanger 114 are disposed at one end of the fixing frame 110 far from the wheel frame 120.

When the cleaning robot encounters an obstacle, the traveling wheel 130 is subjected to an external force in the abrupt vertical direction, so that the cleaning robot body jolts, the mounting shaft and the torsion spring are matched, when the abrupt external force exists, one end of the fixing frame 110, which is provided with the wheel frame 120, rotates upwards around the mounting shaft under the action of the external force, and the rotation amplitude cannot be too large due to the action of the torsion spring, and when the external force is withdrawn, the original state is restored, so that floating connection of the fixing frame 110 and the cleaning robot body is realized.

Further, a limiting head 115 is provided on the holder 110, and the limiting head 115 is used to interact with the cleaning robot body to limit the limit position of rotation of the holder 110. In order to prevent the first power member 210 or the second power member 310 from striking the cleaning robot main body due to an excessive floating range of the fixing frame 110 and to prevent the components from shifting due to the striking, the limiting head 115 is provided to interfere with the cleaning robot main body to limit the floating range.

In yet another aspect, the present utility model also provides a cleaning robot system, which includes the cleaning robot of any one of the foregoing, and a cleaning base station, where the cleaning robot can optionally dock with the cleaning base station.

The cleaning base station comprises a parking space for partially accommodating the cleaning robot so that the cleaning robot can park for charging, cleaning and the like.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims (14)

1. A moving wheel mechanism for a cleaning robot, comprising:

The walking wheel assembly (100), the walking wheel assembly (100) comprises a fixed frame (110), a wheel frame (120) and at least two walking wheels (130), the walking wheels (130) are rotationally connected with the wheel frame (120), and the wheel frame (120) is rotationally connected with the fixed frame (110);

The first power piece (210), the walking wheel (130) comprises a central rotating shaft, the first power piece (210) is connected with the walking wheel (130) and used for driving the walking wheel (130) to rotate around the central rotating shaft relative to the wheel frame (120);

The second power piece (310) is connected with the wheel frame (120) and is used for driving the wheel frame (120) to rotate around a revolution shaft between at least two travelling wheels (130) relative to the fixed frame (110) so as to drive the travelling wheels (130) to rotate around the revolution shaft.

2. The mobile wheel mechanism of claim 1, wherein,

The number of the walking wheels (130) is three, and the three walking wheels (130) are distributed in a triangle shape;

Or the number of the walking wheels (130) is two, and the two walking wheels (130) are distributed in parallel and at intervals.

3. The mobile wheel mechanism of claim 1, wherein,

The moving wheel mechanism further comprises a first transmission piece (220), the first power piece (210) is connected with the fixed frame (110), the first transmission piece (220) is connected with the first power piece (210), and the wheel frame (120) is rotationally connected with the first transmission piece (220);

The travelling wheels (130) are provided with travelling wheel transmission members (230), and at least two travelling wheel transmission members (230) of the travelling wheels (130) are connected with the first transmission member (220);

The first power piece (210) is used for driving the first transmission piece (220) to rotate so as to drive at least two travelling wheels (130) to rotate simultaneously through the cooperation of the first transmission piece (220) and the travelling wheel transmission piece (230);

The second power piece (310) is used for driving the wheel carrier (120) to rotate around the first transmission piece (220), and driving the travelling wheel (130) to rotate around the first transmission piece (220).

4. The moving wheel mechanism according to claim 3, wherein,

The first transmission part (220) comprises a connecting shaft (221) and a first transmission gear (222), the first transmission gear (222) is connected with the connecting shaft (221), the travelling wheel transmission parts (230) are gears, at least two travelling wheel transmission parts (230) are respectively meshed with the first transmission gear (222), and the wheel frame (120) is rotationally connected with the connecting shaft (221).

5. The mobile wheel mechanism of claim 4, wherein,

The wheel carrier (120) comprises a front end plate (121), a rear end plate (122) and at least two wheel columns (123), wherein the front end plate (121) and the rear end plate (122) are arranged at intervals in parallel, the wheel columns (123) are arranged between the front end plate (121) and the rear end plate (122), the travelling wheels (130) are in one-to-one correspondence with the wheel columns (123) and are rotationally connected, the connecting shafts (221) are respectively rotationally connected with the front end plate (121) and the rear end plate (122), and the first transmission gear (222) is arranged between the front end plate (121) and the rear end plate (122).

6. The mobile wheel mechanism of claim 4, wherein,

The first transmission piece (220) further comprises a bearing, the connecting shaft (221) is fixedly connected with the inner ring of the bearing in a penetrating way, and the bearing is connected with the wheel frame (120) through the outer ring.

7. The mobile wheel mechanism of claim 1, wherein,

The device further comprises a second transmission piece (320), wherein the wheel frame (120) is provided with a wheel frame transmission piece (330), the second power piece (310) is connected with the second transmission piece (320), and the second transmission piece (320) is connected with the wheel frame transmission piece (330);

The second power piece (310) is used for driving the second transmission piece (320) to rotate so as to drive the wheel frame (120) to rotate through the cooperation of the second transmission piece (320) and the wheel frame transmission piece (330).

8. The mobile wheel mechanism of claim 7, wherein,

The second transmission part (320) comprises a driving gear (321) and a second transmission gear (322), and the wheel carrier transmission part (330) is a gear;

The driving gear (321) is connected with the second power piece (310), and the second transmission gear (322) is rotationally connected with the fixing frame (110) and is respectively in toothed connection with the driving gear (321) and the wheel carrier transmission piece (330).

9. The mobile wheel mechanism of claim 1, wherein,

The fixed frame (110) is provided with a first perforation (111) and a second perforation (112), the first power piece (210) and the second power piece (310) are positioned on the same side of the fixed frame (110), and are positioned on different sides of the fixed frame (110) with the wheel frame (120);

The first power piece (210) is connected with the fixed frame (110) and is connected with the travelling wheel (130) after passing through the first perforation (111);

The second power piece (310) is connected with the fixing frame (110) and is connected with the wheel frame (120) after passing through the second perforation (112).

10. The mobile wheel mechanism of claim 7, further comprising:

The cover plate (140) is used for being selectively connected with the fixing frame (110) in a covering mode to form a containing cavity, and the second transmission piece (320) is located in the containing cavity;

The cover plate (140) is provided with a cover plate opening, and the wheel carrier transmission member (330) is at least partially arranged in the accommodating cavity through the cover plate opening.

11. A cleaning robot comprising the moving wheel mechanism according to any one of claims 1 to 10, and a cleaning robot main body,

The number of the moving wheel mechanisms is two, the traveling wheel assemblies (100) of the two moving wheel mechanisms are arranged at intervals, and the fixing frame (110) is connected with the cleaning robot main body.

12. The cleaning robot of claim 11, wherein the cleaning robot is configured to perform the cleaning operation,

The cleaning robot comprises a cleaning robot main body, wherein a mounting shaft and a torsion spring are arranged on the cleaning robot main body, a shaft hole (113) and a torsion spring hanging piece (114) are arranged on a fixing frame (110), the mounting shaft is connected to the shaft hole (113) in a penetrating mode, the torsion spring is hung on the torsion spring hanging piece (114), the fixing frame (110) is used for rotating relative to the mounting shaft under the action of external force, and the torsion spring is used for applying elastic force to the fixing frame (110) in the opposite rotating direction;

The shaft hole (113) and the torsion spring hanging piece (114) are arranged at one end, far away from the wheel frame (120), of the fixing frame (110).

13. The cleaning robot of claim 12, wherein the cleaning robot is configured to perform the cleaning operation,

The fixed frame (110) is provided with a limiting head (115), and the limiting head (115) is used for interacting with the cleaning robot main body to limit the rotation limit position of the fixed frame (110).

14. A cleaning robot system comprising a cleaning robot according to any one of the preceding claims 11-13, and a cleaning base station, the cleaning robot being selectively dockable with the cleaning base station.