Wheel obstacle crossing mechanism and sweeping robot

Abstract

The present invention relates to the field of robots, and in particular, to a wheel obstacle surmounting mechanism and a sweeping robot. The wheel obstacle surmounting mechanism comprises a shell, a tire, a driving assembly, a connecting rod and an elastic component. The driving assembly is transmission-connected to the tire; the connecting rod is rotationally connected to the driving assembly, one end of the elastic component is fixedly connected to the shell, and the other end is movably connected to the driving assembly or the connecting rod; or one end of the elastic component is fixedly connected to the connecting rod, and the other end of the elastic component is slidably connected to the driving assembly. When encountering an obstacle, the driving assembly drives the tire to rotate, the connecting rod and the shell move relative to each other, thereby lifting the tire, and the elastic component applies an elastic force to the tire, increasing the friction between the tire and the ground, so that the entire wheel obstacle surmounting mechanism overcomes the obstacle. By arranging the above-mentioned wheel obstacle surmounting mechanism in the sweeping robot, the sweeping robot can well overcome obstacles when moving forward or backward during movement.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a wheel obstacle surmounting mechanism and a sweeping robot. Background Art

[0002] A sweeping robot, also known as an automatic sweeper, smart vacuum cleaner, robot vacuum cleaner, etc., is a type of smart home appliance that can automatically clean the floor in the room with a certain degree of artificial intelligence. It generally uses brushing and vacuuming to absorb debris on the floor into its own garbage collection box, thereby completing the function of floor cleaning. Generally speaking, robots that complete sweeping, vacuuming, and mopping are also collectively classified as sweeping robots.

[0003] The movement of the sweeping robots currently sold on the market is achieved by driving wheels with motors and gears.

[0004] However, this method can only ensure good obstacle crossing performance when moving forward or backward, but poor performance when moving backward; and it requires a larger surrounding space. Summary of the invention

[0005] The purpose of the present invention is to provide a wheel obstacle-crossing mechanism, which has excellent obstacle-crossing capabilities when moving forward and backward.

[0006] The object of the present invention is to provide a sweeping robot which has a simple structure, easy functions, and excellent obstacle-crossing capabilities when moving forward and backward.

[0007] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0008] A wheel obstacle crossing mechanism comprises: a shell; a tire; the tire is installed in the shell and exposed at the bottom of the shell; a driving assembly for driving the tire to rotate; the driving assembly is transmission-connected to the tire; a connecting rod; the connecting rod is rotationally connected to the driving assembly; and an elastic component, wherein one end of the elastic component is fixedly connected to the shell and the other end of the elastic component is movably connected to the driving assembly or the connecting rod; or one end of the elastic component is fixedly connected to the connecting rod and the other end of the elastic component is slidably connected to the driving assembly.

[0009] In a preferred embodiment of the present invention,

[0010] The driving assembly includes a gear box, a transmission assembly and a power source; the power source is transmission-connected to the gear box, the gear box is transmission-connected to the transmission assembly; and the transmission assembly is transmission-connected to the tire.

[0011] In a preferred embodiment of the present invention,

[0012] The transmission assembly is a gear rack assembly or a synchronous belt and synchronous wheel assembly.

[0013] In a preferred embodiment of the present invention,

[0014] One end of the connecting rod is rotatably connected to the gear box; the other end of the connecting rod is connected to the housing through the first shaft.

[0015] In a preferred embodiment of the present invention,

[0016] The transmission assembly is connected to the tire through a rotating shaft, and the connecting rod is connected to the rotating shaft.

[0017] In a preferred embodiment of the present invention,

[0018] One end of the gear box is drivingly connected to the transmission assembly, and the other end of the gear box is slidingly connected to the shell through a second shaft.

[0019] In a preferred embodiment of the present invention,

[0020] The shell is provided with a first groove, and the first shaft is arranged in the first groove.

[0021] In a preferred embodiment of the present invention,

[0022] The tooth box is provided with a third shaft, the shell body is provided with a second groove, the third shaft is arranged in the second groove, and the third shaft can slide in the second groove.

[0023] In a preferred embodiment of the present invention,

[0024] One end of the elastic component is connected to the second shaft; the other end of the elastic component is connected to the shell.

[0025] In a preferred embodiment of the present invention,

[0026] One end of the elastic component is connected to the first shaft; the other end of the elastic component is connected to the shell.

[0027] A sweeping robot comprises the above-mentioned wheel obstacle-crossing mechanism.

[0028] The beneficial effects of the present invention are:

[0029] The present invention provides a wheel obstacle-crossing mechanism, comprising a shell, a tire, a driving assembly, a connecting rod, and an elastic component. The tire is installed in the shell, and the tire is exposed at the bottom of the shell; the driving assembly is transmission-connected to the tire; the connecting rod is rotationally connected to the driving assembly; one end of the elastic component is fixedly connected to the shell, and the other end is movably connected to the driving assembly or the connecting rod; or one end of the elastic component is fixedly connected to the connecting rod, and the other end of the elastic component is slidably connected to the driving assembly. When encountering an obstacle, the driving assembly drives the tire to rotate, the connecting rod and the shell move relative to each other, thereby lifting the tire, and the elastic component applies elastic force to the tire to increase the friction between the tire and the ground, so that the entire wheel obstacle-crossing mechanism can cross the obstacle.

[0030] The present invention provides a sweeping robot, comprising the above-mentioned wheel obstacle-crossing mechanism. By arranging the above-mentioned wheel obstacle-crossing mechanism in the sweeping robot, the sweeping robot can not only well cross obstacles when moving forward or backward, but also has a simple structure and easy functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic structural diagram of a wheel obstacle surmounting mechanism provided in the first embodiment of the present invention;

[0033] Figure 2 A schematic diagram of the exploded structure of the wheel obstacle surmounting mechanism provided in the first embodiment of the present invention;

[0034] Figure 3 A schematic structural diagram of a tire, a drive assembly and a connecting rod assembly of a wheel obstacle crossing mechanism provided in a first embodiment of the present invention;

[0035] Figure 4 A schematic structural diagram of a bottom shell of a wheel obstacle crossing mechanism provided in a first embodiment of the present invention;

[0036] Figure 5 A schematic structural diagram of a wheel obstacle surmounting mechanism provided in the second embodiment of the present invention.

[0037] Icons: 100-wheel obstacle crossing mechanism; 110-tire; 111-second axis; 112-gear box body; 113-first axis; 114-third axis; 121-gear box; 122-transmission assembly; 123-power source; 124-rotating shaft; 130-connecting rod; 140-housing; 150-face shell; 151-third wall; 153-third notch; 155-first convex part; 156-first groove; 160- Bottom shell; 161-base; 163-first wall; 164-second wall; 165-first recess; 166-second groove; 167-first notch; 168-second notch; 170-elastic component; 200-wheel obstacle crossing mechanism; 210-tire; 213-first axis; 221-tooth box; 230-connecting rod; 250-surface shell; 252-first hook; 253-second hook; 270-elastic component. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0041] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] First embodiment

[0044] Please refer to Figure 1-Figure 4 This embodiment provides a wheel obstacle crossing mechanism 100 , which includes a tire 110 , a driving assembly, a connecting rod 130 , a housing 140 and an elastic component 170 .

[0045] Furthermore, the aforementioned driving assembly and connecting rod 130 are both disposed in the housing 140 , and the tire 110 is exposed at the bottom of the housing 140 .

[0046] Furthermore, the housing 140 includes a front shell 150 and a bottom shell 160 , wherein the front shell 150 and the bottom shell 160 are covered and connected.

[0047] Furthermore, the bottom shell 160 has a flat base 161, on which a substantially rectangular bottom shell body is connected, and the top of the bottom shell body has an opening, that is, the bottom shell body has no top surface. The bottom shell 160 body has a first wall 163, a second wall 164 and a first recess 165.

[0048] Furthermore, a second groove 166 and a first notch 167 are formed on the first wall 163 , and a second notch 168 is formed on the second wall 164 .

[0049] Furthermore, similarly, the face shell 150 is also roughly in the shape of a cuboid. The bottom of the cuboid face shell 150 is open, that is, the cuboid face shell 150 has no bottom surface, so that it can cooperate with the bottom shell 160 to cover and connect.

[0050] Furthermore, the rectangular parallelepiped housing 150 has a third wall 151, a fourth wall (not shown) and a first convex portion 155. The third wall 151 is provided with a third notch 153; the fourth wall is provided with a fourth notch (not shown). The first convex portion 155 and the first concave portion 165 are mutually matched and connected for subsequent assembly of the connecting rod 130.

[0051] The third notch 153 and the fourth notch can cooperate with the first notch 167 and the second notch 168. When the aforementioned driving assembly, connecting rod 130 and tire 110 are assembled in the housing 140, they can be clamped exactly at the first notch 167, the second notch 168, the third notch 153 and the fourth notch.

[0052] Furthermore, the driving assembly includes a gear box 121 , a transmission assembly 122 and a power source 123 ; the power source 123 is transmission-connected to the gear box 121 , the gear box 121 is transmission-connected to the transmission assembly 122 ; and the transmission assembly 122 is transmission-connected to the tire 110 .

[0053] The gearbox is also called a gearbox. It increases or decreases the speed and torque of rotation by meshing gears of different sizes. It is also called a gearbox. The large gear drives the small gear to increase the speed and reduce the torque, and the small gear drives the large gear to reduce the speed and increase the torque. Its working principle is well known to those skilled in the art and will not be described here.

[0054] The tooth box 121 mentioned above can be a tooth box structure commonly used in the art.

[0055] Furthermore, the tooth box 121 mentioned above has a second shaft 111 , a tooth box body 112 and a first shaft 113 .

[0056] The power source 123 is connected to the gear box 121 , the gear box 121 is connected to the driving assembly, and the driving assembly is connected to the tire 110 via the rotating shaft 124 .

[0057] Furthermore, the power source 123 can be a motor or an electric machine.

[0058] Furthermore, the aforementioned first notch 167 and the third notch 153 form a first groove 156, so that the second shaft 111 can be installed in the first groove 156, and can drive the tooth box 121 to move linearly in the first groove 156, while allowing the tooth box 121 to rotate around the second shaft 111 within a certain range.

[0059] Furthermore, the shaft on the gear box 121 , namely the third shaft 114 , can be installed in the aforementioned second groove 166 , thereby driving the gear box 121 to move in the second groove 166 .

[0060] Furthermore, the third shaft 114 is drivingly connected to the transmission assembly 122, and the transmission assembly 122 is drivingly connected to the tire 110, so that the tire 110 can be driven to rotate 360 ​​degrees.

[0061] Furthermore, in this embodiment, the transmission assembly 122 is optionally configured as a rack and pinion assembly.

[0062] In other optional embodiments of the present invention, the transmission assembly 122 is optionally configured as a synchronous belt and synchronous wheel assembly.

[0063] Furthermore, one end of the connecting rod 130 is transmission-connected to the transmission assembly 122 , and the other end is rotationally connected to the housing 140 via the first shaft 113 .

[0064] Specifically, one end of the connecting rod 130 is connected to the rotating shaft 124, so that the connecting rod 130 is located between the driving assembly and the tire 110. The other end of the connecting rod 130 is rotatably connected to the surface shell 150 through the first shaft 113. When encountering an obstacle, the driving assembly drives the tire 110 to rotate, and the connecting rod 130 and the housing 140 move relative to each other, thereby lifting the tire 110, ensuring that the tire 110 passes over the obstacle. Further, by providing the connecting rod 130, the rotation direction of the tire 110 can be further limited, thereby ensuring that the tire 110 can be smoothly lifted and reset without deviation.

[0065] Further, one end of the elastic component 170 is connected to the housing 140 , and the other end is connected to the driving assembly. Specifically, one end of the elastic component 170 is connected to the housing 140 , and the other end is connected to the gear box 121 .

[0066] Specifically, one end of the elastic component 170 is connected to the surface shell 150 of the housing 140, and the other end is connected to the gear box 121. Specifically, one end of the elastic component 170 is fixedly connected to the surface shell 150, and the other end is connected to the second shaft 111. When the second shaft 111 slides in the first groove 156, it can pull the elastic component 170 to generate elastic force, thereby increasing the friction between the tire 110 and the ground, so that the tire 110 is pressed against the ground, and then overcomes the obstacle.

[0067] Further, the elastic component 170 can be selected as a tension spring, a compression spring or a torsion spring. In this embodiment, a tension spring is selected. A hook is provided on the surface shell 150, and a hook is also provided on the second shaft 111, so that the tension spring can be connected to the two hooks.

[0068] Specifically, please combine Figure 1 When the tire 110 rotates counterclockwise, the product moves to the left. When an obstacle prevents the tire 110 from rotating, the gear box 121 rotates clockwise around the second axis 111; at this time, the third axis 114 will lift the entire wheel obstacle-crossing mechanism 100 at the second groove 166; at the same time, the second axis 111 slides in the first groove 156, tightening the tension spring, and under the elastic force of the tension spring, the tire 110 is pressed against the ground to increase the friction. Under the dual effects of lifting the entire wheel obstacle-crossing mechanism 100 and increasing the friction, the entire wheel obstacle-crossing mechanism 100 can smoothly cross the obstacle.

[0069] Similarly, when the tire 110 rotates clockwise, the product moves to the right. When an obstacle prevents the tire 110 from rotating, the gear box 121 rotates counterclockwise around the second axis 111; at this time, the third axis 114 will lift the entire wheel obstacle-crossing mechanism 100 at the second groove 166; at the same time, the second axis 111 slides in the first groove 156, tightening the tension spring, and under the elastic force of the tension spring, the tire 110 is pressed against the ground to increase friction, so that the entire wheel obstacle-crossing mechanism 100 can cross the obstacle.

[0070] Furthermore, after the above-mentioned wheel obstacle crossing mechanism 100 crosses the obstacle, the second shaft 111 returns to its original position in the first groove 156, so that the tension spring is reset, and the third shaft 114 also returns to its original position in the second groove 166, so that the tire 110 is reset, and the entire wheel obstacle crossing mechanism 100 can move forward smoothly on a flat road without obstacles.

[0071] Furthermore, the wheel obstacle-crossing mechanism 100 can be applied to other fields such as sweeping robots, and has excellent obstacle-crossing capabilities when moving forward and backward.

[0072] Second embodiment

[0073] Please refer to Figure 5This embodiment provides a wheel obstacle surmounting mechanism 200, which has the same basic structure as the wheel obstacle surmounting mechanism 100 provided in the first embodiment, except that the arrangement of the elastic component 270 of the wheel obstacle surmounting mechanism 200 is different. One end of the elastic component 270 is fixedly connected to the surface shell 250, and the other end of the elastic component 270 is movably connected to the connecting rod 230.

[0074] It should be noted that, in this embodiment, the gear box 221 and the connecting rod 230 are integrated.

[0075] Furthermore, a through slot is provided at one end of the top of the face shell 250, a first hook 252 is provided on the connecting rod 230, the first hook 252 passes through the through slot, one end of the elastic component 270 is connected to the first hook 252, and a second hook 253 is provided at the top of the face shell 250 near the other end, and the other end of the elastic component 270 is connected to the second hook 253.

[0076] The first shaft 213 is rotatably connected to the surface shell 250. When the first shaft 213 rotates, it drives the first hook 252 to rotate, thereby tightening or loosening the elastic component 270, thereby acting on the tire 210, lifting the tire 210, and increasing the friction between the tire 210 and the ground, thereby allowing the tire 210 to pass over obstacles.

[0077] Further, the wheel obstacle surmounting mechanism 200 is not provided with the third shaft 114 and the second shaft 111 in the first embodiment. The structure of the wheel obstacle surmounting mechanism 200 can also be such that the entire wheel obstacle surmounting mechanism 200 surmounts obstacles, and the structure is simpler.

[0078] Third embodiment

[0079] This embodiment provides a wheel obstacle surmounting mechanism, one end of the elastic component of the wheel obstacle surmounting mechanism is fixedly connected to the connecting rod, and the other end of the elastic component is slidably connected to the driving assembly; other structures are the same as the wheel obstacle surmounting mechanism 100 provided in the first embodiment.

[0080] Fourth embodiment

[0081] This embodiment provides a sweeping robot, which includes the wheel obstacle crossing mechanism provided in the first embodiment, the second embodiment or the third embodiment.

[0082] By installing the wheel obstacle-crossing mechanism provided in the first embodiment in the sweeping robot, the sweeping robot can not only overcome obstacles well when moving forward or backward, but also has a simple structure and easy functions.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. It should be noted that similar numbers and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

Claims

1. A wheel obstacle crossing mechanism, characterized in that: include: case; tire; The tire is installed in the shell, and the tire is exposed at the bottom of the shell; A driving assembly for driving the tire to rotate; the driving assembly is drivingly connected to the tire; link; The connecting rod is rotatably connected to the driving assembly; as well as An elastic component, one end of which is fixedly connected to the housing, and the other end of which is movably connected to the driving assembly; or One end of the elastic component is fixedly connected to the connecting rod, and the other end of the elastic component is slidably connected to the driving assembly; one end of the connecting rod is connected to the rotating shaft, so that the connecting rod is located between the driving assembly and the tire; the other end of the connecting rod is rotatably connected to the housing through the first shaft; a first groove is provided on the housing, and one end of the connecting rod is drivingly connected to the driving assembly; The driving assembly has a second shaft, which is installed in the first slot and can drive the driving assembly to move linearly in the first slot while causing the driving assembly to rotate around the second shaft; The driving assembly includes a gear box; the gear box is provided with a third shaft, the shell is provided with a second groove, the third shaft is arranged in the second groove, and the third shaft can slide in the second groove.

2. The wheel obstacle crossing mechanism according to claim 1, characterized in that: The driving assembly also includes a transmission assembly and a power source; the power source is transmission-connected to the gear box, and the gear box is transmission-connected to the transmission assembly; and the transmission assembly is transmission-connected to the tire.

3. The wheel obstacle crossing mechanism according to claim 2, characterized in that: The transmission assembly is a gear rack assembly or the transmission assembly is a synchronous belt and synchronous wheel assembly.

4. The wheel obstacle crossing mechanism according to claim 3, characterized in that: The transmission assembly is connected to the tire via a rotating shaft, and the connecting rod is connected to the rotating shaft.

5. The wheel obstacle crossing mechanism according to claim 3, characterized in that: One end of the tooth box is drivingly connected to the transmission assembly, and the other end of the tooth box is slidingly connected to the shell through a second shaft.

6. The wheel obstacle crossing mechanism according to claim 1, characterized in that: One end of the elastic component is connected to the second shaft; the other end of the elastic component is connected to the housing.

7. The wheel obstacle crossing mechanism according to claim 6, characterized in that: One end of the elastic component is connected to the first shaft; the other end of the elastic component is connected to the housing.

8. A sweeping robot, characterized in that: It comprises the wheel obstacle crossing mechanism as described in any one of claims 1-7.

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