WO2022217861A1

WO2022217861A1 - Robot chassis and intelligent cleaning robot

Info

Publication number: WO2022217861A1
Application number: PCT/CN2021/122258
Authority: WO
Inventors: 潘福强; 许波建; 舒忠义
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-04-14
Filing date: 2021-09-30
Publication date: 2022-10-20
Also published as: CN115191869A

Abstract

A robot chassis and an intelligent cleaning robot. The robot chassis comprises: a main body (100); driving units (200), which are arranged on two sides of the main body (100), wherein each driving unit (200) comprises a driving electric motor (210), and a front driving wheel (220) and a rear driving wheel (230) which are driven by the driving electric motor (210) to operate; and a driven wheel (300), which is arranged at the bottom of the main body (100). The driven wheel (300), the front driving wheels (220) and the rear driving wheels (230) are sequentially arranged at the bottom of the main body (100) from front to back, and when the robot chassis moves on flat ground, the bottom of each rear driving wheel (230) is not lower than the bottom of each front driving wheel (220). The robot chassis uses the driving units (200), which are arranged independent of each other; each driving unit (200) comprises the front driving wheel (220) for driving the robot to move and the rear driving wheel (230) for assisting the robot in crossing obstacles; and each rear driving wheel (230) assists in supporting the robot during the crossing of obstacles, and provides an upward and forward driving force, such that the obstacle crossing capability of the cleaning robot is improved.

Description

A robot chassis and an intelligent cleaning robot

【Technical field】

The invention relates to the technical field of cleaning equipment, in particular to a robot chassis and an intelligent cleaning robot.

【Background technique】

At present, cleaning robots mostly use a single driving wheel. When crossing obstacles, only the left and right driving wheels provide driving force alone. Due to the limitation of driving force or structural arrangement, there is no auxiliary support when crossing obstacles, and the height of obstacles is limited. For example, Chinese patent CN206105825U, a self-moving robot, includes a self-moving robot body, a control unit on it, and a main drive wheel assembly. The main drive wheel assembly includes a drive motor and a main drive wheel, and the robot also includes an auxiliary drive wheel assembly. The assembly includes a connecting rod assembly and an auxiliary driving wheel arranged at one end of the connecting rod assembly, and the connecting rod assembly is movably arranged on the main body or the main driving wheel assembly; the robot also includes a triggering mechanism connected with the auxiliary driving wheel assembly, the triggering mechanism At least the trigger end is included, and in the forward direction, the trigger end is located in front of the main driving wheel; the trigger end is lifted up after encountering an obstacle, so as to generate a downward force on the auxiliary driving wheel, and the auxiliary driving wheel acts downward. Make a downward movement relative to the body under force or increase its positive pressure on the walking surface. Although the above-mentioned self-moving robots have certain obstacle surmounting ability, their structure is complex, the cost is high, and the complex trigger mechanism is difficult to adapt to the rugged multi-obstacle environment.

Therefore, it is necessary to improve the prior art to overcome the stated drawbacks in the prior art.

[Content of the invention]

The purpose of the present invention is to provide a robot chassis and an intelligent cleaning robot that can overcome obstacles efficiently.

The purpose of this invention is to realize through the following technical solutions:

A robot chassis, comprising:

main body;

a driving unit, arranged on both sides of the main body, the driving unit includes a driving motor, and a front driving wheel and a rear driving wheel which are driven and operated by the driving motor;

A driven wheel is arranged at the bottom of the main body;

The driven wheel, the front driving wheel and the rear driving wheel are sequentially arranged at the bottom of the main body from front to back. When the robot chassis travels on a flat ground, the bottom of the rear driving wheel is not lower than the bottom of the front driving wheel. After the driven wheel contacts the obstacle to be crossed, the bottom of the rear driving wheel is not higher than the bottom of the front driving wheel.

In one of the embodiments, it also includes a transmission assembly connected to the output end of the drive motor, the transmission assembly includes a gear set, and the gear set is respectively connected to the rotating shaft of the front driving wheel and the rotating shaft of the rear driving wheel, and all rotating The front driving wheel is driven by the gear set to drive the rear driving wheel to rotate.

In one embodiment, in the gear set, the radius of the gear fixed on the rotating shaft of the front driving wheel is greater than or equal to the radius of the gear fixed on the rotating shaft of the rear driving wheel.

In one embodiment, the transmission assembly further includes a transmission belt, the transmission belt is respectively connected to the output end of the driving motor and the gear set, and the driving motor is sequentially transmitted through the transmission belt and the gear set to drive the front drive Wheel turns.

In one embodiment, the gear set is further connected to the output end of the driving motor, and the driving motor is transmitted through the gear set to drive the front driving wheel and the rear driving wheel to rotate.

In one embodiment, the radius of the front drive wheel is greater than or equal to the radius of the rear drive wheel.

In one embodiment, the radius of the front driving wheel is equal to the radius of the rear driving wheel, and when the robot chassis travels on a flat ground, the front driving wheel and the rear driving wheel are grounded at the same time.

In one embodiment, the axis of rotation of the rear driving wheel is parallel to or lower than the axis of the rotation axis of the front driving wheel.

In one embodiment, the tread pattern of at least one tire of the front driving wheel and the rear driving wheel has at least two rows of protrusions arranged alternately.

An intelligent cleaning robot, comprising the robot chassis described in any one of the above, further comprising: a control unit and a cleaning unit, which are arranged in the main body, the cleaning unit cleans the ground, and the control unit is connected to and controls the drive Motor and cleaning unit.

Compared with the prior art, the present invention has the following beneficial effects: the robot chassis and the intelligent cleaning robot of the present invention, the robot chassis adopts an independently set drive unit, and each drive unit includes a front drive wheel that drives the robot to move and an auxiliary robot to cross the The rear driving wheel of the obstacle, the rear driving wheel assists the robot to support the robot when crossing the obstacle, and provides upward and forward driving force, which improves the obstacle-crossing ability of the cleaning robot.

【Description of drawings】

Fig. 1 is the structural schematic diagram of the robot chassis of the present invention;

2 is a perspective view of a drive unit in the robot chassis of the present invention;

Fig. 3 is the front view of the drive unit in the robot chassis of the present invention;

4 is a partial perspective view of the intelligent cleaning robot of the present invention;

5 is a partial front view of the intelligent cleaning robot of the present invention;

Fig. 6 is the tread pattern schematic diagram in the robot chassis of the present invention;

7 is a schematic diagram of another embodiment of the tread pattern in the robot chassis of the present invention.

【Detailed ways】

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

In the description of this application, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and The description is simplified rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second", etc., may expressly or implicitly include one or more of that feature. In the description created in the present application, unless otherwise specified, "plurality" means two or more.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; may be mechanical connection or electrical connection; may be direct connection or indirect connection through an intermediate medium, and may be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

1 is a schematic structural diagram of the robot chassis of the present invention; FIG. 2 is a perspective view of a drive unit in the robot chassis of the present invention; FIG. 3 is a front view of the drive unit in the robot chassis of the present invention; FIG. 4 is a partial perspective view of an intelligent cleaning robot of the present invention; It is a partial front view of the intelligent cleaning robot of the present invention; FIG. 6 is a schematic diagram of the tread pattern in the robot chassis of the present invention; FIG. 7 is a schematic diagram of the tread pattern of another embodiment of the robot chassis of the present invention.

Please refer to FIG. 1 to FIG. 3 , a robot chassis includes, but is not limited to, a main body 100 , a driving unit 200 and a driven wheel. The main body 100, as the main structural part of the robot chassis, carries the robot parts and supports the robot. When the robot is used as a household cleaning robot such as a sweeping robot, the above-mentioned robot chassis is in the shape of a disc or square, and is flat up and down to facilitate passing through furniture. In order to drive the robot and its chassis, there are also driving units 200. The driving units 200 are arranged on both sides of the main body 100 to balance and support the robot and provide movement power for the movable robot.

The drive unit 200 is one of the core components of the mobile robot, and it needs to increase the power under the condition of stable operation. When applied to the sweeping robot, in order to reduce the volume of the robot and improve the flexibility, the setting of the drive unit 200 further needs to consider its own occupation. size of space. In one embodiment, the drive unit 200 includes a drive motor 210 , a front drive wheel 220 and a transmission assembly 240 , which are as close as possible to each other, so as to reduce the volume of the entire drive unit 200 .

In order to improve the ability of the robot to overcome obstacles, the driving unit 200 of this embodiment further includes a rear driving wheel 230, and the transmission assembly 240 is respectively connected to the rotating shaft of the front driving wheel 220, the rotating shaft of the front driving wheel 220 and the output end of the driving motor 210, The driving motor 210 outputs work, and then transmits power through the transmission assembly 240 to drive the front driving wheels 220 and the front driving wheels 220 to rotate. In this embodiment, the driven wheel 300 , the front driving wheel 220 and the rear driving wheel 230 are sequentially arranged at the bottom of the main body 100 from front to back. When the robot does not encounter obstacles, the robot chassis travels on a flat ground, and the bottom of the rear driving wheel 230 Not lower than the bottom of the front driving wheel 220 , the front driving wheel 220 is grounded, the rear driving wheel 230 is grounded or in a suspended state, and no additional thrust is generated when the rear driving wheel 230 is in the suspended state. When the robot encounters an obstacle, the bottom of the rear driving wheel 230 is not higher than the bottom of the front driving wheel 220, that is, when the driven wheel 300 in the front in the traveling direction of the robot contacts the obstacle to be crossed, the driven wheel 300 is affected by the obstacle. support to lift the front of the main body 100, at this time, the front driving wheel 220 may be lifted and suspended in the air, losing the driving ability. At this time, the grounded rear driving wheel 230 can still provide driving force; if the rear driving wheel 230 was in a suspended state before, At this time, the rear part of the main body 100 descends and drives the rear driving wheel 230 to be in contact with the ground. At this time, the rear driving wheel 230 starts to act on the ground, and pushes the robot chassis and its robot forward and upward to help the robot to overcome obstacles.

The driving motor 210 , the transmission assembly 240 , the front driving wheel 220 and the rear driving wheel 230 can be horizontally arranged at the same height, so as to reduce the height of the driving unit 200 , thereby reducing the overall height of the robot. In one embodiment, the output shaft of the above-mentioned driving motor 210 , the rotation shafts of the front driving wheel 220 and the rear driving wheel 230 may be located on or approximately on the same level.

In one embodiment, the front driving wheel 220 drives the rear driving wheel 230 through the transmission assembly 240 . Preferably, the transmission assembly 240 includes a gear set 241 , and the gear set 241 is respectively connected to the rotating shaft of the front driving wheel 220 and the rotating shaft of the rear driving wheel 230 . , the rotating front driving wheel 220 is driven by the gear set 241 to drive the rear driving wheel 230 to rotate. The gear set is formed by a combination of multiple gears meshing together, and all the gears maintain the same linear speed. The gear set 241 is used to realize the gear transmission of the front driving wheel 220 and the rear driving wheel 230, which is suitable for the front driving wheel 220 and the rear driving wheel 230 which are in close proximity, and provides the rear driving wheel 230 with the smoothness and high speed that other transmission methods do not have. The precise transmission reduces the influence of the dynamic load on the rear drive wheel 230 due to the switching of the working mode and the vibration of crossing obstacles. In some usage scenarios, when the robot is temporarily stagnant due to obstacles or climbs slowly, the gear transmission can still maintain high-efficiency transmission power at low peripheral speeds, improving the climbing ability.

In one embodiment, in the gear set 241 , the radius of the gear fixed on the rotating shaft of the front driving wheel 220 is greater than or equal to the radius of the gear fixed on the rotating shaft of the rear driving wheel 230 . Part of the space of the rear driving wheel 230 in the driving unit 200 is saved, and the rotation speed of the rear driving wheel 230 is greater than or equal to that of the front driving wheel 220 , so that the design radius of the rear driving wheel 230 can be reduced. In one embodiment, the rear drive wheel 230 is in a suspended state, and floats up and down when the robot normally travels and needs to overcome obstacles. The smaller design radius enables a larger movement space and ensures the function of the rear drive wheel 230 .

In one embodiment, the transmission assembly 240 further includes a transmission belt 242, which is respectively connected to the output end of the driving motor 210 and the gear set 241, and uses a flexible belt tensioned on the pulley to transmit power. In this embodiment, the transmission belt 242 is respectively sleeved on the output end of the driving motor 210 and a gear in the gear set 241 , and the gear is a gear fixed with the output shaft of the front driving wheel 220 , or is connected with the output shaft of the front driving wheel 220 . The fixed gear directly meshes with the gear. Then, the driving motor 210 is sequentially transmitted through the transmission belt 242 and the gear set 241 to drive the front driving wheel 220 to rotate. The drive motor 210 is directly connected through the transmission belt 242, and the power of the drive motor 210 is output, which has the functions of overload slippage and shock absorption, aiming at solving the stagnation and vibration generated when encountering obstacles, preventing damage to the equipment and generating noise. Preferably, the above-mentioned transmission belt 242 is a synchronous belt, the working surface of the belt is made into a toothed shape, and the rim surface of the pulley is also made into a corresponding toothed shape. The belt and the pulley are mainly driven by meshing. In this embodiment, the pulley They are part of the output shaft of the drive motor 210 and the gears in the gear set 241 , respectively.

In one embodiment, the gear set 241 is also connected to the output end of the driving motor 210 , and the driving motor 210 is driven by the gear set 241 to drive the front driving wheel 220 and the rear driving wheel 230 to rotate. In this embodiment, the conveyor belt 242 is not provided, and the driving motor 210 drives the front driving wheel 220 and the rear driving wheel 230 to rotate through gears, so as to further improve the transmission efficiency and enhance the climbing ability.

In one of the embodiments, the radius of the front driving wheel 220 is larger than the radius of the rear driving wheel 230 , so that the rear driving wheel 230 can be kept in a suspended state when driving smoothly without obstacles.

In one embodiment, the radius of the front driving wheel 220 is equal to the radius of the rear driving wheel 230, and when the robot chassis travels on a flat ground, the front driving wheel 220 and the rear driving wheel 230 are grounded at the same time. At this time, the four wheels drive the robot chassis to walk at the same time, which improves the stability of walking on flat ground.

In one embodiment, in different states, the axis of rotation of the rear driving wheel 230 is lower than the axis of the rotation axis of the front driving wheel 220, so as to reduce the path for the rear driving wheel 230 to descend to the ground, so that the rear driving wheel 230 can quickly assist in obstacle crossing , to expand the range of auxiliary obstacle crossing capabilities. In this embodiment, the radius of the rear driving wheel 230 is smaller than that of the front driving wheel 220, and the smaller size can save space, and at the same time, the rear driving wheel 230 does not touch the ground when the robot travels on a level ground.

In order to protect the internal parts of the drive unit 200 from dust and water, in one embodiment, the drive unit 200 further includes a closed casing 210, and the rotating shaft of the front driving wheel 220, the rotating shaft of the rear driving wheel 230 and the transmission assembly 240 are located in the closed casing within 210. The airtight casing 210 is set as a detachable structure, part of the structure is fixed on the main body 100, and the detachable structure can be opened for easy maintenance and lubrication.

The above-mentioned drive unit 200 has good sealing and independence, and the closed casing improves the safety and life of the drive unit 200, thereby improving the quality and life of the robot used; Assembled, and even applied to different types of robots, expanding the scope of use and saving design and production costs.

Please further refer to FIG. 4 and FIG. 5 , in one embodiment, the main body 100 includes a bottom plate 110 and a driving cover plate 120 , the airtight casing 210 is disposed on the bottom plate 110 , and the driving cover plate 120 is covered on the airtight casing 210 , It is used to limit the upper and lower positions of the drive unit 200, and the drive cover 120 and the bottom plate 110 are engaged by the drive cover 120 and the bottom plate 110 at the top and bottom respectively, to prevent frequent movement and vibration, resulting in accidental dislocation of the drive unit 200 and failure of the robot.

Referring further to FIG. 6 , in order to further improve the obstacle surmounting ability of the robot, in one embodiment, the tread pattern 1 of at least one tire in the front driving wheel 220 and the rear driving wheel 230 has at least two rows of alternately arranged protrusions, The bumps alternately rub and stick to the ground and the surface of the obstacle, generating part of the upward pulling force and improving the ability to overcome obstacles. In different embodiments, the tread pattern 1 of the front driving wheel 220 and the rear driving wheel 230 may be the same or different. For example, the rear driving wheel 230 is provided with a different tread pattern 1 from the front driving wheel 220 to further improve the friction force. , it is considered that the rear drive wheel 230 is only used for obstacle crossing, and does not participate in plane walking. Please further refer to FIG. 7 , preferably, a plurality of small protrusions may be further arranged on the protrusions of the tread pattern 1, and the interior of the protrusions may be partially hollowed out.

The embodiment of the present application also discloses an intelligent cleaning robot, which includes the above robot chassis, and further includes: a control unit and a cleaning unit 10 arranged in the main body 100. The cleaning unit 10 is used to clean the ground and wait for the cleaning surface, including sweeping and mopping. to wait. The control unit is connected to and controls the driving motor 210 and the cleaning unit, so as to control the walking, obstacle crossing and cleaning actions of the intelligent cleaning robot. In different embodiments, the intelligent cleaning robot further includes a sensor connected to the control unit, and the sensor is used to detect the obstacle situation and plan the movement path of the robot, so as to improve the walking efficiency of the intelligent cleaning robot.

Taking the above ideal embodiments according to the present application as inspiration, and through the above descriptions, relevant personnel can make various changes and modifications without departing from the technical idea of the present application. The technical scope of the present application is not limited to the content in the description, and the technical scope must be determined according to the scope of the claims.

Claims

A robot chassis, characterized in that it includes:

main body;

a driving unit, arranged on both sides of the main body, the driving unit includes a driving motor, and a front driving wheel and a rear driving wheel which are driven and operated by the driving motor;

A driven wheel is arranged at the bottom of the main body;

The driven wheel, the front driving wheel and the rear driving wheel are sequentially arranged at the bottom of the main body from front to back. When the robot chassis travels on a flat ground, the bottom of the rear driving wheel is not lower than the bottom of the front driving wheel. After the driven wheel contacts the obstacle to be crossed, the bottom of the rear driving wheel is not higher than the bottom of the front driving wheel.
The robot chassis according to claim 1, further comprising a transmission assembly connected to the output end of the drive motor, the transmission assembly comprising a gear set, and the gear set is respectively connected to the rotating shaft of the front drive wheel and the rear drive The rotating shaft of the wheel, the rotating front driving wheel is transmitted through the gear set to drive the rear driving wheel to rotate.
The robot chassis according to claim 2, wherein, in the gear set, the radius of the gear fixed on the rotating shaft of the front driving wheel is greater than or equal to the radius of the gear fixed on the rotating shaft of the rear driving wheel .
The robot chassis according to claim 2, wherein the transmission assembly further comprises a transmission belt, and the transmission belt is respectively connected to the output end of the driving motor and the gear set, and the driving motor sequentially passes through the transmission belt and the gear set transmission to drive the front drive wheel to rotate.
The robot chassis according to claim 2, wherein the gear set is further connected to the output end of the drive motor, and the drive motor is driven by the gear set to drive the front driving wheel and the rear driving wheel turn.
The robot chassis according to claim 1, wherein the radius of the front driving wheel is greater than or equal to the radius of the rear driving wheel.
The robot chassis according to claim 6, wherein the radius of the front driving wheel is equal to the radius of the rear driving wheel, and when the robot chassis travels on a flat ground, the front driving wheel and the rear driving wheel are grounded at the same time.
The robot chassis according to claim 1, wherein the axis of rotation of the rear driving wheel is parallel to or lower than the axis of the rotation axis of the front driving wheel.
The robot chassis according to claim 1, wherein the tread pattern of at least one tire of the front driving wheel and the rear driving wheel has at least two rows of alternately arranged protrusions.
An intelligent cleaning robot, characterized in that it includes the robot chassis according to any one of claims 1-9, and further includes:

A control unit and a cleaning unit are arranged in the main body, the cleaning unit cleans the floor, and the control unit is connected to and controls the driving motor and the cleaning unit.