WO2022247668A1 - 踏板结构及扫地机器人 - Google Patents

踏板结构及扫地机器人 Download PDF

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Publication number
WO2022247668A1
WO2022247668A1 PCT/CN2022/092944 CN2022092944W WO2022247668A1 WO 2022247668 A1 WO2022247668 A1 WO 2022247668A1 CN 2022092944 W CN2022092944 W CN 2022092944W WO 2022247668 A1 WO2022247668 A1 WO 2022247668A1
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WO
WIPO (PCT)
Prior art keywords
pedal
gear
support plate
arm
fixed base
Prior art date
Application number
PCT/CN2022/092944
Other languages
English (en)
French (fr)
Inventor
李振
苗凯
秦宝星
程昊天
Original Assignee
上海高仙自动化科技发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110580194.7A external-priority patent/CN113428258B/zh
Priority claimed from CN202110580186.2A external-priority patent/CN113370785B/zh
Application filed by 上海高仙自动化科技发展有限公司 filed Critical 上海高仙自动化科技发展有限公司
Publication of WO2022247668A1 publication Critical patent/WO2022247668A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
    • B60R3/02—Retractable steps or ladders, e.g. movable under shock
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface

Definitions

  • the present application relates to the technical field of cleaning tools, such as a pedal structure and a sweeping robot.
  • intelligent robots are suitable for various outdoor environments, and in order to facilitate human operation, they are basically equipped with control pedals that are convenient for manual standing and driving operations.
  • control pedals may have the risk of being controlled without an operator during use, or in the event of a drive failure, which will seriously affect the use of the pedals. At this time, they can only be shut down for maintenance.
  • One embodiment provides a pedal structure, which can solve the technical problem of low safety in use when the control pedal is used without the operator, and can solve the problem of inconvenient operation when the pedal is driven out of order, thereby Technical issues affecting pedal use.
  • a pedal structure comprising: a fixed base with a receiving cavity, the fixed base has at least one baffle plate; a pedal, slidably connected to the fixed base, and can be accommodated in the the pedal has an opening, and the baffle is configured to at least partially cover the opening when the pedal is completely stored in the housing chamber; the driving mechanism is mounted on the pedal, and One end of the driving mechanism is connected to the fixed base, and is configured to drive the pedal to extend and retract relative to the accommodation chamber of the fixed base; and an accelerator mechanism, installed on the pedal; the accelerator The mechanism is connected with a pressure-bearing part, and a part of the accelerator mechanism and the pressure-bearing part respectively have a movement tendency to protrude from the opening; the pressure-bearing part is arranged so that when the pedal is stored in the accommodation cavity , bear the constraints of the baffle so that the accelerator mechanism is accommodated in the pedal; the pressure-bearing member is also configured to lose the constraint of the baffle when the pedal protrudes out of the accommodating cavity
  • One embodiment provides a pedal structure, comprising: a fixed base having an accommodation cavity; a pedal slidably connected to the fixed base and accommodated in the accommodation cavity; a driving mechanism installed in the The pedal includes a driving member, a first gear, a second gear meshed with the first gear and a connecting arm, the first end of the connecting arm is connected to the second gear, the second of the connecting arm The end is movably connected to the fixed base; the first gear drives the connecting arm to swing through the second gear under the driving force of the driving member, and the connecting arm drives the pedal to move relative to the fixed base.
  • a clutch mechanism installed on the pedal, including a handle and a support plate connected to the handle, the driving member and the first gear are respectively arranged on the support plate; the first gear is provided When the handle drives the support plate to move toward a side away from the second gear, it moves away from the second gear.
  • An embodiment also provides a cleaning robot, which includes the above-mentioned pedal structure, and also includes a cleaning structure, and the telescopic pedal structure is installed on the cleaning structure.
  • Fig. 1 is the first schematic diagram of the pedal retraction in the retractable pedal structure provided by an embodiment of the present application
  • Fig. 2 is a second schematic diagram of the pedal retraction in the retractable pedal structure provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of the extension of the pedal in the telescopic pedal structure provided by an embodiment of the present application
  • Fig. 4 is a partial schematic diagram of the extension of the pedal in the telescopic pedal structure provided in Fig. 3;
  • Fig. 5 is a partial schematic diagram of pedal retraction in the retractable pedal structure provided by an embodiment of the present application.
  • Fig. 6 is the first schematic diagram of the accelerator mechanism in the telescoping pedal structure provided in Fig. 5;
  • FIG. 7 is a second schematic diagram of the accelerator mechanism in the telescoping pedal structure provided in FIG. 5 .
  • a telescopic pedal structure provided by an embodiment of the present application includes a fixed base 10, a pedal 20, a driving mechanism 30 and an accelerator mechanism 50.
  • the fixed base 10 has an accommodating cavity 11
  • the pedal 20 is slidably connected to the fixed base 10 and can be accommodated in the accommodating cavity 11 .
  • the pedal 20 has an opening 25
  • the fixed base 10 has a baffle 13 , the baffle 13 can at least cover a part of the opening 25 when the pedal 20 is fully received in the receiving cavity 11 .
  • the driving mechanism 30 and the accelerator mechanism 50 are installed on the pedal 20 , and one end of the driving mechanism 30 is connected to the fixed base 10 , and is configured to drive the pedal 20 to protrude and retract relative to the accommodating cavity 11 of the fixed base 10 .
  • the accelerator mechanism 50 is connected with a pressure bearing 56 , and a part of the accelerator mechanism 50 and the pressure bearing 56 have a movement tendency to protrude from the opening 25 .
  • the pressure-bearing member 56 can bear the constraints of the baffle 13 so that the accelerator mechanism 50 is accommodated in the pedal 20, and when the pedal 20 extends out of the accommodating chamber 11, the pressure-bearing member 56 drives into the baffle. 13, part of the throttle mechanism 50 protrudes from the opening 25.
  • An embodiment provides a retractable pedal structure, including a fixed base 10 , a pedal 20 , a driving mechanism 30 and an accelerator mechanism 50 .
  • the fixed base 10 has an accommodating cavity 11
  • the pedal 20 is slidably connected to the fixed base 10 and can be accommodated in the accommodating cavity 11 .
  • the pedal 20 has an opening 25 , and when the pedal 20 is accommodated in the accommodating cavity 11 , the baffle plate 13 on the fixed base 10 covers an edge of the opening 25 .
  • the accelerator mechanism 50 is mounted on the pedal 20 , and the accelerator mechanism 50 is connected with a pressure bearing 56 , and a part of the accelerator mechanism 50 and the pressure bearing 56 respectively have a movement tendency to protrude from the opening 25 .
  • the normal use of the accelerator mechanism 50 is realized, and the accelerator mechanism 50 also has a good effect. protection, thereby improving the use safety of the retractable pedal structure.
  • the pedal 20 is configured with a mounting cavity 22, the driving mechanism 30 and the accelerator mechanism 50 are arranged in the mounting cavity 22, and the driving mechanism 30 is connected with the fixed base 10 One end of the connection extends into the mounting cavity 22 .
  • the opening 25 communicates with the installation cavity 22 so that the accelerator mechanism 50 and the pressure member 56 can extend out of the installation cavity 22 from the opening 25 .
  • the accelerator mechanism 50 is connected with the control system of the cleaning robot for signal transmission, so that the operator can control the progress of the cleaning robot through the accelerator mechanism 50 .
  • the accelerator mechanism 50 When the pedal 20 is in the storage state relative to the fixed base 10, the accelerator mechanism 50 extends into the installation cavity 22 of the pedal 20 from the opening 25 through the function of the pressure bearing member 56 and the baffle 13, so as to ensure that the operator will not step on it by mistake. Throttle mechanism 50.
  • the accelerator mechanism 50 needs to be used to control the progress of the sweeping robot, the pedal 20 protrudes from the accommodating cavity 11 of the fixed base 10 under the driving action of the drive mechanism 30, and at this time, the pressure-bearing member 56 connected to the accelerator mechanism 50 loses the baffle 13 Due to the hindering effect, a part of the accelerator mechanism 50 and the pressure-bearing member 56 protrude from the opening 25 to the outside of the installation cavity 22 at the same time, so as to facilitate the operator's control.
  • the retractable pedal structure of the present embodiment realizes the normal use of the accelerator mechanism 50 and also has a good effect on the accelerator mechanism 50 through the cooperation of the pressure bearing member 56 and the baffle plate 13, and the position adjustment of the pedal 20 relative to the fixed base 10. protection, thereby improving the use safety of the telescopic pedal structure.
  • the accelerator mechanism 50 includes a support arm 51 , a pedal member 52 and a Hall element 54 .
  • the first end of the support arm 51 is hinged to the cavity wall of the installation cavity 22 through a hinge shaft 55, and the second end of the support arm 51 is hinged to the stepping member 52, and the stepping member 52 has a movement tendency to stretch out from the opening 25, and the stepping member 52 is connected with the control system of the sweeping robot through the Hall element 54.
  • the pressure bearing member 56 includes a roller 561 connected to the stepping member 52 through a rotating shaft 562 , and the roller 561 is configured to interfere with the baffle 13 .
  • a frame body 521 is disposed on the side of the stepping member 52 facing the installation cavity 22 , the roller 561 is connected to the frame body 521 through a rotating shaft 562 , and the roller 561 can rotate around the axis of the rotating shaft 562 .
  • the cooperation between the rotatable roller 561 and the baffle 13 not only facilitates the extension and retraction of the throttle mechanism 50 from the opening 25, but also makes the contact between the roller 561 and the baffle 13 a rolling friction, reducing the friction between the two. wear and tear.
  • the support arm 51 is hinged to the frame body 521 through another hinge shaft 55 , so as to realize the connection between the support arm 51 and the pedal member 52 .
  • the arrangement of the Hall element 54 facilitates signal transmission of the pedaling force of the operator acting on the pedaling member 52 .
  • the extending movement tendency of the stepping member 52 may be realized by structures such as cylinders and springs.
  • the accelerator mechanism 50 also includes an elastic member, which is sleeved on the hinge shaft 55, and the first part of the elastic member The second end of the elastic member is connected to the pedal 20 , and the second end of the elastic member is connected to the support arm 51 .
  • the support arm 51 exerts force on the elastic member, so that the elastic member elastically deforms and accumulates elastic potential energy.
  • the support arm 51 protrudes from the opening 25 of the pedal 20 under the action of the elastic member to drive the pedal member 52 to protrude.
  • the Hall element 54 is used to transmit the force on the stepping member 52 to the control system of the cleaning robot, so as to control the forward power of the cleaning robot according to the degree of depression of the stepping member 52 .
  • the elastic member is a torsion spring, which is sleeved on the hinge shaft 55 where the support arm 51 and the pedal 20 are hinged. A first end of the torsion spring is connected to the support arm 51 , and a second end of the torsion spring is connected to the pedal 20 .
  • a fixing bracket 57 is provided on the side of the pedal 20 facing the mounting cavity 22, the fixing bracket 57 is U-shaped, and the two sides of the U-shaped opening 25 have outward The extended flange is thus fixed with the pedal 20 by screws.
  • a channel-steel base 58 is fixed inside the fixed bracket 57, the above-mentioned hinged shaft 55 is connected to the channel-steel base 58, and the first end of the elastic member is fixed on the channel-steel base 58, and the elastic member The second end of the second end is fixed on the support arm 51 .
  • the supporting arm 51 is arranged in a V shape. The first end of the V-shaped support arm 51 is hinged to the channel steel base 58 through the hinge shaft 55 , and the second end of the support arm 51 is connected to the pedal member 52 .
  • the driving mechanism 30 includes a driving member 31, a first gear 32, a second gear 33 meshed with the first gear 32, and a connecting arm 34.
  • the first connecting arm 34 One end is connected to the second gear 33 , and the second end of the connecting arm 34 is movably connected to the fixed base 10 .
  • the first gear 32 drives the connecting arm 34 to swing through the second gear 33
  • the connecting arm 34 drives the pedal 20 to slide relative to the fixed base 10 .
  • the pedal 20 is in an initial state, that is, the pedal 20 is firstly accommodated in the accommodating cavity 11 .
  • the driving member 31 starts to drive the first gear 32 to rotate, the first gear 32 meshes with the second gear 33 for transmission, the second gear 33 drives the connecting arm 34 to swing, and the pedal 20 is relatively fixed to the base through the connecting arm 34 10 into the housing chamber 11.
  • the driving member 31 starts to drive the first gear 32 to rotate in reverse again, and the second gear 33 drives the connecting arm 34 to swing in reverse to retract the pedal 20 into the receiving chamber 11 .
  • the cooperative movement of the first gear and the second gear is more stable.
  • the driving part 31 adopts a motor, and the output of the motor is a worm gear mechanism, and the worm gear is connected to the first gear 32.
  • the self-locking feature of the worm gear is used to ensure the locking performance of the pedal when the motor stops running.
  • one side of the second gear 33 extends radially outwards to form a connecting arm 34 ;
  • the driving mechanism 30 also includes a connecting rod 35 , and the first connecting rod 35
  • One end is hinged to the fixed base 10
  • the second end of the connecting rod 35 is hinged to the extended end of the connecting arm 34 .
  • teeth meshing with the first gear 32 are provided on the second gear 33 except the edge of the extending connecting arm 34 to ensure reliable meshing transmission between the second gear 33 and the first gear 32 .
  • the connecting arm 34 is connected to the fixed base 10 through the connecting rod 35, which first increases the degree of freedom of connection between the connecting arm 34 and the fixed base 10, and reduces the risk of jamming between the two.
  • the setting of the connecting rod 35 has also increased the connection moment arm between the connecting arm 34 and the fixed base 10.
  • the active force acting on the pedal 20 is slightly reduced, thereby ensuring that the pedal 20 It can move more stably relative to the fixed base 10 and improve the protection against the movement of the pedal 20 .
  • a second opening 21 is provided on the pedal 20, and a fourth opening is provided at a position corresponding to the second opening 21 on the fixed base 10.
  • the fourth opening 15 communicates with the receiving cavity 11, and the fixed base 10 is provided with a connecting frame 16 outside the fourth opening 15, and the end of the connecting rod 35 away from the connecting arm 34 passes through the second opening 21 and the fourth opening.
  • the hole 15 is hinged to the connecting frame 16 .
  • the connecting rod 35 moves under the action of the connecting arm 34, the connecting rod 35 can move in the second opening 21 and the fourth opening 15, so as to limit the movement of the connecting rod 35, and relatively to the pedal 20.
  • the sliding of the fixed base 10 acts as a limiter, ensuring that the pedal 20 is always within a safe movement range relative to the fixed base 10 and will not be completely disengaged relative to the fixed base 10 .
  • a first hole 331 is disposed on the wheel surface of the second gear 33 .
  • a sensing element 37 is installed on the pedal 20, and the sensing element 37 has an elastic contact 371, and a part of the elastic contact 371 can extend into the first opening 331.
  • the pedal 20 is in the initial state. state.
  • the elastic contact 371 can be pressed down under the action of the wheel surface.
  • the elastic contact 371 is arranged in an arc shape to reduce wear and friction between the elastic contact 371 and the second gear 33 .
  • the second gear 33 is installed on the above-mentioned installation substrate 44 through a rotating shaft 562 . It should be noted that the sensing element 37 and the driving member 31 are respectively connected with the control system of the cleaning robot for signal transmission.
  • the wheel diameter of the second gear 33 is much larger than that of the first gear 32 .
  • Such a setting makes the rotation driven by the driving member 31 (using a motor in this embodiment) pass through the speed ratio of the first gear 32 and the second gear 33, so that the output speed of the second gear 33 is relatively small, so as to improve the connection arm 34, The movement stability of the link 35 and the pedal 20.
  • the rotational speed ratio of the second gear 33 and the first gear 32 is between 6-7. In one embodiment, the speed ratio is 6.4.
  • the pedal structure further includes a clutch mechanism 40 mounted on the pedal 20, the clutch mechanism 40 is connected with the first gear 32, and is configured to drive the first gear 32 to the second gear.
  • the gear 33 moves away and approaches. That is to say, through the setting of the clutch mechanism 40, the adjustment of the distance between the first gear 32 and the second gear 33 can be realized, that is, the adjustment of the meshing transmission between the two can be realized, so as to facilitate the failure of the driving member 31 in the driving mechanism 30.
  • the pedal 20 can be manually pulled to protrude or protrude relative to the fixed base 10 .
  • the clutch mechanism 40 includes a handle 41 and a support plate 42 connected to the handle 41, and the driving member 31 and the first gear 32 are respectively arranged on the support plate 42;
  • the handle 41 can drive the support plate 42 to move toward a side away from the second gear 33 , and the first gear 32 is far away from the second gear 33 .
  • the support plate 42 can be reversely moved by an external force, so that the first gear 32 is close to the second gear 33, and the engagement between the first gear 32 and the second gear 33 is restored. state.
  • the second gear 33 cannot rotate freely because of the meshing limit of the first gear 32, and the connecting arm 34 connected to the second gear 33 cannot swing freely, so that the position of the pedal 20 relative to the fixed base 10 will not occur. changes, that is, the pedal 20 is in a steady state.
  • the retractable pedal structure provided by the present application can drive the first gear 32 to separate from the second gear 33 when the driving member 31 fails through the cooperation of the handle 41 and the support plate 42, thereby restoring the free state of the second gear 33 , it is convenient to manually operate the pedal 20, so as to ensure that the telescopic pedal structure can still be used normally, and reduce the impact on the operation of the sweeping robot installed with the telescopic pedal structure.
  • only the handle 41 needs to drive the support plate 42 to move toward the side away from the second gear 33 during operation, and the operation is extremely simple.
  • One embodiment provides a pedal structure, including a fixed base 10, a pedal 20, a drive mechanism 30 and a clutch mechanism 40, the drive mechanism 30 and the clutch mechanism 40 are installed on the pedal 20, and the pedal 20 is slidably connected to the fixed base 10, And can be accommodated in the accommodation cavity 11 of the fixed base 10 .
  • the drive mechanism 30 includes a driver 31, a first gear 32, a second gear 33 meshed with the first gear 32 and a connecting arm 34, the first end of the connecting arm 34 is connected to the second gear 33, and the connecting arm 34 The second end is connected to the fixed base 10 .
  • the driving member 31 can drive the first gear 32 to rotate, the first gear 32 drives the second gear 33 to move, and the second gear 33 drives the pedal 20 to slide relative to the fixed base 10 through the connecting arm 34, thereby realizing the movement of the pedal 20 relative to the fixed base 10
  • the accommodating chamber 11 is extended and retracted.
  • the clutch mechanism 40 includes a handle 41 and a support plate 42 connected to the handle 41 , the driving member 31 and the first gear 32 are disposed on the support plate 42 .
  • the handle 41 can drive the support plate 42 to move toward the side away from the second gear 33 , thereby driving the first gear 32 away from the second gear 33 .
  • the pedal structure provided by this embodiment, when the driving member 31 fails to drive the first gear 32 to rotate, the connecting arm 34 connected to the second gear 32 cannot rotate, so that the pedal 20 cannot be rotated relative to the other.
  • the fixed base 10 moves.
  • the handle 41 drives the support plate 42 to move, thereby releasing the meshing state of the first gear 32 and the second gear 33, thereby eliminating the limitation of the first gear 32 to the second gear 33, and the second Gear 33 and connecting arm 34 just can be in free state.
  • directly pull the pedal 20 to realize the movement of the pedal 20 relative to the fixed base 10, so that the pedal can continue to be used.
  • the clutch mechanism 40 is also accommodated in the installation cavity 22 , and the handle 41 in the clutch mechanism 40 can protrude from the installation cavity 22 for the operator to hold and operate. That is to say, the setting of the installation cavity 22 accommodates the clutch mechanism 40, the drive mechanism 30 and the throttle mechanism 50, which improves the protection of the clutch mechanism 40, the drive mechanism 30 and the throttle mechanism 5, so as to avoid external water stains or impurities, etc.
  • the clutch mechanism 40 and the driving mechanism 30 are directly polluted, and the operator is prevented from operating the accelerator mechanism 50 by mistake.
  • a third opening 23 is disposed on a side wall of the pedal 20 so that the handle 41 protrudes from the third opening 23 .
  • the support plate 42 is provided with a limit hole 421;
  • the clutch mechanism 40 includes a limit post 43, the first end of the limit post 43 is connected to the pedal 20, and the limit post 43 The second end of the second end passes through the limiting hole 421; when the supporting plate 42 moves, the limiting column 43 moves in the limiting hole 421 relative to the supporting plate 42. That is to say, when the support plate 42 moves relative to the pedal 20 under the action of the handle 41, the position-limiting post 43 fixed on the pedal 20 moves in the position-limiting hole 421 relative to the support plate 42, so that the movement of the support plate 42 The distance is limited to improve the safety of use.
  • the cooperation between the limiting post 43 and the limiting hole 421 not only plays a guiding role for the movement of the support plate 42 relative to the second gear 33 , but also realizes the reliable installation of the support plate 42 relative to the pedal 20 .
  • the limiting hole 421 is configured as a long hole.
  • One end of the limiting post 43 passing through the limiting hole 421 is provided with a rib 431, and the rib 431 limits the supporting plate 42 in the axial direction along the limiting post 43 to ensure that the supporting plate 42 will not shake relative to the limiting post 43 .
  • the setting of the rib 431 can also prevent the supporting plate 42 from detaching from the limiting column 43, so as to improve the stability of movement.
  • the first gear 32 has a gear box 36, the gear box 36 is mounted on the support plate 42 through screws, and the driving member 31 is mounted on the support plate 42 through the motor base, so that the support plate 42 moves synchronously.
  • the number of limiting holes 421 is two, the two limiting holes 421 are arranged at intervals along the first direction, and each limiting hole 421 corresponds to a limiting column 43.
  • the first direction is set perpendicular to the moving direction of the support plate 42 .
  • two limiting holes 421 are arranged at intervals along the width direction of the support plate 42 .
  • the length direction of the support plate 42 is the moving direction of the support plate 42 relative to the second gear 33 .
  • Each limiting column 431 corresponds to a limiting hole 421, and such arrangement improves the connection reliability and moving stability of the support plate 42 relative to the pedal 20.
  • turning the handle 41 counterclockwise drives the support plate 42 to move toward a side away from the second gear 33 , thereby driving the first gear 32 to separate from the second gear 33 .
  • the support plate 42 uses the limiting hole 421 to cooperate with the limiting column 43, so that the limiting column 43 moves relative to the limiting hole 421 along the length direction of the limiting hole 421, thereby playing a guiding role.
  • a mounting base 44 is fixed on the pedal 20
  • the limiting post 43 is fixed on the mounting base 44 .
  • the limiting column 43 and the support plate 42 do not need to be in direct contact with the pedal 20 , and thus the structural strength of the pedal 20 does not need to be modified much.
  • a reinforcing strip 45 is provided on the side of the mounting substrate 44 facing away from the support plate 42 , the reinforcing strip 45 can improve the structural strength of the pedal 20 and also improve the supporting performance of the mounting substrate 44 .
  • a chute is provided in the reinforcement bar 45
  • the installation base plate 44 is slidably installed on the reinforcement bar 45 , which is convenient for fine adjustment of the installation position of the clutch mechanism 40 , and can be locked after adjustment.
  • the clutch mechanism 40 further includes an elastic portion 46, the first end of the elastic portion 46 is connected to the pedal 20, the second end of the elastic portion 46 is connected to the support plate 42, and the elastic The portion 46 is configured to apply a force to the support plate 42 to move toward the first gear 32 .
  • the setting of the elastic portion 46 makes the support plate 42 have a tendency to move towards the second gear 33, that is, the support plate 42 can automatically return to close to the second gear when no force is applied by the handle 41. 33, so that the first gear 32 and the second gear 33 are in meshing state again.
  • the elastic portion 46 adopts a tension spring to apply a restoring force to the support plate 42 .
  • the handle 41 can be manually moved in reverse to push the support plate 42 close to the second gear 33 , so as to realize the meshing state of the first gear 32 and the second gear 33 .
  • a first column is provided on the side of the support plate 42 facing away from the second gear 33
  • a second column is provided on the side of the mounting base 44 opposite to the first column and facing the second gear 33
  • the first cylinder and the second cylinder are respectively provided with through holes, so that the hooks at both ends of the elastic part 46 pass through the through holes on the corresponding sides respectively, so as to realize the installation of the elastic part 46 .
  • the clutch mechanism 40 also includes a clamping post 47 and a clamping arm 48; the clamping arm 48 is connected to the handle 41, the clamping post 47 is connected to the support plate 42, and the clamping The connecting arm 48 is configured with a clipping groove 481 , and the clipping post 47 is clipped to the clipping arm 48 through the clipping groove 481 .
  • one end of the handle 41 is provided with a connecting post, and the end of the connecting post facing away from the handle 41 is fixed on the mounting base 44 , and the handle 41 can rotate around the axis of the connecting post.
  • the locking arm 48 is fixedly connected to the handle 41 so as to rotate synchronously with the handle 41 .
  • the engaging arm 48 extends along a side away from the handle 41 to engage with the engaging post 47 through an engaging groove 481 extending along the length direction of the engaging arm 48 .
  • the force of the clamping arm 48 acting on the clamping post 47 drives the support plate 42 away from the second gear 33 .
  • FIG. 5 it is necessary to turn the handle 41 counterclockwise.
  • a locking hole may also be provided on the locking arm 48 , and one end of the locking post 47 is fixed to the locking arm 48 through the locking hole.
  • the connecting post for installing the handle 41 is slidably connected to the installation base plate 44 . At this time, pulling the handle 41 can pull the support plate 42 to move through the cooperation of the locking arm 48 and the locking post 47 .
  • the clamping arm 48 is fixed on the support plate 42
  • the clamping post 47 is fixed on the handle 41 , as long as the movement of the handle 41 can drive the movement of the support plate 42 .
  • the fixed base 10 includes sliding rails 12 arranged oppositely and at intervals, and the pedal 20 has a sliding chamber 24 slidably connected to the sliding rails 12 .
  • there are two sliding rails 12 and each sliding rail 12 corresponds to a sliding chamber 24 , so as to improve the stability of sliding of the pedal 20 relative to the fixed base 10 .
  • the sliding cavity 24 is not communicated with the mounting cavity 22, so as to ensure that the lubricating substance in the sliding cavity 24 or the lubricating substance stored in the mounting cavity 22 will not interfere with each other, and further improve the interaction between the clutch mechanism 40 and the driving mechanism 30 in the mounting cavity 22. protection.
  • wheel bodies are rotatably connected to both sides of the slide rail 12 in the width direction.
  • the wheel body can rotate in the sliding cavity 24 , thereby reducing wear between the cavity wall of the sliding cavity 24 and the sliding rail 12 .
  • An embodiment of the present application also provides a sweeping robot, including the above-mentioned pedal structure, and also includes a cleaning structure.
  • the telescopic pedal structure is installed on the cleaning structure. clean.
  • the pedal structure is used for operator's foot control, so as to control the progress of the sweeping robot relative to the ground.

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Abstract

一种踏板结构，包括固定基座（10），具有一容纳腔（11），固定基座（10）具有至少一挡板（13）；踏板（20），滑动连接于固定基座（10），并可容设于容纳腔（11）内，踏板（20）具有一开口（25），挡板（13）设置为在踏板（20）完全收纳于容纳腔内（11）时，至少部分遮盖开口（25）；驱动机构（30），安装于踏板（20）上，且驱动机构（30）的一端连接于固定基座（10），且设置为驱动踏板（20）相对固定基座（10）的容纳腔（11）伸出和缩入；及油门机构（50），安装于踏板（20），油门机构（50）连接有一承压件（56），且油门机构（50）的一部分和承压件（56）分别具有从开口（25）伸出的运动趋势。该踏板结构解决了现有技术中踏板使用安全性较低、故障时不便操作的技术问题。一种踏板结构，还包括离合机构（40）。一种扫地机器人，具有踏板结构和清洁结构。

Description

踏板结构及扫地机器人
本申请要求申请日为2021年5月26日、申请号为202110580186.2及申请日为2021年5月26日、申请号为202110580194.7的中国专利申请的优先权，上述申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及清洁工具技术领域，例如涉及踏板结构及扫地机器人。
背景技术
随着自动化技术和人工智能的发展，智能机器人的需求越来越广泛，对现有生产制造模式以及人类生活方式都有更好的改变。例如，智能扫地机器人，适用于各种室外环境，而且为了便于人为操作，基本都会配置有便于人工站立驾驶操作时的控制踏板。然而相关技术中的部分扫地机器人配置的控制踏板，在使用时可能出现未经操作者而进行控制操作的风险，或者在出现驱动故障时，会严重影响踏板使用，此时，只能停机维修。
发明内容
一实施例提供了一种踏板结构，能够解决相关技术中控制踏板使用时存在未经操作者而进行控制操作，导致使用安全性较低的技术问题，以及能够解决踏板驱动故障时不便操作，从而影响踏板使用的技术问题。
一实施例提供了一种踏板结构，包括：固定基座，具有一容纳腔，所述固定基座具有至少一挡板；踏板，滑动连接于所述固定基座，并可容设于所述容纳腔内，且所述踏板具有一开口，所述挡板设置为在所述踏板完全收纳于所述容纳腔内时，至少部分遮盖所述开口；驱动机构，安装于所述踏板上，且所述驱动机构的一端连接于所述固定基座，且设置为驱动所述踏板相对所述固定基座的容纳腔伸出和缩入；及油门机构，安装于所述踏板上；所述油门机构连接有一承压件，且所述油门机构的一部分和所述承压件分别具有从所述开口伸出的运动趋势；所述承压件设置为当所述踏板收纳于所述容纳腔时，承受所述挡板的约束使得所述油门机构容设于所述踏板内；所述承压件还设置为当所述踏板伸出所述容纳腔时，失去所述挡板的约束，所述油门机构的一部分从所述开口伸出。
一实施例提供了一种踏板结构，包括：固定基座，具有一容纳腔；踏板，滑动连接于所述固定基座，并可容设于所述容纳腔内；驱动机构，安装于所述踏板上，包括驱动件、第一齿轮、与所述第一齿轮啮合传动的第二齿轮以及连接臂，所述连接臂的第一端连接于所述第二齿轮，所述连接臂的第二端活动连接于所述固定基座；所述第一齿轮在所述驱动件的驱动力下通过所述第二齿轮带动所述连接臂摆动，所述连接臂带动所述踏板相对所述固定基座滑动；及离合机构，安装于所述踏板，包括手柄和连接于所述手柄的支撑板，所述驱动件和所述第一齿轮分别设置于所述支撑板上；所述第一齿轮设置为当所述手柄带动所述支撑板朝向背离所述第二齿轮的一侧移动时，相对所述第二齿轮远离。
一实施例还提供了一种扫地机器人，包括上述的踏板结构，还包括清洁结构，所述伸缩踏板结构安装于所述清洁结构上。
附图说明
图1为本申请一实施例提供的伸缩踏板结构中踏板缩回的第一示意图；
图2为本申请一实施例提供的伸缩踏板结构中踏板缩回的第二示意图；
图3为本申请一实施例提供的伸缩踏板结构中踏板伸出的示意图；
图4为图3提供的伸缩踏板结构中踏板伸出的局部示意图；
图5为本申请一实施例提供的伸缩踏板结构中踏板缩回的局部示意图；
图6为图5中提供的伸缩踏板结构中油门机构的第一示意图；
图7为图5中提供的伸缩踏板结构中油门机构的第二示意图。
附图标记：10-固定基座；11-容纳腔；12-滑轨；13-挡板；15-第四开孔；16-连接架；20-踏板；21-第二开孔；22-安装腔；23-第三开孔；24-滑动腔；25-开口；30-驱动机构；31-驱动件；32-第一齿轮；33-第二齿轮；34-连接臂；35-连杆；36-齿轮盒；37-传感元件；40-离合机构；41-手柄；42-支撑板；43-限位柱；44-安装基板；45-加强条；46-弹性部；47-卡接柱；48-卡接臂；50-油门机构；51-支撑臂；52-踩踏件；54-霍尔元件；55-铰接轴；56-承压件；57-固定支架；58-槽钢基座；331-第一开孔；371-弹性触头；421-限位孔；431-挡边；481-卡接槽；521-架体；561-滚轮；562-转轴。
具体实施方式
如图1-图7所示，本申请一实施例提供的一种伸缩踏板结构，包括固定基座 10、踏板20、驱动机构30和油门机构50。其中，固定基座10具有一容纳腔11，踏板20滑动连接于固定基座10，并能够容设于容纳腔11内。踏板20上具有一开口25，固定基座10上具有一挡板13，挡板13能够在踏板20完全收纳于容纳腔11内时至少遮挡开口25的一部分。驱动机构30和油门机构50安装于踏板20上，且驱动机构30的一端连接于固定基座10，设置为驱动踏板20相对固定基座10的容纳腔11伸出和缩入。油门机构50连接有一承压件56，且油门机构50的一部分和承压件56具有从开口25伸出的运动趋势。当踏板20收纳在容纳腔11内时，承压件56能够承受挡板13的约束使得油门机构50容设于踏板20内，踏板20伸出容纳腔11时，承压件56驶入挡板13的约束，油门机构50的部分从开口25伸出。
一实施例提供的一种可伸缩的踏板结构，包括固定基座10、踏板20、驱动机构30和油门机构50。固定基座10具有一容纳腔11，踏板20滑动连接于固定基座10，并能够容设于容纳腔11内。踏板20具有一个开口25，在当踏板20容设于容纳腔11时，固定基座10上的挡板13遮挡在开口25的边缘处。油门机构50安装于踏板20上，且油门机构50连接有承压件56，且油门机构50的一部分和承压件56分别具有从开口25伸出的运动趋势。在实际使用时，当踏板20容设于容纳腔11时，承压件56承受开口25附近的挡板13的约束，使得油门机构50不能从开口25伸出，而整体缩在踏板20内。当踏板20在驱动机构30的作用下从容纳腔11内伸出后，承压件56失去挡板13施加的阻碍约束，油门机构50能够从开口25伸出，以便于操作者踩踏于油门机构50进行操作。也就是说，在本实施例中，通过承压件56与挡板20的配合，以及踏板20相对固定基座10的位置调整，实现油门机构50正常使用的同时，对油门机构50还具有良好的防护性，从而提高该伸缩踏板结构的使用安全性。
如图1、图3和图4所示，在一实施例中，踏板20构造有一安装腔22，驱动机构30和油门机构50设置于安装腔22内，且驱动机构30上与固定基座10连接的一端伸入安装腔22。开口25与安装腔22连通，以便于油门机构50和承压件56能够从开口25伸出安装腔22。在实际使用时，油门机构50与扫地机器人的控制系统连接，以进行信号传递，从而便于操作者通过油门机构50控制扫地机器人的行进。当踏板20相对固定基座10处于收纳状态时，油门机构50利用承压件56与挡板13的作用，从开口25伸入踏板20的安装腔22内，以确保操作者不会误踩到油门机构50。当需要使用油门机构50控制扫地机器人行进时，踏板20在驱动机构30的驱动作用下从固定基座10的容纳腔11伸出，此时连接于油门机构50的承压 件56失去挡板13施加的阻碍作用，油门机构50的一部分和承压件56同时从开口25伸出至安装腔22外，以便于操作者控制。因此，本实施例的伸缩踏板结构通过承压件56与挡板13的配合，以及踏板20相对固定基座10的位置调整，实现油门机构50正常使用的同时，对油门机构50还具有良好的防护性，从而提高该伸缩踏板结构的使用安全性。
如图1、图3、图4、图6和图7所示，在一实施例中，油门机构50包括支撑臂51、踩踏件52和霍尔元件54。支撑臂51的第一端通过一铰接轴55铰接于安装腔22的腔壁，支撑臂51的第二端铰接于踩踏件52，踩踏件52具有从开口25伸出的运动趋势，且踩踏件52通过霍尔元件54与扫地机器人的控制系统连接。承压件56包括滚轮561，滚轮561通过一转轴562连接于踩踏件52，滚轮561设置为与挡板13干涉。
在实际使用时，当踏板20容设于容纳腔11中时，滚轮561在挡板13的阻碍作用下，使得踩踏件52不能从开口25伸出踏板20。当踏板20移动至容纳腔11外侧，滚轮561失去挡板13的阻碍，踩踏件52能够从开口25伸出以便于操作者踩踏。也就是说，通过挡板13与滚轮561之间的干涉实现踩踏件52相对踏板20的伸出和缩回。这样的设置，无需踩踏件52与固定基座10之间发生干涉，从而对踩踏件52形成保护作用。在一实施例中，踩踏件52朝向安装腔22的一侧设置有一架体521，滚轮561通过一转轴562连接于架体521，且滚轮561能够绕转轴562的轴线转动。通过可转动的滚轮561与挡板13之间的配合，不仅便于油门机构50从开口25伸出和缩回，而且使得滚轮561与挡板13的接触变为滚动摩擦，降低二者之间的磨损。同时，支撑臂51通过另一铰接轴55与该架体521铰接，从而实现支撑臂51与踩踏件52的连接。其中，霍尔元件54的设置便于操作者作用于踩踏件52的踩踏力的信号传递。在一些实施例中，踩踏件52的伸出运动趋势可以是由气缸、弹簧等结构实现。
如图1、图3、图4、图6和图7所示，在一实施例中，油门机构50还包括弹性件，弹性件套设于所述铰接轴55上，且弹性件的第一端连接于踏板20，弹性件的第二端连接于支撑臂51。
在实际使用时，当踏板20容设于固定基座10的容纳腔11中时，支撑臂51对弹性件施加以作用力，使得弹性件产生弹性形变，蓄起弹性势能。当踏板20在驱动机构30的动力作用下相对固定基座10伸出，此时支撑臂51在弹性件的作用下从踏板20上的开口25伸出，以带动踩踏件52伸出。当操作人员脚踩踩踏件52 时，利用霍尔元件54将踩踏件52所承受的作用力传递至扫地机器人的控制系统，从而根据踩踏件52的下压程度控制扫地机器人的前进动力大小。当踏板20在驱动机构30的作用下伸入容纳腔11时，踩踏件52在固定基座10的阻挡作用下下压，并带动支撑臂51下压以缩回至安装腔22内，支撑臂51再次挤压弹性件。在一实施例中，弹性件采用扭簧，以套设在支撑臂51与踏板20铰接的铰接轴55上。扭簧的第一端连接于支撑臂51，扭簧的第第二端连接于踏板20。
如图6和图7所示，在一实施例中，在踏板20朝向安装腔22的一侧设置有固定支架57，该固定支架57呈U字形，且U字形的开口25两侧具有向外延伸的翻边，从而通过螺钉与踏板20固定。同时，在固定支架57的内侧固设有一槽钢基座58，上述的铰接轴55连接于该槽钢基座58，且弹性件的第一端固设于该槽钢基座58，弹性件的第二端固设于支撑臂51上。在一实施例中，支撑臂51呈V字形设置。V字形的支撑臂51的第一端通过铰接轴55与槽钢基座58铰接，支撑臂51的第二端与踩踏件52连接。
如图2-图5所示，在一些实施例中，驱动机构30包括驱动件31、第一齿轮32、与第一齿轮32啮合传动的第二齿轮33以及连接臂34，连接臂34的第一端连接于第二齿轮33，连接臂34的第二端活动连接于固定基座10。第一齿轮32在驱动件31的驱动力下通过第二齿轮33带动连接臂34摆动，连接臂34带动踏板20相对固定基座10滑动。
在实际使用时，踏板20处于初始状态，也就是踏板20先收纳在容纳腔11内。当需要使用时，驱动件31启动以驱动第一齿轮32转动，第一齿轮32与第二齿轮33啮合传动，第二齿轮33带动连接臂34摆动，通过连接臂34将踏板20相对固定基座10的容纳腔11内推出。当需要踏板20再次收入容纳腔11时，驱动件31再次启动驱动第一齿轮32反向转动，第二齿轮33带动连接臂34反向摆动，以将踏板20缩回至容纳腔11内。其中，第一齿轮和第二齿轮的配合运动更为平稳。在一实施例中，驱动件31采用电机，电机输出为蜗轮蜗杆机构，蜗轮蜗杆又与第一齿轮32连接，利用蜗轮蜗杆的自锁特点，保证电机停止运行时踏板的锁定性能。
如图4和图5所示，在一些实施例中，第二齿轮33的一侧沿自身径向向外延伸以构造成连接臂34；驱动机构30还包括连杆35，连杆35的第一端铰接于固定基座10，连杆35的第二端铰接于连接臂34的延伸末端。具体而言，第二齿轮33上除了延伸连接臂34的边缘处的其他地方设置有与第一齿轮32啮合的齿牙，以确保第二齿轮33和第一齿轮32能够可靠啮合传动。连接臂34通过连杆35与固定 基座10连接，首先增加了连接臂34与固定基座10之间的连接自由度，降低二者之间出现卡死的风险。其次，连杆35的设置还增加了连接臂34与固定基座10之间的连接力臂，当第二齿轮33输出相同的力矩时，作用于踏板20的作用力稍微降低，从而确保踏板20能够相对固定基座10更为稳定的移动，提高对踏板20的移动保护性。
如图2、图3和图5所示，在实施例中，踏板20上设置有一第二开孔21，固定基座10上与该第二开孔21对应的位置处设置有第四开孔15。第四开孔15与容纳腔11连通，且固定基座10在第四开孔15的外侧设置有一连接架16，连杆35背离连接臂34的一端穿过第二开孔21和第四开孔15铰接于该连接架16。当连杆35在连接臂34的作用下移动时，连杆35能够在第二开孔21和第四开孔15内移动，从而对连杆35的移动起到限位作用，对踏板20相对固定基座10的滑动起到限位作用，确保踏板20始终相对固定基座10处于安全移动范围，不会相对固定基座10完全脱离。
如图5所示，在一实施例中，第二齿轮33的轮面上设置有第一开孔331。在踏板20上安装有传感元件37，传感元件37具有一弹性触头371，该弹性触头371的一部分能够伸入至第一开孔331内，此时，则可说明踏板20处于初始状态。当第二齿轮33转动时，弹性触头371能够在轮面的作用下被下压。其中，弹性触头371呈弧形设置，以降低弹性触头371与第二齿轮33之间的磨损和抵触。其中，第二齿轮33通过一转轴562安装于上述安装基板44。需要说明的是，该传感元件37以及驱动件31分别与扫地机器人的控制系统连接，以便于进行信号传递。
如图5所示，在一实施例中，第二齿轮33的轮径远大于第一齿轮32的轮径。这样的设置，使得驱动件31(本实施例中采用电机)驱动的转动经过第一齿轮32和第二齿轮33的转速比，使得第二齿轮33的输出转速较小，以提高连接臂34、连杆35和踏板20的移动稳定性。其中，第二齿轮33和第一齿轮32的转速比在6-7之间。在一实施例中，转速比为6.4。
如图4和图5所示，在一些实施例中，踏板结构还包括安装于踏板20上的离合机构40，离合机构40与第一齿轮32连接，设置为带动所第一齿轮32相对第二齿轮33远离和靠近。也就是说，通过离合机构40的设置，能够实现第一齿轮32和第二齿轮33间距的调节，也就是实现二者啮合传动调节，从而便于在驱动机构30中的驱动件31故障的情况，可以手动拉动踏板20相对固定基座10伸出或伸入。
如图2、图4和图5所示，在一些实施例中，离合机构40包括手柄41和连接于手柄41的支撑板42，驱动件31和第一齿轮32分别设置于支撑板42上；手柄41能够带动支撑板42朝向背离第二齿轮33的一侧移动，第一齿轮32相对第二齿轮33远离。
在实际使用时，在踏板20伸缩的过程中，或者踏板20完全伸出或完全缩回至容纳腔11中，如果此时驱动件31出现不能驱动的故障，导致第一齿轮32不再转动。此时，使用者能够手持手柄41，通过手柄41带动支撑板42朝向背离第二齿轮33的一侧移动，因为驱动件31和第一齿轮32分别安装于支撑板42上，故而会跟随支撑板42同步移动，使得第一齿轮32与第二齿轮33分离。如此，第二齿轮33则处于自由状态，不再承受第一齿轮32施加的作用力。而后手动拉动踏板20或者推动踏板20，实现踏板20的伸出或缩回。而且，在踏板20移动至一目标位置时，能够利用外力的作用使得支撑板42反向移动，从而使得第一齿轮32靠近第二齿轮33，恢复至第一齿轮32和第二齿轮33的啮合状态。此时，第二齿轮33因为第一齿轮32的啮合限位不能自由转动，则与第二齿轮33连接的连接臂34也不能自由摆动，从而使得踏板20相对固定基座10的位置不会发生变化，即踏板20处于稳定状态。
也就是说，本申请提供的伸缩踏板结构能够通过手柄41与支撑板42的配合，以在驱动件31故障时带动第一齿轮32相对第二齿轮33分离，从而恢复第二齿轮33的自由状态，便于手动操作踏板20，从而确保该伸缩踏板结构仍然可以正常使用，降低对安装有该伸缩踏板结构的扫地机器人的操作影响。而且，操作时只需要通过手柄41带动支撑板42朝向背离第二齿轮33的一侧移动即可，操作极为简便。
一实施例提供的一种踏板结构，包括固定基座10、踏板20、驱动机构30和离合机构40，驱动机构30和离合机构40安装于踏板20上，踏板20滑动连接于固定基座10，且能够容设在固定基座10的容纳腔11内。其中，驱动机构30包括驱动件31、第一齿轮32、与第一齿轮32啮合传动的第二齿轮33以及连接臂34，连接臂34的第一端连接于第二齿轮33，连接臂34的第二端连接于固定基座10。驱动件31能够驱动第一齿轮32转动，第一齿轮32带动第二齿轮33运动，第二齿轮33通过连接臂34带动踏板20相对固定基座10滑动，从而实现踏板20相对固定基座10的容纳腔11伸出和缩回。离合机构40包括手柄41和连接于手柄41的支撑板42，驱动件31和第一齿轮32设置在支撑板42上。通过手柄41能够带动支撑板42 朝向背离第二齿轮33的一侧移动，从而带动第一齿轮32相对第二齿轮33远离。也就是说，在本实施例提供的踏板结构中，当驱动件31出现故障不能驱动第一齿轮32转动时，连接于第二齿轮32的连接臂34也就不能转动，从而导致踏板20不能相对固定基座10移动。此时，可以通过移动手柄41，使得手柄41带动支撑板42移动，从而解除第一齿轮32和第二齿轮33的啮合状态，从而消除第一齿轮32对第二齿轮33的限位，第二齿轮33和连接臂34便可处于自由状态。而后直接拉动踏板20即可实现踏板20相对固定基座10的移动，以便于踏板继续使用。
其中，如图4所示，离合机构40也容设于安装腔22内，且离合机构40中的手柄41能够从安装腔22伸出以便于操作者手持操作。也就是说，安装腔22的设置，将离合机构40、驱动机构30以及油门机构50容设起来，提高了离合机构40、驱动机构30以及油门机构5的防护性，以免外部水渍或杂质等直接污染离合机构40和驱动机构30，并且避免操作者误操作油门机构50。其中，踏板20的一侧壁上设置有第三开孔23，以便于手柄41从该第三开孔23伸出。
如图4和图5所示，在一些实施例中，支撑板42设置有限位孔421；离合机构40包括限位柱43，限位柱43的第一端连接于踏板20，限位柱43的第二端穿过限位孔421；支撑板42移动时，限位柱43相对支撑板42在限位孔421内移动。也就是说，当支撑板42相对踏板20在手柄41的作用下移动时，固设于踏板20上的限位柱43相对支撑板42在限位孔421内移动，从而对支撑板42的移动距离进行限位，提高使用安全性。同时，限位柱43和限位孔421的配合，不仅为支撑板42相对第二齿轮33的移动起到导向作用，而且实现支撑板42相对踏板20的可靠安装。在一实施例中，限位孔421呈长条孔设置。限位柱43穿过限位孔421的一端设置有挡边431，挡边431对支撑板42进行沿限位柱43的轴向限位，确保支撑板42不会相对限位柱43出现晃动。同时，挡边431的设置还能够使得支撑板42不会相对限位柱43脱离，以提高移动稳定性。第一齿轮32具有齿轮盒36，齿轮盒36通过螺钉安装于支撑板42上，且驱动件31通过电机座安装于支撑板42，以便于支撑板42同步移动。
如图4和图5所示，在一实施例中，限位孔421的数量为两个，两个限位孔421沿第一方向间隔设置，且每个限位孔421对应一个限位柱43。第一方向与支撑板42的移动方向垂直设置。以第一方向为支撑板42的宽度方向，两个限位孔421沿支撑板42的宽度方向间隔布置。此时，假定支撑板42的长度方向即为支撑板42相对第二齿轮33的移动方向。每个限位柱431对应一个限位孔421，这样的设置 提高支撑板42相对踏板20的连接可靠性以及移动平稳性。在一实施例中，以图5为例，逆时针转动手柄41，带动支撑板42朝向背离第二齿轮33的一侧移动，从而带动第一齿轮32与第二齿轮33分离。此时，支撑板42利用限位孔421与限位柱43配合，使得限位柱43相对限位孔421沿限位孔421的长度方向移动，从而起到导向作用。
如图4和图5所示，在一实施例中，在踏板20上还固设有一安装基板44，限位柱43固设于安装基板44。通过安装基板44的设置，使得限位柱43以及支撑板42无需直接与踏板20接触，也就无需对踏板20自己进行较多的结构改造，从而提高踏板20的结构强度。而且为了进一步提高安装可靠性，在安装基板44背离支撑板42的一侧还设置有加强条45，通过加强条45提高踏板20结构强度的同时还能够提高对安装基板44的支撑性能。其中，加强条45内设有滑槽，安装基板44可滑动地安装于加强条45上，便于离合机构40安装位置的微调，待调节后锁紧即可。
如图4和图5所示，在一实施例中，离合机构40还包括弹性部46，弹性部46的第一端连接于踏板20，弹性部46的第二端连接于支撑板42，弹性部46设置为向支撑板42施加朝向第一齿轮32移动的作用力。在一实施例中，通过弹性部46的设置使得支撑板42具有朝向第二齿轮33靠近的移动趋势，即能够在手柄41未施力的情况下，使得支撑板42自动回复至靠近第二齿轮33的状态，以便第一齿轮32和第二齿轮33再次处于啮合状态。此时，正是因为第一齿轮32和第二齿轮33啮合，而第一齿轮32在驱动件31故障时无法转动，从而对第二齿轮33的自由状态进行限位，使得第二齿轮33无法转动，那么连接臂34也就不能自由摆动。如此，便可确保踏板20相对固定基座10的位置不再发生变化。
如图4和图5所示，在一实施例中，弹性部46采用拉伸弹簧，以对支撑板42施加回复力。当然，也可以是当踏板20移动至目标位置后，手动反向移动手柄41，促使支撑板42靠近第二齿轮33，从而实现第一齿轮32和第二齿轮33的啮合状态。在一实施例中，支撑板42背离第二齿轮33的一侧设置有第一柱体，在安装基板44上与第一柱体相对且朝向第二齿轮33的一侧设置有第二柱体，第一柱体和第二柱体分别设置有通孔，以便于弹性部46两端的卡钩分别穿过对应侧的通孔，实现弹性部46的安装。
如图4和图5所示，在一实施例中，离合机构40还包括卡接柱47和卡接臂48；卡接臂48连接于手柄41，卡接柱47连接于支撑板42，卡接臂48构造有卡接槽481， 卡接柱47通过卡接槽481卡接于卡接臂48。通过这样的设置，从而实现手柄41相对支撑板42的连接，从而便于手柄41带动支撑板42相对第二齿轮33移动。在一实施例中，手柄41的一端设置有连接柱，连接柱背离手柄41的一端固设于安装基板44，且手柄41能够绕连接柱的轴线转动。卡接臂48与手柄41固接，以便于与手柄41同步转动。卡接臂48沿背离手柄41的一侧延伸，以通过沿卡接臂48的长度方向延伸的卡接槽481与卡接柱47卡接。此时，当转动手柄41时，通过卡接臂48作用于卡接柱47的作用力以带动支撑板42相对第二齿轮33远离。以图5中的方式方位为例，则需要逆时针转动手柄41。在一实施例中，也可以是在卡接臂48上设置有一卡接孔，卡接柱47的一端穿过所述卡接孔固设于卡接臂48。同时，用于安装手柄41的连接柱滑动连接于安装基板44。此时，拉动手柄41即可通过卡接臂48与卡接柱47的配合拉动支撑板42移动。在一实施例中，卡接臂48固设于支撑板42，卡接柱47固设于手柄41，只要能够通过手柄41的移动带动支撑板42的移动即可。
如图2-图5所示，在一实施例中，固定基座10包括相对且间隔布置的滑轨12，踏板20具有与滑轨12滑动连接的滑动腔24。在一实施例中，滑轨12的数量为两个，每个滑轨12对应一个滑动腔24，以提高踏板20相对固定基座10滑动的平稳性。其中，滑动腔24与安装腔22并不连通，从而确保滑动腔24内的润滑物质或者安装腔22内存放在润滑物质不会互相干涉，进一步提高对安装腔22内离合机构40和驱动机构30的防护性。在一实施例中，在滑轨12宽度方向的两侧分别转动连接有轮体。踏板20相对滑轨12滑动时，轮体能够在滑动腔24内转动，从而减小滑动腔24的腔壁与滑轨12之间的磨损。
本申请一实施例还提供一种扫地机器人，包括上述的踏板结构，还包括清洁结构，伸缩踏板结构安装于清洁结构上，清洁结构具有车体和清洁滚轮561等结构，并设置为对地面进行清洁。踏板结构用于操作者脚踩控制，从而对该扫地机器人相对地面的行进进行控制。

Claims (21)

  1. 一种踏板结构，包括：
    固定基座(10)，具有一容纳腔(11)，所述固定基座(10)具有至少一挡板(13)；
    踏板(20)，滑动连接于所述固定基座(10)，并可容设于所述容纳腔(11)内，且所述踏板(20)具有一开口(25)，所述挡板(13)设置为在所述踏板(20)完全收纳于所述容纳腔(11)内时，至少部分遮盖所述开口(25)；
    驱动机构(30)，安装于所述踏板(20)上，且所述驱动机构(30)的一端连接于所述固定基座(10)，且设置为驱动所述踏板(20)相对所述固定基座(10)的容纳腔(11)伸出和缩入；及
    油门机构(50)，安装于所述踏板(20)上；所述油门机构(50)连接有一承压件(56)，且所述油门机构(50)的一部分和所述承压件(56)分别具有从所述开口(25)伸出的运动趋势；所述承压件(56)设置为当所述踏板(20)收纳于所述容纳腔(11)时，承受所述挡板(13)的约束使得所述油门机构(50)容设于所述踏板(20)内；所述承压件(56)还设置为当所述踏板(20)伸出所述容纳腔(11)时，失去所述挡板(13)的约束，所述油门机构(50)的一部分从所述开口(25)伸出。
  2. 根据权利要求1所述的踏板结构，其中，所述油门机构(50)包括支撑臂(51)和踩踏件(52)；所述支撑臂(51)的第一端通过一铰接轴(55)铰接于所述踏板(20)，所述支撑臂(51)的第二端铰接于所述踩踏件(52)，所述踩踏件(52)具有从所述开口(25)伸出的运动趋势；
    所述承压件(56)包括滚轮(561)，所述滚轮(561)通过一转轴(562)连接于所述踩踏件(52)，所述滚轮(561)设置为与所述挡板(13)干涉。
  3. 根据权利要求1所述的踏板结构，其中，所述驱动机构(30)包括驱动件(31)、第一齿轮(32)、与所述第一齿轮(32)啮合传动的第二齿轮(33)以及连接臂(34)，所述连接臂(34)的第一端连接于所述第二齿轮(33)，所述连接臂(34)的第二端活动连接于所述固定基座(10)；所述第一齿轮(32)设置为在所述驱动件(31)的驱动力下，通过所述第二齿轮(33)带动所述连接臂(34)摆动，且所述连接臂(34)带动所述踏板(20)相对所述固定基座(10)滑动。
  4. 根据权利要求3所述的踏板结构，其中，所述第二齿轮(33)的一侧沿自身径向向外延伸以构造成所述连接臂(34)；
    所述驱动机构(30)还包括连杆(35)，所述连杆(35)的第一端铰接于所述固定基座(10)，所述连杆(35)的第二端铰接于所述连接臂(34)的延伸末端。
  5. 根据权利要求3所述的踏板结构，还包括安装于所述踏板(20)的离合机构(40)，所述离合机构(40)与所述第一齿轮(32)连接，并设置为带动所述第一齿轮(32)相对所述第二齿轮(33)远离和靠近。
  6. 根据权利要求5所述的踏板结构，其中，所述离合机构(40)包括手柄(41)和连接于所述手柄(41)的支撑板(42)，所述驱动件(31)和所述第一齿轮(32)分别设置于所述支撑板(42)上；所述手柄(41)设置为带动所述支撑板(42)朝向背离所述第二齿轮(33)的一侧移动，所述第一齿轮(32)相对所述第二齿轮(33)远离。
  7. 根据权利要求6所述的踏板结构，其中，所述支撑板(42)设置有限位孔(421)；
    所述离合机构(40)包括限位柱(43)，所述限位柱(43)的第一端连接于所述踏板(20)，所述限位柱(43)的第二端穿过所述支撑孔；所述限位柱(43)设置为当所述支撑板(42)移动时，相对所述支撑板(42)在所述限位孔(421)内移动。
  8. 根据权利要求7所述的踏板结构，其中，所述限位孔(421)为长条孔，且所述限位孔(421)的数量为两个，两个所述限位孔(421)沿第一方向间隔设置，且每个所述限位孔(421)对应一个所述限位柱(43)；所述第一方向与所述支撑板(42)的移动方向呈预设角度设置。
  9. 根据权利要求6所述的踏板结构，其特中，所述离合机构(40)还包括弹性部(46)，所述弹性部(46)的第一端连接于所述踏板(20)，所述弹性部(46)的第二端连接于所述支撑板(42)，所述弹性部(46)设置为向所述支撑板(42)施加朝向所述第一齿轮(32)移动的作用力。
  10. 根据权利要求6所述的踏板结构，其中，所述离合机构(40)还包括卡接柱(47)和卡接臂(48)；
    所述卡接柱(47)和所述卡接臂(48)中的一者连接于所述手柄(41)，另一者连接于所述支撑板(42)，所述卡接臂(48)设有卡接槽(481)，所述卡接柱(47)通过所述卡接槽(481)卡接于所述卡接臂(48)。
  11. 一种踏板结构，包括：
    固定基座(10)，具有一容纳腔(11)；
    踏板(20)，滑动连接于所述固定基座(10)，并可容设于所述容纳腔(11)内；
    驱动机构(30)，安装于所述踏板(20)上，包括驱动件(31)、第一齿轮(32)、与所述第一齿轮(32)啮合传动的第二齿轮(33)以及连接臂(34)，所述连接臂(34)的第一端连接于所述第二齿轮(33)，所述连接臂(34)的第二端活动连接于所述固定基座(10)；所述第一齿轮(32)设置为在所述驱动件(31)的驱动力下，通过所述第二齿轮(33)带动所述连接臂(34)摆动，且所述连接臂(34)带动所述踏板(20)相对所述固定基座(10)滑动；及
    离合机构(40)，安装于所述踏板(20)，包括手柄(41)和连接于所述手柄(41)的支撑板(42)，所述驱动件(31)和所述第一齿轮(32)分别设置于所述支撑板(42)上；所述第一齿轮(32)设置为当所述手柄(41)带动所述支撑板(42)朝向背离所述第二齿轮(33)的一侧移动时，相对所述第二齿轮(33)远离。
  12. 根据权利要求11所述的控制踏板结构，其中，所述支撑板(42)设置有限位孔(421)；
    所述离合机构(40)包括限位柱(43)，所述限位柱(43)的第一端连接于所述踏板(20)，所述限位柱(43)的第二端穿过所述限位孔(421)；所述限位柱(43)设置为当所述支撑板(42)移动时，相对所述支撑板(42)在所述限位孔(421)内移动。
  13. 根据权利要求12所述的控制踏板结构，其中，所述限位孔(421)为长条孔，且所述限位孔(421)的数量为两个，两个所述限位孔(421)沿第一方向间隔设置，且每个所述限位孔(421)对应一个所述限位柱(43)；所述第一方向与所述支撑板(42)的移动方向呈预设角度设置。
  14. 根据权利要求11所述的控制踏板结构，其中，所述离合机构(40)还包括弹性部(46)，所述弹性部(46)的第一端连接于所述踏板(20)，所述弹性部(46)的第二端连接于所述支撑板(42)，所述弹性部(46)设置为向所述支撑板(42)施加朝向所述第一齿轮(32)移动的作用力。
  15. 根据权利要求11所述的控制踏板结构，其中，所述离合机构(40)还包括卡接柱(47)和卡接臂(48)；
    所述卡接柱(47)和所述卡接臂(48)中的一者连接于所述手柄(41)，另 一者连接于所述支撑板(42)，所述卡接臂(48)设有卡接槽(481)，所述卡接柱(47)通过所述卡接槽(481)卡接于所述卡接臂(48)。
  16. 根据权利要求11所述的控制踏板结构，其中，所述第二齿轮(33)的一侧沿自身径向向外延伸以构造成所述连接臂(34)；
    所述驱动机构(30)还包括连杆(35)，所述连杆(35)的第一端铰接于所述固定基座(10)，所述连杆(35)的第二端铰接于所述连接臂(34)的延伸末端。
  17. 根据权利要求11所述的控制踏板结构，其中，所述踏板(20)设有一安装腔(22)，所述离合机构(40)和所述驱动机构(30)分别设置于所述安装腔(22)内，且所述手柄(41)伸出所述安装腔(22)。
  18. 根据权利要求17所述的控制踏板结构，其中，所述踏板(20)设置有与所述安装腔(22)连通的开口；
    所述踏板结构还包括油门机构(50)，所述油门机构(50)安装于所述安装腔(22)内，且所述油门机构(50)设置为部分地从所述开口伸出至所述踏板(20)外侧。
  19. 根据权利要求18所述的控制踏板结构，其中，所述油门机构(50)包括支撑臂(51)、踩踏件(52)、弹性件和霍尔元件(54)；
    所述支撑臂(51)的第一端通过一铰接轴(55)铰接于所述踏板(20)朝向所述安装腔(22)的一侧，所述支撑臂(51)的第二端连接于所述踩踏件(52)；所述弹性件套设于所述铰接轴(55)，且连接于所述支撑臂(51)与所述踏板(20)之间；所述霍尔元件(54)安装于所述踩踏件(52)。
  20. 根据权利要求19所述的控制踏板结构，其中，所述固定基座(10)上朝向所述开口的边缘设置有挡板(13)；
    所述油门机构(50)还包括滚轮(56)，所述滚轮(56)连接于所述踩踏件(52)；
    所述滚轮(56)设置为当所述踏板(20)伸入所述容纳腔(11)时，容设于所述安装腔(22)内并抵接于所述挡板(13)；所所述滚轮(56)还设置为述踏板(20)伸出所述容纳腔(11)时，随所述踩踏件(52)从所述开口伸出所述踏板(20)的安装腔(22)。
  21. 一种扫地机器人，包括权利要求1-20任一项所述的踏板结构，还包括清洁结构，所述控制踏板结构安装于所述清洁结构上。
PCT/CN2022/092944 2021-05-26 2022-05-16 踏板结构及扫地机器人 WO2022247668A1 (zh)

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JPH0747039A (ja) * 1993-08-04 1995-02-21 Matsushita Electric Ind Co Ltd 自走式掃除機
US20040108678A1 (en) * 2002-08-16 2004-06-10 Berkebile Thomas E. Powered deployable running board
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TWM535670U (zh) * 2016-08-11 2017-01-21 Jun-Hong Lin 車用電動輔助踏板裝置
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