WO2025260463A1 - 行走轮机构和清洁设备 - Google Patents

行走轮机构和清洁设备

Info

Publication number
WO2025260463A1
WO2025260463A1 PCT/CN2024/109488 CN2024109488W WO2025260463A1 WO 2025260463 A1 WO2025260463 A1 WO 2025260463A1 CN 2024109488 W CN2024109488 W CN 2024109488W WO 2025260463 A1 WO2025260463 A1 WO 2025260463A1
Authority
WO
WIPO (PCT)
Prior art keywords
walking wheel
cam
housing
abutting
wheel mechanism
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2024/109488
Other languages
English (en)
French (fr)
Inventor
韩奕非
李智军
包安宁
朱道文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
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
Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Publication of WO2025260463A1 publication Critical patent/WO2025260463A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine

Definitions

  • This application relates to the field of cleaning equipment technology, and in particular to a walking wheel mechanism and a cleaning device.
  • the bottom of the cleaning equipment should not be too far from the ground.
  • the bottom may be too close to the ground, which may affect the operation of the cleaning equipment. For example, when encountering obstacles, the bottom being too low may cause the equipment to fail to overcome them. When encountering deep water, the bottom being too low may cause water to enter the cleaning equipment and damage it.
  • this application designs a walking wheel mechanism. Specifically, a cam drives the walking wheel assembly to slide relative to the second housing, changing the height difference between the walking wheel assembly and the second housing, thereby changing the distance between the cleaning equipment body and the ground.
  • this application provides a walking wheel mechanism, including a walking wheel assembly, a cam, and a drive assembly.
  • the drive assembly is fixedly connected to the first housing of the cleaning equipment, and the drive assembly is connected to the cam drive;
  • the cam abuts against the walking wheel assembly, and the walking wheel assembly is slidably connected to the second housing of the cleaning device, with the sliding direction being the height direction.
  • the drive assembly includes a drive unit and a transmission shaft.
  • the drive unit is fixedly connected to the first housing, and the drive unit is drivenly connected to one end of the transmission shaft.
  • the other end of the transmission shaft is connected to the first housing through a bearing structure.
  • the cam is fixedly connected to the drive shaft.
  • the walking wheel assembly includes an abutment pressure plate, a sliding bushing, a walking wheel mounting base, and a walking wheel, wherein the walking wheel is mounted on the walking wheel mounting base;
  • the sliding bushing is slidably connected to the second housing, and the sliding bushing is connected to the wheel mounting base;
  • the cam abuts against the abutting plate, and the abutting plate is fixed to the sliding bushing.
  • the walking wheel assembly further includes an elastic element, one end of which is connected to the abutment pressure plate, and the other end of which is connected to the second housing.
  • the abutting plate has an inclined surface and a horizontal surface, the inclined surface and the horizontal surface are arranged adjacent to each other, and the inclined surface is higher than the horizontal surface.
  • the cam is provided with an abutting pulley, and the cam abuts against the abutting pressure plate through the abutting pulley.
  • the cam includes a distal end away from the drive shaft and a proximal end close to the drive shaft, and the abutting pulley is disposed on the distal end.
  • the cam abuts against the abutting plate through the curved surface of the cam.
  • the traveling wheel mounting base is provided with a universal pivot
  • the sliding bushing is provided with a pivot mounting hole
  • the wheel mounting base is rotatably connected to the sliding bushing via the universal joint and the joint mounting hole.
  • the rotating shaft mounting hole is provided with an anti-disengagement and locking structure, and the rotating shaft mounting hole is sleeved on the outside of the universal rotating shaft;
  • the anti-detachment snap-fit structure is snapped into the universal joint shaft.
  • this application also provides a cleaning device, which includes the aforementioned walking wheel mechanism, a first housing, and a second housing.
  • the walking wheel mechanism described in this application has the following beneficial effects:
  • the cam can rotate under the drive of the drive assembly.
  • the walking wheel assembly slides relative to the second housing, changing the height difference between the walking wheel assembly and the second housing, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.
  • the height difference between the walking wheel assembly and the second housing can be changed, avoiding the use of complex structures such as lead screws, thus simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.
  • Figure 1 is a schematic diagram of the walking wheel mechanism provided in an embodiment of this application.
  • Figure 2 is a schematic diagram of the drive component structure in the walking wheel mechanism provided in an embodiment of this application;
  • Figure 3 is a schematic diagram of the bearing bracket assembly in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 4 is a schematic diagram of the walking wheel assembly structure in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 5 is a schematic diagram of the abutment pressure plate structure in the walking wheel mechanism provided in the embodiment of this application;
  • Figure 6 is a schematic diagram of the cam structure in the walking wheel mechanism provided in an embodiment of this application.
  • Figure 7 is a schematic diagram of the cam structure in a walking wheel mechanism provided in another embodiment of this application.
  • Figure 8 is a cross-sectional view of the sliding bushing and the walking wheel mounting seat assembly in the walking wheel mechanism provided in the embodiment of this application.
  • 1-walking wheel assembly 11-abutting pressure plate, 111-inclined surface, 112-horizontal surface, 12-sliding bushing, 121-rotor mounting hole, 122-anti-disengagement and snap-fit structure, 13-walking wheel mounting seat, 131-universal rotating shaft, 14-walking wheel, 15-elastic element, 2-cam, 21-abutting pulley, 22-sliding wheel shaft, 3-drive assembly, 31-drive unit, 32-transmission shaft, 33-bearing assembly, 34-coupling, 4-first housing, 41-servo motor mounting housing, 42-bearing bracket, 5-second housing.
  • an embodiment refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application.
  • the terms “upper,” “lower,” “left,” “right,” “top,” “bottom,” etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
  • first and second are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.
  • a feature defined as “first” or “second” may explicitly or implicitly include one or more of that feature.
  • the terms “first,” “second,” etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.
  • an embodiment of this application provides a walking wheel mechanism, which includes a walking wheel assembly 1, a cam 2, and a drive assembly 3.
  • the drive assembly 3 is fixedly connected to the first housing 4 of the cleaning device, and the drive assembly 3 is drivenly connected to the cam 2.
  • the cam 2 abuts against the walking wheel assembly 1, and the walking wheel assembly 1 is slidably connected to the second housing 5 of the cleaning device, with the sliding direction being the height direction.
  • the walking wheel assembly 1 is always in contact with the ground and is used to drive the cleaning equipment to move; the cam 2 is used to drive the walking wheel assembly 1 to slide relative to the second housing 5 under the drive of the drive assembly 3; the drive assembly 3 is used to drive the cam 2 to rotate.
  • first outer shell 4 and the second outer shell 5 refer to two different outer shell structures; preferably, the first outer shell 4 can be detachably connected to the second outer shell 5.
  • first outer shell 4 and the second outer shell 5 are fixedly connected; preferably, the first outer shell 4 and the second outer shell 5 are integrally formed.
  • first outer shell 4 and the second outer shell 5 are integrally formed, it can be understood that the first outer shell 4 and the second outer shell 5 refer to two different parts of the same outer shell.
  • the first outer shell 4 and the second outer shell 5 are both outer shells at the bottom of the cleaning device, and the body of the cleaning device moves relative to the ground as the second outer shell 5 moves; specifically, when the second outer shell 5 moves away from the walking wheel assembly 1, the body of the cleaning device moves away from the ground; when the second outer shell 5 moves towards the walking wheel assembly 1, the cleaning device moves towards the ground.
  • the cam 2 can rotate under the drive of the drive assembly 3, and the walking wheel assembly 1 slides relative to the second housing 5 under the action of the abutting force; changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground, so as to meet the needs of different working scenarios of the cleaning equipment, that is, to improve the flexibility of the walking wheel mechanism and improve the working flexibility of the cleaning equipment.
  • the height difference between the walking wheel assembly 1 and the second housing 5 can be achieved by setting the cam 2 and the drive assembly 3, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the travel distance. Manufacturing cost of the wheel mechanism.
  • the drive assembly 3 includes a drive unit 31 and a transmission shaft 32.
  • the drive unit 31 is fixedly connected to the first housing 4, and one end of the drive unit 31 is drivenly connected to the transmission shaft 32.
  • the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure.
  • the cam 2 is fixedly connected to the transmission shaft 32.
  • the drive unit 31 is used to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is used to drive the cam 2 to move under the drive of the drive unit 31; the other end of the transmission shaft 32 is connected to the first housing 4 through a bearing structure, indicating that the transmission shaft 32 can rotate relative to the first housing 4; specifically, the transmission shaft 32 is arranged in the horizontal direction, the cam 2 is mounted on the transmission shaft 32, and the two sides of the cam 2 are respectively provided with matching bearing assemblies 33; specifically, the bearing assembly 33 includes two snap rings and a bearing.
  • the drive component 3 as a drive unit 31 and a transmission shaft 32 to drive the cam 2 to rotate
  • the drive of the cam 2 is realized with a simple structure, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.
  • the drive unit 31 is driven to the transmission shaft 32 via a coupling 34.
  • the drive unit 31 may be a servo motor, which can precisely control the drive position or angle; preferably, the height difference between the wheel assembly 1 and the second housing 5 can be minimized when the drive angle is set to 0°; the height difference between the wheel assembly 1 and the second housing 5 can be maximized when the drive angle is set to 90°.
  • the first outer casing 4 includes a servo mounting casing 41, and the servo is fixed on the servo mounting casing 41.
  • the cam 2 can be made into a camshaft.
  • the drive unit 31 can directly drive the cam 2 to rotate.
  • the first housing 4 further includes a bearing bracket 42, and the other end of the transmission shaft 32 is connected to the bearing bracket 42 through a bearing structure; preferably, the bearing bracket 42 is provided with a placement space for protecting the cam 2.
  • the drive unit 31 may also be a drive motor.
  • the walking wheel assembly 1 includes an abutment plate 11, a sliding bushing 12, a walking wheel mounting base 13, and a walking wheel 14, with the walking wheel 14 mounted on the walking wheel mounting base 13;
  • the sliding bushing 12 is slidably connected to the second housing 5 and connected to the walking wheel mounting base 13;
  • the cam 2 abuts against the abutment plate 11, and the abutment plate 11 is fixed on the sliding bushing 12.
  • the abutting plate 11 is used to transmit the abutting force of the cam 2 to the sliding bushing 12 so that the sliding bushing 12 slides relative to the second housing 5.
  • the ground clearance of the cam 2 is higher than that of the pressure plate 11.
  • the ground clearance of the cam 2 is higher than that of the pressure plate 11, and the cam 2 presses down towards the ground to abut the pressure plate 11, the sliding bushing 12 slides relative to the second housing 5, the walking wheel assembly 1 moves relative to the second housing 5, and the cleaning equipment body moves away from the ground, thereby lifting the cleaning equipment.
  • either the sliding bushing 12 or the second outer shell 5 is provided with a sliding block, and the other is provided with a sliding groove.
  • the sliding block and the sliding groove are connected in cooperation.
  • a sliding block can be provided on the sliding bushing 12 and a sliding groove can be provided on the second outer shell 5; or a sliding block can be provided on the second outer shell 5 and a sliding groove can be provided on the sliding bushing 12.
  • the abutting pressure plate 11 and the sliding bushing 12 are integrally formed.
  • the walking wheel mounting base 13 can rotate relative to the sliding bushing 12, so the walking wheel 14 is a swivel wheel at this time.
  • the sliding bushing 12 can also be fixedly connected to the walking wheel mounting seat 13, in which case the walking wheel 14 is a directional wheel.
  • the cam 2 abuts against the abutting pressure plate 11, and the sliding bushing 12 is slidably connected to the second housing 5, the height difference change between the walking wheel assembly 1 and the second housing 5 is realized with a simple structure, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom change of the cleaning equipment, and thus reducing the manufacturing cost of the walking wheel mechanism.
  • the walking wheel assembly 1 further includes an elastic element 15, one end of which is fixedly connected to the abutting pressure plate 11, and the other end of which is fixedly connected to the second outer shell 5.
  • the elastic element 15 is used to provide a restoring force when the walking wheel assembly 1 moves close to the first housing 4.
  • the abutting plate 11 is provided with an inclined surface 111 and a horizontal surface 112.
  • the inclined surface 111 and the horizontal surface 112 are arranged adjacent to each other, and the inclined surface 111 is higher than the horizontal surface 112.
  • the height difference between the walking wheel assembly 1 and the second housing 5 is the first height difference; when the cam 2 abuts against the horizontal surface 112, the height difference between the walking wheel assembly 1 and the second housing 5 is the second height difference; it is foreseeable that the first height difference is less than the second height difference; since the walking wheel assembly 1 is always in contact with the ground, if the ground clearance of the walking wheel assembly 1 is set to zero, then both the first height difference and the second height difference can be equal to the ground clearance of the bottom of the cleaning device; that is, when the cam 2 abuts against the inclined surface 111, the ground clearance of the bottom of the cleaning device is less than the ground clearance of the bottom of the cleaning device when the cam 2 abuts against the horizontal surface 112.
  • the inclined surface 111 can be an inclined plane or an inclined arc surface.
  • the height difference between the inclined surface 111 and the horizontal surface 112 is used to affect the height difference change between the walking wheel assembly 1 and the second housing 5, thereby avoiding the height difference change that relies solely on the curvature change of the cam 2 itself, and also reducing the influence of the height difference change error caused by the wear of the cam 2, thereby improving the reliability of the walking wheel mechanism and thus improving the reliability of the cleaning equipment.
  • the cam 2 is provided with an abutting pulley 21, and the cam 2 abuts against the abutting pressure plate 11 through the abutting pulley 21.
  • setting the abutment pulley 21 by setting the abutment pulley 21, the friction force during the rotation of the cam 2 is reduced, the wear on the surface of the cam 2 is reduced, and the reliability of the cleaning equipment is improved.
  • setting the abutment pulley 21 can also reduce the driving force that drives the cam 2 to move on the abutment pressure plate 11.
  • the abutting pulley 21 is mounted on the cam 2 via the sliding wheel shaft 22.
  • the cam 2 includes a distal end away from the drive shaft 32 and a proximal end close to the drive shaft 32, and the pulley 21 is disposed on the distal end.
  • the distal end of the cam 2 is an abutting plane.
  • the cam 2 abuts against the horizontal plane 112 through the abutting plane.
  • the cam 2 abuts against the pressure plate 11 through the curved surface of the cam 2.
  • the curved surface of the cam 2 directly abuts against the pressure plate 11, thereby reducing the size of the walking wheel mechanism and reducing the load on the drive unit by having a shorter lever arm.
  • the abutting plate 11 when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 may have only a horizontal surface 112, further reducing the size of the walking wheel mechanism.
  • the height difference between the walking wheel assembly 1 and the second housing 5 is a third height difference;
  • the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2 the abutting plate 11 has only a horizontal surface 112, and the proximal end of the cam 2 abuts against the abutting plate 11, the height difference between the walking wheel assembly 1 and the second housing 5 is a fourth height difference; the third height difference is greater than the fourth height difference.
  • the abutting plate 11 when the cam 2 abuts against the abutting plate 11 through the curved surface of the cam 2, the abutting plate 11 may also be provided with an inclined surface 111 and a horizontal surface 112.
  • the wheel mounting base 13 is provided with a universal rotating shaft 131, and the sliding bushing 12 is provided with a rotating shaft mounting hole 121; the wheel mounting base 13 is rotatably connected to the sliding bushing 12 through the universal rotating shaft 131 and the rotating shaft mounting hole 121.
  • the shaft mounting hole 121 is provided along the height direction.
  • the walking wheel 14 can rotate relative to the first outer shell 4, thereby realizing the universal rotation of the walking wheel 14, improving the reliability of the walking wheel mechanism, and improving the mobility of the cleaning equipment.
  • the sliding bushing 12 includes a sliding part and a fixed part.
  • the height of the sliding part relative to the ground is higher than the height of the fixed part relative to the ground.
  • the sliding part is fixedly connected to the fixed part by a fastener, and the fixed part is used to connect to the wheel mounting seat 13.
  • the fastener is a screw.
  • the fixing part includes a rotating shaft mounting hole 121 and at least one fixing hole, and the sliding part is fixed to the fixing part through at least one fixing hole.
  • the rotating shaft mounting hole 121 is provided with an anti-detachment snap-fit structure 122, and the rotating shaft mounting hole 121 is sleeved on the outside of the universal rotating shaft 131; the anti-detachment snap-fit structure 122 is snapped into the universal rotating shaft 131.
  • the universal shaft 131 is prevented from detaching from the shaft mounting hole 121, thereby improving the reliability of the walking wheel mechanism and the reliability of the cleaning equipment.
  • the height difference between the walking wheel assembly 1 and the second housing 5 can be adjusted.
  • the third preset angle is located between the first preset angle and the second preset angle, so that the cleaning equipment can lift the bottom to different heights based on different drive angles of the drive unit 31; preferably, 0° ⁇ third preset angle ⁇ 90°.
  • the cam 2 can rotate under the drive of the drive assembly 3.
  • the walking wheel assembly 1 slides relative to the second housing 5, changing the height difference between the walking wheel assembly 1 and the second housing 5, thereby changing the distance between the cleaning equipment body and the ground to meet the needs of different working scenarios of the cleaning equipment, that is, improving the flexibility of the walking wheel mechanism and improving the working flexibility of the cleaning equipment.
  • the height difference between the walking wheel assembly 1 and the second housing 5 can be changed, avoiding the use of complex structures such as lead screws, thereby simplifying the mechanical structure of the bottom of the cleaning equipment and reducing the manufacturing cost of the walking wheel mechanism.
  • the embodiments of this application also provide a cleaning device, which includes the walking wheel mechanism, the first housing 4 and the second housing 5 as described in the embodiments of this application.
  • the cleaning equipment may be a sweeping machine or a sweeping robot, etc.

Landscapes

  • Cleaning In General (AREA)
  • Rehabilitation Tools (AREA)
  • Transmission Devices (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Handcart (AREA)

Abstract

一种行走轮机构和清洁设备，行走轮机构包括行走轮组件（1）、凸轮（2）以及驱动组件（3），其中，驱动组件（3）与清洁设备的第一外壳（4）固定连接，驱动组件（3）与凸轮（2）驱动连接；凸轮（2）与行走轮组件（1）抵接，行走轮组件（1）与清洁设备的第二外壳（5）滑动连接，且滑动方向为高度方向。

Description

行走轮机构和清洁设备
本申请要求2024年6月18日提交的中国专利申请202421396452.1的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本申请涉及清洁设备技术领域，特别涉及一种行走轮机构和清洁设备。
背景技术
清洁设备在移动过程中，为了保持平衡以及正常工作，清洁设备的底部与地面距离不能太远；但在特殊场景下，存在底部与地面的距离太近的情况，进而影响到清洁设备的工作；例如，在遇到障碍物的情况下，底部过低导致越障失败；在遇到存在较深积水的情况下，底部过低导致积水进入清洁设备内部，造成清洁设备损坏。
发明内容
针对现有技术的上述问题，本申请设计一种行走轮机构，具体的，通过凸轮驱动行走轮组件相对第二外壳滑动，改变行走轮组件与第二外壳之间的高度差，进而改变清洁设备机身与地面之间的距离。
为了解决上述问题，本申请提供了一种行走轮机构，包括行走轮组件、凸轮以及驱动组件，
所述驱动组件与清洁设备的第一外壳固定连接，所述驱动组件与所述凸轮驱动连接；
所述凸轮与所述行走轮组件抵接，所述行走轮组件与所述清洁设备的第二外壳滑动连接，且滑动方向为高度方向。
优选的，所述驱动组件包括驱动单元以及传动轴，所述驱动单元与所述第一外壳固定连接，所述驱动单元与所述传动轴的一端驱动连接，所述传动轴的另一端通过轴承结构与所述第一外壳连接；
所述凸轮与所述传动轴固定连接。
优选的，所述行走轮组件包括抵接压板、滑动轴套、行走轮安装座以及行走轮，所述行走轮安装于所述行走轮安装座上；
所述滑动轴套与所述第二外壳滑动连接，所述滑动轴套与所述行走轮安装座连接；
所述凸轮与所述抵接压板抵接，所述抵接压板固定于所述滑动轴套上。
优选的，所述行走轮组件还包括弹性件，所述弹性件的一端与所述抵接压板连接，所述弹性件的另一端与所述第二外壳连接。
优选的，所述抵接压板上设有倾斜面以及水平面，所述倾斜面与所述水平面相邻设置，且所述倾斜面高于所述水平面。
优选的，所述凸轮上设有抵接滑轮，所述凸轮通过所述抵接滑轮与所述抵接压板抵接。
优选的，所述凸轮包括远离所述传动轴的远心端以及靠近所述传动轴的近心端，所述抵接滑轮设置于所述远心端上。
优选的，所述凸轮通过所述凸轮的曲率表面与所述抵接压板抵接。
优选的，所述行走轮安装座上设有万向转轴，所述滑动轴套内设有转轴安装孔；
所述行走轮安装座通过所述万向转轴以及所述转轴安装孔与所述滑动轴套转动连接。
优选的，所述转轴安装孔内设有防脱卡接结构，所述转轴安装孔套设于所述万向转轴外；
所述防脱卡接结构与所述万向转轴卡接。
另一方面，本申请还提供一种清洁设备，所述清洁设备包括上述行走轮机构、第一外壳以及第二外壳。
由于上述技术方案，本申请所述的一种行走轮机构具有以下有益效果：
通过将驱动组件与第一外壳固定连接，凸轮与行走轮组件抵接以及行走轮组件与第二外壳沿高度方向滑动连接，从而能够在驱动组件的驱动下，凸轮发生转动，从而在抵接力的作用下，行走轮组件相对第二外壳滑动，改变行走轮组件与第二外壳之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
通过设置凸轮以及驱动组件即可实现行走轮组件与第二外壳之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
附图说明
为了更清楚地说明本申请的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简 单的介绍。显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本申请实施例提供的行走轮机构结构示意图；
图2是本申请实施例提供的行走轮机构中驱动组件结构示意图；
图3是本申请实施例提供的行走轮机构中轴承支架装配示意图；
图4是本申请实施例提供的行走轮机构中行走轮组件结构示意图；
图5是本申请实施例提供的行走轮机构中抵接压板结构示意图；
图6是本申请实施例提供的行走轮机构中凸轮结构示意图；
图7是本申请另一实施例提供的行走轮机构中凸轮结构示意图；
图8是本申请实施例提供的行走轮机构中滑动轴套与行走轮安装座装配剖视图。
其中，1-行走轮组件，11-抵接压板，111-倾斜面，112-水平面，12-滑动轴套，121-转轴安装孔，122-防脱卡接结构，13-行走轮安装座，131-万向转轴，14-行走轮，15-弹性件，2-凸轮，21-抵接滑轮，22-滑动轮轴，3-驱动组件，31-驱动单元，32-传动轴，33-轴承组件，34-联轴器，4-第一外壳，41-舵机安装壳，42-轴承支架，5-第二外壳。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
此处所称的“一个实施例”或“实施例”是指可包含于本申请至少一个实现方式中的特定特征、结构或特性。在本申请的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“顶”、“底”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含的包括一个或者更多个该特征。而且，术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。
结合图1，介绍本申请实施例提供的一种行走轮机构，该机构包括行走轮组件1、凸轮2以及驱动组件3，驱动组件3与清洁设备的第一外壳4固定连接，驱动组件3与凸轮2驱动连接；凸轮2与行走轮组件1抵接，行走轮组件1与清洁设备的第二外壳5滑动连接，且滑动方向为高度方向。
在本申请实施例中，行走轮组件1始终与地面接触，行走轮组件1用于带动清洁设备移动；凸轮2用于在驱动组件3的驱动下带动行走轮组件1相对第二外壳5滑动；驱动组件3用于驱动凸轮2转动。
在本申请具体实施例中，第一外壳4与第二外壳5分别指代两个不同的外壳结构；优选的，第一外壳4可以与第二外壳5可拆卸连接。
在本申请另一优选实施例中，第一外壳4与第二外壳5固定连接；优选的，第一外壳4与第二外壳5一体成型。
在本申请另一具体实施例中，在第一外壳4与第二外壳5一体成型的情况下，可以理解的是第一外壳4与第二外壳5分别指代同一个外壳的两个不同部位。
在本申请具体实施例中，第一外壳4以及第二外壳5均为清洁设备底部的外壳，清洁设备机身随第二外壳5的运动相对地面运动；具体的，在第二外壳5向远离行走轮组件1的方向运动的情况下，清洁设备机身向远离地面的方向运动；在第二外壳5向靠近行走轮组件1的方向运动的情况下，清洁设备向靠近地面的方向运动。
在本申请实施例中，通过将驱动组件3与第一外壳4固定连接，凸轮2与行走轮组件1抵接以及行走轮组件1与第二外壳5沿高度方向滑动连接，从而能够在驱动组件3的驱动下，凸轮2发生转动，从而在抵接力的作用下，行走轮组件1相对第二外壳5滑动；改变行走轮组件1与第二外壳5之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
在本申请实施例中，通过设置凸轮2以及驱动组件3即可实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行 走轮机构的制造成本。
参考图1-图2，在本申请实施例中，驱动组件3包括驱动单元31以及传动轴32，驱动单元31与第一外壳4固定连接，驱动单元31与传动轴32的一端驱动连接，传动轴32的另一端通过轴承结构与第一外壳4连接；凸轮2与传动轴32固定连接。
在本申请实施例中，驱动单元31用于驱动传动轴32转动，传动轴32用于在驱动单元31的驱动下带动凸轮2运动；传动轴32的另一端通过轴承结构与第一外壳4连接表征传动轴32能够相对第一外壳4转动；具体的，传动轴32沿水平方向上设置，凸轮2安装于传动轴32上，且凸轮2的两侧分别设有配套设置的轴承组件33；具体的，轴承组件33包括两个卡簧以及一个轴承。
在本申请实施例中，通过将驱动组件3设置成驱动单元31以及传动轴32，以驱动凸轮2转动，以简单的结构实现了凸轮2的驱动，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
在本申请具体实施例中，驱动单元31通过联轴器34与传动轴32驱动连接。
在本申请具体实施例中，驱动单元31可以是舵机，舵机能够精确地控制驱动位置或者角度；优选的，可以设定驱动角度在0°的情况下，行走轮组件1与第二外壳5之间的高度差最小；可以设定驱动角度在90°时，行走轮组件1与第二外壳5之间的高度差最大。
在本申请具体实施例中，第一外壳4包括舵机安装壳41，舵机固定于舵机安装壳41上。
在本申请另一具体实施例中，可以将凸轮2做成凸轮轴，在此情况下，驱动单元31可以直接驱动凸轮2转动。
参考图3，在本申请具体实施例中，第一外壳4还包括轴承支架42，传动轴32的另一端通过轴承结构与轴承支架42连接；优选的，轴承支架42设有用于保护凸轮2的放置空间。
在本申请另一具体实施例中，驱动单元31也可以是驱动电机。
参考图4，在本申请实施例中，行走轮组件1包括抵接压板11、滑动轴套12、行走轮安装座13以及行走轮14，行走轮14安装于行走轮安装座13上；滑动轴套12与第二外壳5滑动连接，滑动轴套12与行走轮安装座13连接；凸轮2与抵接压板11抵接，抵接压板11固定于滑动轴套12上。
在本申请实施例中，抵接压板11用于将凸轮2的抵接力传递至滑动轴套12，以使滑动轴套12相对第二外壳5滑动。
在本申请具体实施例中，凸轮2的离地高度高于抵接压板11的离地高度。在凸轮2的离地高度高于抵接压板11的离地高度，且凸轮2往地面方向下压抵接压板11的情况下，滑动轴套12相对第二外壳5滑动，行走轮组件1向远离第二外壳5的方向相对运动，进而清洁设备机身向远离地面的方向运动，抬升清洁设备。
在本申请具体实施例中，滑动轴套12与第二外壳5二者择一的设置有滑动块，另一设置有滑动槽，滑动块与滑动槽配合连接；具体的，可以在滑动轴套12上设置滑动块，在第二外壳5上设置滑动槽；也可以在第二外壳5上设置滑动块，在滑动轴套12上设置滑动槽。
在本申请具体实施例中，抵接压板11与滑动轴套12一体成型。
在本申请具体实施例中，行走轮安装座13可以相对滑动轴套12转动，那么此时行走轮14为万向轮。
在本申请另一具体实施例中，滑动轴套12也可以与行走轮安装座13固定连接，那么此时行走轮14为定向轮。
在本申请实施例中，通过在行走轮组件1中设置抵接压板11以及滑动轴套12，凸轮2与抵接压板11抵接，滑动轴套12与第二外壳5滑动连接，以简单的结构实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
在本申请实施例中，行走轮组件1还包括弹性件15，弹性件15的一端与抵接压板11固定连接，弹性件15的另一端与第二外壳5固定连接。
在本申请实施例中，弹性件15用于在行走轮组件1靠近第一外壳4运动的情况下，提供回弹力。
在本申请实施例中，通过在行走轮组件1中设置弹性件15，在行走轮组件1靠近第一外壳4运动的情况下，提供回弹力，避免仅依靠清洁设备自身重力回落，避免自身回落过程中的机械损耗，提高行走轮机构的可靠性，提高清洁设备的可靠性。
参考图5，在本申请实施例中，抵接压板11上设有倾斜面111以及水平面112，倾斜面111与水平面112相邻设置，且倾斜面111高于水平面112。
在本申请具体实施例中，在凸轮2与倾斜面111抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第一高度差；在凸轮2与水平面112抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第二高度差；可以预见的是第一高度差小于第二高度差；由于行走轮组件1始终与地面接触，若将行走轮组件1的离地高度设定为零，那么第一高度差以及第二高度差均能够等同于清洁设备底部的离地高度；也就是说，在凸轮2与倾斜面111抵接的情况下，清洁设备底部的离地高度小于在凸轮2与水平面112抵接的情况下，清洁设备底部的离地高度。
在本申请具体实施例中，倾斜面111可以是倾斜平面，也可以是倾斜弧形面。
在本申请实施例中，通过设置倾斜面111，以利用倾斜面111与水平面112之间的高度差异对行走轮组件1与第二外壳5之间的高度差变化产生影响，进而避免仅依靠凸轮2自身曲率变化的高度差变化，还能够降低凸轮2磨损导致高度差变化出现误差的影响，提高行走轮机构的可靠性，进而提高清洁设备的可靠性。
参考图6，在本申请实施例中，凸轮2上设有抵接滑轮21，凸轮2通过抵接滑轮21与抵接压板11抵接。
在本申请实施例中，通过设置抵接滑轮21，从而降低凸轮2转动过程中的摩擦力，降低凸轮2表面的损耗，进而提高清洁设备的可靠性；此外，设置抵接滑轮21还能够降低驱动凸轮2在抵接压板11上运动的驱动力。
在本申请具体实施例中，抵接滑轮21通过滑动轮轴22安装于凸轮2上。
在本申请实施例中，凸轮2包括远离传动轴32的远心端以及靠近传动轴32的近心端，抵接滑轮21设置于远心端上。
在本申请具体实施例中，凸轮2的远心端为抵接平面，在抵接滑轮21运动到预设位置的情况下，凸轮2通过抵接平面与水平面112抵接；通过在远心端设置抵接平面，从而能够在驱动到预设角度的情况下，实现凸轮2自锁，避免持续的驱动力输出，降低清洁设备的能源损耗。
参考图7，在本申请另一具体实施例中，凸轮2通过凸轮2的曲率表面与抵接压板11抵接。
在本申请另一具体实施例中，通过凸轮2的曲率表面直接与抵接压板11抵接，从而能够降低行走轮机构的尺寸，同时力臂较短，降低驱动单元的负载。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接的情况下，抵接压板11可以有且仅有水平面112，进一步降低行走轮机构的尺寸。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接，抵接压板11有且仅有水平面112，且凸轮2的远心端与抵接压板11抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第三高度差；在凸轮2通过凸轮2的曲率表面与抵接压板11抵接，抵接压板11有且仅有水平面112，且凸轮2的近心端与抵接压板11抵接的情况下，行走轮组件1与第二外壳5之间的高度差为第四高度差；第三高度差大于第四高度差。
在本申请另一具体实施例中，在凸轮2通过凸轮2的曲率表面与抵接压板11抵接的情况下，抵接压板11也可以设置倾斜面111以及水平面112。
参考图8，在本申请实施例中，行走轮安装座13上设有万向转轴131，滑动轴套12内设有转轴安装孔121；行走轮安装座13通过万向转轴131以及转轴安装孔121与滑动轴套12转动连接。
在本申请具体实施例中，转轴安装孔121沿高度方向设置。
在本申请实施例中，通过将行走轮安装座13通过万向转轴131以及转轴安装孔121与滑动轴套12转动连接，从而能够实现行走轮14相对第一外壳4转动，进而实现行走轮14的万向转动，提高行走轮机构的可靠性，提高清洁设备的移动灵活性。
在本申请具体实施例中，滑动轴套12包括滑动部以及固定部，滑动部相对地面的高度高于固定部相对地面的高度；滑动部通过紧固件与固定部固定连接，固定部用于与行走轮安装座13连接；优选的，紧固件为螺钉。
在本申请具体实施例中，固定部包括转轴安装孔121以及至少一个固定孔，滑动部通过至少一个固定孔固定于固定部上。
在本申请实施例中，转轴安装孔121内设有防脱卡接结构122，转轴安装孔121套设于万向转轴131外；防脱卡接结构122与万向转轴131卡接。
在本申请实施例中，通过在转轴安装孔121内设置防脱卡接结构122，从而避免万向转轴131与转轴安装孔121脱离连接，进而提高了行走轮机构的可靠性，提高清洁设备的可靠性。
以下，介绍本申请实施例中行走轮机构的具体工作原理。
清洁设备的正常工作状态：驱动单元31(舵机)的驱动角度为第一预设角度的情况下，在抵接 滑轮21与抵接压板11抵接的情况下，凸轮2远心端上的抵接滑轮21与抵接压板11的倾斜面111抵接；在通过凸轮2的曲率表面直接与抵接压板11抵接且抵接压板11有且仅有水平面112的情况下，凸轮2的近心端与抵接压板11抵接；此时，行走轮组件1与第二外壳5之间的高度差最小，以便于清洁设备保持平衡以及正常工作；优选的，第一预设角度为0°。
清洁设备底部抬高状态：驱动单元31(舵机)的驱动角度为第二预设角度的情况下，在抵接滑轮21与抵接压板11抵接的情况下，凸轮2远心端的抵接平面与抵接压板11的水平面112抵接；在通过凸轮2的曲率表面直接与抵接压板11抵接且抵接压板11有且仅有水平面112的情况下，凸轮2的远心端与抵接压板11抵接；此时，行走轮组件1与第二外壳5之间的高度差最大，以便于清洁设备的越障或其他需要底部抬高的场景；优选的，第二预设角度为90°；具体的，从正常工作状态到底部抬高状态是凸轮2往地面方向下压抵接压板11。
此外，还可以在驱动单元31(舵机)的驱动角度为第三预设角度的情况下，调整行走轮组件1与第二外壳5之间的高度差，第三预设角度位于第一预设角度以及第二预设角度之间，实现清洁设备能够基于不同驱动单元31的驱动角度进行不同高度的底部抬升；优选的，0°＜第三预设角度＜90°。
本申请实施例中的行走轮机构具备如下有益效果：
通过将驱动组件3与第一外壳4固定连接，凸轮2与行走轮组件1抵接以及行走轮组件1与第二外壳5沿高度方向滑动连接，从而能够在驱动组件3的驱动下，凸轮2发生转动，从而在抵接力的作用下，行走轮组件1相对第二外壳5滑动改变行走轮组件1与第二外壳5之间的高度差，进而改变清洁设备机身与地面之间的距离，以满足清洁设备的不同工作场景的需求，即提高行走轮机构的灵活性，提高了清洁设备的工作灵活性。
通过设置凸轮2以及驱动组件3即可实现行走轮组件1与第二外壳5之间的高度差变化，避免了采用丝杠等复杂结构，进而简化了清洁设备底部变化的机械结构，进而降低行走轮机构的制造成本。
本申请的实施例还提供一种清洁设备，该清洁设备包括本申请实施例中的行走轮机构、第一外壳4以及第二外壳5。
在本申请具体实施例中，清洁设备可以是扫地机以及扫地机器人等清洁设备。
上述说明已经充分揭露了本申请的具体实施方式。需要指出的是，熟悉该领域的技术人员对本申请的具体实施方式所做的任何改动均不脱离本申请的权利要求书的范围。相应地，本申请的权利要求的范围也并不仅仅局限于前述具体实施方式。

Claims (11)

  1. 一种行走轮机构，其特征在于，包括行走轮组件(1)、凸轮(2)以及驱动组件(3)，
    所述驱动组件(3)与清洁设备的第一外壳(4)固定连接，所述驱动组件(3)与所述凸轮(2)驱动连接；
    所述凸轮(2)与所述行走轮组件(1)抵接，所述行走轮组件(1)与所述清洁设备的第二外壳(5)滑动连接，且滑动方向为高度方向。
  2. 根据权利要求1所述的行走轮机构，其特征在于，所述驱动组件(3)包括驱动单元(31)以及传动轴(32)，所述驱动单元(31)与所述第一外壳(4)固定连接，所述驱动单元(31)与所述传动轴(32)的一端驱动连接，所述传动轴(32)的另一端通过轴承结构与所述第一外壳(4)连接；
    所述凸轮(2)与所述传动轴(32)固定连接。
  3. 根据权利要求1或2所述的行走轮机构，其特征在于，所述行走轮组件(1)包括抵接压板(11)、滑动轴套(12)、行走轮安装座(13)以及行走轮(14)，所述行走轮(14)安装于所述行走轮安装座(13)上；
    所述滑动轴套(12)与所述第二外壳(5)滑动连接，所述滑动轴套(12)与所述行走轮安装座(13)连接；
    所述凸轮(2)与所述抵接压板(11)抵接，所述抵接压板(11)固定于所述滑动轴套(12)上。
  4. 根据权利要求3所述的行走轮机构，其特征在于，所述行走轮组件(1)还包括弹性件(15)，所述弹性件(15)的一端与所述抵接压板(11)连接，所述弹性件(15)的另一端与所述第二外壳(5)连接。
  5. 根据权利要求3所述的行走轮机构，其特征在于，所述抵接压板(11)上设有倾斜面(111)以及水平面(112)，所述倾斜面(111)与所述水平面(112)相邻设置，且所述倾斜面(111)高于所述水平面(112)。
  6. 根据权利要求5所述的行走轮机构，其特征在于，所述凸轮(2)上设有抵接滑轮(21)，所述凸轮(2)通过所述抵接滑轮(21)与所述抵接压板(11)抵接。
  7. 根据权利要求6所述的行走轮机构，其特征在于，所述凸轮(2)包括远离所述传动轴(32)的远心端以及靠近所述传动轴(32)的近心端，所述抵接滑轮(21)设置于所述远心端上。
  8. 根据权利要求3所述的行走轮机构，其特征在于，所述凸轮(2)通过所述凸轮(2)的曲率表面与所述抵接压板(11)抵接。
  9. 根据权利要求3所述的行走轮机构，其特征在于，所述行走轮安装座(13)上设有万向转轴(131)，所述滑动轴套(12)内设有转轴安装孔(121)；
    所述行走轮安装座(13)通过所述万向转轴(131)以及所述转轴安装孔(121)与所述滑动轴套(12)转动连接。
  10. 根据权利要求9所述的行走轮机构，其特征在于，所述转轴安装孔(121)内设有防脱卡接结构(122)，所述转轴安装孔(121)套设于所述万向转轴(131)外；
    所述防脱卡接结构(122)与所述万向转轴(131)卡接。
  11. 一种清洁设备，其特征在于，包括如权利要求1-10任一项所述的行走轮机构、第一外壳(4)以及第二外壳(5)。
PCT/CN2024/109488 2024-06-18 2024-08-02 行走轮机构和清洁设备 Pending WO2025260463A1 (zh)

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CN103722982A (zh) * 2014-01-10 2014-04-16 钟彦华 一种单驱动双向agv定向轮升降机构及其控制原理
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CN109068908A (zh) * 2016-05-11 2018-12-21 伊莱克斯公司 机器人清洁设备
CN110477810A (zh) * 2018-05-14 2019-11-22 杭州萤石软件有限公司 扫地机器人的控制方法、装置和扫地机器人
CN113133715A (zh) * 2020-01-20 2021-07-20 松下知识产权经营株式会社 自主行走型吸尘器
CN215534045U (zh) * 2020-12-15 2022-01-18 科沃斯机器人股份有限公司 自移动机器人
CN217792855U (zh) * 2022-07-18 2022-11-15 追觅创新科技(苏州)有限公司 清洁设备

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Publication number Priority date Publication date Assignee Title
JPH10278802A (ja) * 1997-04-09 1998-10-20 Nissan Motor Co Ltd 台車駆動装置
CN103722982A (zh) * 2014-01-10 2014-04-16 钟彦华 一种单驱动双向agv定向轮升降机构及其控制原理
US20160259336A1 (en) * 2015-03-05 2016-09-08 Samsung Electronics Co., Ltd. Robot cleaner and control method thereof
CN109068908A (zh) * 2016-05-11 2018-12-21 伊莱克斯公司 机器人清洁设备
CN110477810A (zh) * 2018-05-14 2019-11-22 杭州萤石软件有限公司 扫地机器人的控制方法、装置和扫地机器人
CN113133715A (zh) * 2020-01-20 2021-07-20 松下知识产权经营株式会社 自主行走型吸尘器
CN215534045U (zh) * 2020-12-15 2022-01-18 科沃斯机器人股份有限公司 自移动机器人
CN217792855U (zh) * 2022-07-18 2022-11-15 追觅创新科技(苏州)有限公司 清洁设备

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