A robotic vacuum cleaner with wheel-leg structure
Through the design of the wheel-leg structure, the robot vacuum cleaner achieves flexible multi-link movement, solving the problem of insufficient climbing ability and improving its applicability and cleaning efficiency in the home environment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DONGGUAN DIRECT DRIVE TECH LTD
- Filing Date
- 2025-08-07
- Publication Date
- 2026-07-03
AI Technical Summary
Existing robotic vacuum cleaners lack climbing ability and struggle to effectively handle various obstacles in the home environment, such as carpet edges, thresholds, and small steps.
The robot adopts a wheel-leg structure, including a robot body, output device, linkage assembly and driving wheel set. The first motor drives the connecting bracket to rotate the second motor, and the second motor drives the third linkage to move the second linkage, realizing flexible movement of multiple linkages and adapting to complex ground environments.
It improves the applicability and cleaning efficiency of the robot vacuum in the home environment, and can flexibly adjust the position and posture of the driving wheels to avoid getting stuck, expand the cleaning range, reduce blind spots, and adapt to different terrains.
Smart Images
Figure CN224441240U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a sweeping robot with a wheel-leg structure. Background Technology
[0002] In modern family life, robotic vacuum cleaners are widely welcomed for their convenience and intelligence. However, despite significant progress in cleaning efficiency and automation, robotic vacuum cleaners still have obvious shortcomings in climbing ability. This problem is mainly reflected in the fact that robotic vacuum cleaners have difficulty effectively dealing with various obstacles in the home environment, such as carpet edges, thresholds, and small steps.
[0003] Traditional robotic vacuum cleaners typically use a purely wheeled structure, which often makes them ineffective when facing obstacles such as steps and carpet edges, easily getting stuck or failing to clean effectively. Therefore, a new design is needed to address the mobility and climbing structure of existing cleaning equipment. Utility Model Content
[0004] To address the aforementioned issues, this utility model presents a sweeping robot with a wheel-leg structure that achieves excellent technical results in terms of mobility, terrain adaptability, structural rationality, and cleaning efficiency.
[0005] The technical solution adopted by this utility model is as follows: a sweeping robot with a wheel-leg structure, including a robot body and a wheel-leg mechanism. The wheel-leg mechanism includes an output device, a linkage assembly, and a set of driving wheels. The output device is mounted on the robot body. The linkage assembly includes a first link, a second link, and a third link. The output device includes a first motor, a connecting bracket, and a second motor. The first motor is mounted on the robot body, and its output end is connected to the connecting bracket. The second motor is fixed on the connecting bracket. The first motor drives the connecting bracket to rotate the second motor. One end of the first link is connected to the connecting bracket and rotates with it. One end of the second link is hinged to the first link. One end of the third link is connected to the drive end of the second motor and drives the third link to move the second link. The set of driving wheels is mounted on the second link.
[0006] A further improvement to the above solution is that the first motor is provided with an output bracket, the first motor is mounted on the robot body through the output bracket, and the fixed end of the first motor is fixed on the output bracket.
[0007] A further improvement to the above solution is that a first end cover is provided at the end of the first motor, and the first end cover is provided with a first power interface and a first signal interface. Both the first power interface and the first signal interface are used to connect the first motor to the sweeping robot.
[0008] A further improvement to the above solution is that a second end cover is provided at the end of the second motor, and the second end cover is provided with a second power interface and a second signal interface. Both the second power interface and the second signal interface are used to connect the second motor to the sweeping robot.
[0009] A further improvement to the above scheme is that both the first motor and the second motor have integrated speed reducers.
[0010] A further improvement to the above solution is that a bearing is provided on the outside of the output bracket, the connecting bracket includes a front connecting part and a rear connecting part, the front connecting part is connected to the rear connecting part, the front connecting part is connected to the second motor, and the bearing is located between the output bracket and the rear connecting part.
[0011] A further improvement to the above scheme is that the drive end of the second motor is provided with a connecting rod connecting seat, the connecting rod connecting seat is provided with a cam part, and the cam part is connected to the third connecting rod.
[0012] A further improvement to the above scheme is that a hinge joint is provided between the first link and the second link, and the third link is used to pull the second link to move around the hinge joint as the axis.
[0013] A further improvement to the above scheme is that a connecting hole is provided on one side of the second connecting rod located at the hinge, and the connecting hole is used for connecting the third connecting rod.
[0014] A further improvement to the above scheme is that the driving wheel set is a hub motor.
[0015] The beneficial effects of this utility model are:
[0016] Compared to existing robotic vacuum cleaners, the first motor in the output device of this invention drives the connecting bracket to rotate the second motor. Simultaneously, the first link rotates with the connecting bracket, and the second motor drives the third link to move the second link. This multi-link motion allows for flexible adjustment of the position and posture of the driving wheel assembly. Compared to traditional wheeled robotic vacuum cleaners, it can better adapt to complex ground environments, such as crossing thresholds and avoiding obstacles, effectively expanding the cleaning range and reducing cleaning dead spots. When adapting to different terrains, when encountering raised or recessed surfaces, the driving wheel assembly can adjust its height and angle through the movement of the link assembly, maintaining good contact with the ground and ensuring smooth robot movement, avoiding jamming or impassable situations caused by uneven terrain. This improves the applicability of the robotic vacuum cleaner in various home environments, including different floor materials such as wood floors, tiles, and carpets. The first and second motors in the output device and link assembly have clearly defined functions, each controlling different moving parts, making the movement of the entire wheel mechanism more precise and efficient. This invention can move flexibly and adapt to different terrains, and can cover the entire cleaning area more quickly during the cleaning process. It has achieved good technical results in terms of movement flexibility, terrain adaptability, structural rationality and cleaning efficiency. Attached Figure Description
[0017] Figure 1 This is a three-dimensional schematic diagram of the sweeping robot with wheel and leg structure according to this utility model;
[0018] Figure 2 for Figure 1 A three-dimensional schematic diagram of the middle wheel leg mechanism;
[0019] Figure 3 for Figure 1 A three-dimensional schematic diagram of the middle wheel leg mechanism from another perspective;
[0020] Figure 4 for Figure 1 A three-dimensional schematic diagram of the middle wheel leg mechanism from another perspective;
[0021] Figure 5 for Figure 1 Exploded view of the middle wheel leg mechanism.
[0022] Explanation of reference numerals in the attached drawings: Robot body 10, wheel and leg mechanism 20, output device 1, first motor 11, first end cover 111, first power interface 112, first signal interface 113, connecting bracket 12, front end connecting part 121, rear end connecting part 122, second motor 13, second end cover 131, second power interface 132, second signal interface 133, link connecting seat 134, cam part 135, output bracket 14, bearing 141, link assembly 2, first link 21, hinge part 211, connecting hole 212, second link 22, third link 23, traveling wheel set 3. Detailed Implementation
[0023] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.
[0024] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.
[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-5As shown, in one embodiment of this utility model, a sweeping robot with a wheel-leg structure is disclosed, including a robot body 10 and a wheel-leg mechanism 20. The wheel-leg mechanism 20 includes an output device 1, a linkage assembly 2, and a set of driving wheels 3. The output device 1 is mounted on the robot body 10. The linkage assembly 2 includes a first link 21, a second link 22, and a third link 23. The output device 1 includes a first motor 11, a connecting bracket 12, and a second motor 13. The first motor 11 is mounted on the robot body 10. The output end of motor 11 is connected to the connecting bracket 12. The second motor 13 is fixed on the connecting bracket 12. The first motor 11 drives the connecting bracket 12 to rotate the second motor 13. One end of the first connecting rod 21 is connected to the connecting bracket 12 and rotates with it. One end of the second connecting rod 22 is hinged to the first connecting rod 21. One end of the third connecting rod 23 is connected to the driving end of the second motor 13 and drives the third connecting rod 23 to move the second connecting rod 22. The driving wheel set 3 is mounted on the second connecting rod 22. In this embodiment, the first motor 11 in the output device 1 can drive the connecting bracket 12 to rotate the second motor 13. At the same time, the first connecting rod 21 rotates with the connecting bracket 12, and the second motor 13 can drive the third connecting rod 23 to move the second connecting rod 22. The multi-link movement allows for flexible adjustment of the position and posture of the driving wheel set 3. Compared with traditional wheeled sweeping robots, it can better adapt to complex ground environments, such as crossing thresholds and avoiding obstacles, effectively expanding the cleaning range and reducing cleaning dead spots. Adapting to different terrains, when encountering raised or recessed surfaces, the movement of the linkage assembly 2 allows the driving wheel assembly 3 to adjust its height and angle, maintaining good contact with the ground and ensuring smooth robot movement. This avoids jamming or impassable situations caused by uneven terrain. It improves the robot's applicability in various home environments, including different floor materials such as wood floors, tiles, and carpets. The output device 1 and the first motor 11 and second motor 13 of the linkage assembly 2 have clearly defined functions, each controlling different moving parts, making the movement of the entire wheel-leg mechanism 20 more precise and efficient. This embodiment allows for flexible movement and adaptation to different terrains, enabling faster coverage of the entire cleaning area during cleaning. It achieves excellent technical results in terms of movement flexibility, terrain adaptability, structural rationality, and cleaning efficiency.
[0026] The first motor 11 is equipped with an output bracket 14, and the first motor 11 is mounted on the robot body 10 via the output bracket 14. The fixed end of the first motor 11 is fixed to the output bracket 14. In this embodiment, the output bracket 14 provides a stable mounting base for the first motor 11. Fixing the fixed end of the first motor 11 to the output bracket 14 ensures that the first motor 11 remains stable during operation, reducing displacement or shaking caused by motor vibration. This ensures the normal operation of the entire wheel-leg mechanism 20, because the first motor 11 drives the connecting bracket 12 to rotate the second motor 13. If the motor is unstable, it will affect the movement accuracy of the subsequent linkage assembly 2 and the driving wheel set 3, thereby affecting the cleaning effect and movement flexibility of the sweeping robot. The output bracket 14 allows the first motor 11 to be reasonably integrated with the robot body 10, avoiding the unreasonable space layout problems that may result from direct installation. The output bracket 14 allows for flexible adjustment of the installation position and angle of the first motor 11 according to the specific structure and design requirements of the robot body 10. This makes the layout of the entire wheel and leg mechanism 20 more compact and reasonable, which helps to reduce the overall size of the sweeping robot and improve its ability to operate in narrow spaces.
[0027] The first motor 11 has a first end cap 111 at its end, which has a first power interface 112 and a first signal interface 113. Both the first power interface 112 and the first signal interface 113 are used for connecting the first motor 11 to the robotic vacuum cleaner. Specifically, the second motor 13 has a second end cap 131 at its end, which has a second power interface 132 and a second signal interface 133. Both the second power interface 132 and the second signal interface 133 are used for connecting the second motor 13 to the robotic vacuum cleaner. In this embodiment, the first power interface 112 and the first signal interface 113 on the first end cap 111, and the second power interface 132 and the second signal interface 133 on the second end cap 131, provide a standardized and regulated method for connecting the motors to the robotic vacuum cleaner. This allows for quick and accurate connection of power supply and signal transmission, avoiding complex wiring and connection operations, greatly improving production and assembly efficiency, and reducing labor costs and the probability of errors. The end caps protect the motor end, effectively preventing external dust and debris from entering the motor and thus avoiding electrical short circuits and other malfunctions caused by foreign objects. At the same time, the standardized interface design helps ensure connection stability and reliability, reducing electrical problems caused by loose connections or poor contact, and improving the safety and stability of the robot vacuum's operation.
[0028] Both the first motor 11 and the second motor 13 integrate reducers (not shown in the figure). In this embodiment, from the perspective of power output, the reducer (not shown in the figure) can effectively reduce the motor speed while increasing the torque. The first motor 11 and the second motor 13 control the movement of different parts of the wheel-leg mechanism 20, respectively. Sufficient torque is required to complete the corresponding actions, such as driving the connecting bracket 12 to rotate and driving the linkage assembly 2 to move. After integrating the reducer, the motor can output greater torque, ensuring that the wheel-leg mechanism 20 can operate stably and powerfully under various working conditions, enabling the sweeping robot to smoothly cross obstacles and adapt to different terrains.
[0029] The output bracket 14 is externally equipped with a bearing 141. The connecting bracket 12 includes a front connecting part 121 and a rear connecting part 122. The front connecting part 121 is connected to the rear connecting part 122 and is connected to the second motor 13. The bearing 141 is located between the output bracket 14 and the rear connecting part 122. In this embodiment, the presence of the bearing 141 greatly reduces the frictional resistance between the output bracket 14 and the connecting bracket 12. When the first motor 11 drives the connecting bracket 12 to rotate the second motor 13, the connecting bracket 12 needs to perform smooth circular motion around the output bracket 14. The bearing 141 makes this rotation smoother, reduces jamming, ensures the continuity of the wheel mechanism 20's movement, and thus improves the overall mobility of the sweeping robot, enabling it to move and clean more efficiently in different environments. The bearing 141 plays an important supporting and positioning role, ensuring the positional accuracy of the connecting bracket 12 during rotation and preventing the connecting bracket 12 from shaking or shifting.
[0030] The drive end of the second motor 13 is provided with a connecting rod seat 134, and the connecting rod seat 134 is provided with a cam portion 135, which is connected to the third connecting rod 23. Specifically, the first connecting rod 21 and the second connecting rod 22 are hinged together by a hinge portion 211, and the third connecting rod 23 is used to pull the second connecting rod 22 to move around the hinge portion 211 as an axis. The second connecting rod 22 is provided with a connecting hole 212 on one side of the hinge portion 211, and the connecting hole 212 is used to connect the third connecting rod 23. In this embodiment, the connecting rod seat 134 and its cam portion 135 at the drive end of the second motor 13 are connected to the third connecting rod 23, which can effectively convert the rotational motion of the second motor 13 into the linear or curvilinear motion of the third connecting rod 23. The conversion process is a key step in realizing the complex motion of the wheel leg structure, enabling the wheels of the sweeping robot to move according to a preset trajectory and method, thereby adapting to different ground environments and obstacles. The first link 21 and the second link 22 are hinged together by a hinge joint 211. The third link 23 pulls the second link 22 to move around the hinge joint 211, giving the wheel legs greater freedom of movement. When encountering obstacles, the wheel legs can traverse or avoid them using this flexible movement, greatly improving the robot's ability to navigate in complex environments. The connection hole 212 makes the connection between the third link 23 and the second link 22 more stable and reliable. This stable connection ensures accurate relative positions between the links during movement, reducing movement deviations or malfunctions caused by loose connections, and improving the stability and reliability of the entire wheel leg structure.
[0031] The driving wheel assembly 3 is a hub motor. In this embodiment, the hub motor integrates the power system inside the wheel, eliminating the need for additional transmission devices such as drive shafts and differentials. This greatly frees up internal space in the robot vacuum, providing more ample installation space for other functional modules, such as batteries and cleaning components. The hub motor enables independent drive and precise control of each wheel. When the robot vacuum's wheel leg mechanism 20 is working, each wheel can independently adjust its speed and torque according to actual conditions, achieving flexible steering, stationary rotation, and other actions.
[0032] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A sweeping robot having a wheel-leg structure, characterized by: The robot includes a robot body and a wheel-leg mechanism. The wheel-leg mechanism includes an output device, a linkage assembly, and a set of wheels. The output device is mounted on the robot body. The linkage assembly includes a first link, a second link, and a third link. The output device includes a first motor, a connecting bracket, and a second motor. The first motor is mounted on the robot body, and its output end is connected to the connecting bracket. The second motor is fixed to the connecting bracket. The first motor drives the connecting bracket to rotate the second motor. One end of the first link is connected to the connecting bracket and rotates with it. One end of the second link is hinged to the first link. One end of the third link is connected to the drive end of the second motor and drives the third link to move the second link. The set of wheels is mounted on the second link.
2. The robot vacuum cleaner with wheel-leg structure according to claim 1, wherein: The first motor is equipped with an output bracket, and the first motor is mounted on the robot body via the output bracket. The fixed end of the first motor is fixed on the output bracket.
3. The robot vacuum cleaner with wheel-leg structure according to claim 1, wherein: The first motor is provided with a first end cover at its end, and the first end cover is provided with a first power interface and a first signal interface. Both the first power interface and the first signal interface are used to connect the first motor to the sweeping robot.
4. The robot vacuum cleaner with wheel-leg structure of claim 1, wherein: The second motor is provided with a second end cap, which is provided with a second power interface and a second signal interface. Both the second power interface and the second signal interface are used to connect the second motor to the sweeping robot.
5. The robot vacuum cleaner with wheel-leg structure of claim 1, wherein: Both the first motor and the second motor have integrated speed reducers inside.
6. The robot vacuum cleaner with wheel-leg structure of claim 2, wherein: The output bracket is provided with a bearing on its exterior. The connecting bracket includes a front connecting part and a rear connecting part. The front connecting part is connected to the rear connecting part and the front connecting part is connected to the second motor. The bearing is located between the output bracket and the rear connecting part.
7. The sweeping robot with a wheel-leg structure according to claim 1, characterized in that: The drive end of the second motor is provided with a connecting rod connector, and the connecting rod connector is provided with a cam portion, which is connected to the third connecting rod.
8. The robot vacuum cleaner with wheel-leg structure of claim 7, wherein: The first link and the second link are hinged together, and the third link is used to pull the second link to move around the hinge.
9. The robot vacuum cleaner with wheel-leg structure of claim 8, wherein: The second link has a connecting hole on one side of the hinge, and the connecting hole is used for connecting the third link.
10. The robot vacuum cleaner with wheel-leg structure of claim 1, wherein: The driving wheel assembly is a hub motor.