A lever wheel set mechanism of a sweeping robot

Abstract

A lever wheel group mechanism of a sweeping robot, comprising a main body and a wheel group arranged on the main body, the wheel group comprising a gear box hinged to the main body through a shaft body, a driving device connected to an input end of the gear box, a rotating wheel connected to an output end of the gear box, and a spring connected to the gear box and arranged vertically, the spring being located at a side of the gear box, a lower part of the spring being connected to the gear box, an upper part of the spring being connected to the main body, the spring and the rotating wheel being respectively located at two sides of the shaft body, and the main body being internally provided with a protective cover located above the gear box, the upper part of the spring being connected to the protective cover. The spring is arranged vertically and located at the side of the gear box, and the spring is not arranged horizontally above the gear box, so that more vertical movement space is reserved for the gear box.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning household electrical appliances, and particularly relates to a lever type wheel set mechanism of a sweeping robot. BACKGROUND

[0002] Patent application No. 202010145417.2 discloses a sweeping robot on July 3, 2020, which comprises a sweeping robot main body, at least two edge wheel mechanisms and a moving chassis. The edge wheel mechanism comprises a driving assembly, a connecting plate and a reset spring. The driving assembly is connected with a rim to drive the rim to rotate. The connecting plate is fixedly connected with the sweeping robot main body. The driving assembly is hingedly connected with the connecting plate. One end of the reset spring is connected with the driving assembly, and the other end of the reset spring is connected with the sweeping robot main body. The reset spring is horizontally arranged. A hooking part is arranged on the opposite surface of the surface where the hinged part is located. The hooking part is a hook. One end of the reset spring is hooked on the hooking part, and the other end of the reset spring is connected with the cleaning robot main body.

[0003] According to the drawings in the above-mentioned application, the reset spring is horizontally arranged above the gear box. During the upward retraction and downward reset of the edge wheel of the sweeping robot, the gear box moves synchronously with the edge wheel. The gear box swings with the hinged part as the center. Since the reset spring is arranged above the gear box, the reset spring horizontally spans the entire gear box. This arrangement of the reset spring occupies the vertical space above the corresponding position of the gear box in the main body, thereby limiting the swing range of the gear box upward, and the stroke size of the edge wheel adjustment, which affects the obstacle crossing ability of the sweeping robot during walking. Therefore, further improvement is needed.

[0004] In addition, patent application No. 201910998948.3 discloses a new type of sweeping robot on December 24, 2019, which also has the above-mentioned problems. The robot shell comprises a robot face shell and a robot bottom shell located at the lower end side of the robot face shell. The robot bottom shell is provided with a driving wheel assembly at the left end side and the right end side of the suction port assembly. The driving wheel assembly comprises a walking gear reduction box, a walking driving motor and a stretching spring. The stretching spring is located between the reduction box hook and the bottom shell hook. The front end of the stretching spring is hooked on the reduction box hook, and the rear end of the stretching spring is hooked on the bottom shell hook. The stretching spring pulls the reduction box upper end connecting seat of the walking gear reduction box rearward.

[0005] With reference to the drawings in the above application, the tension spring is also located directly above the reduction gearbox, and substantially spans the entire upper side of the reduction gearbox. This arrangement occupies the vertical space directly above the corresponding position of the reduction gearbox inside the robot shell, limits the amplitude of the upward swing of the reduction gearbox, and thus limits the stroke size of the up-down adjustment of the walking drive wheel, affecting the obstacle crossing ability of the robot when walking, and thus has certain limitations. Therefore, further improvement is needed. SUMMARY

[0006] The present application aims to at least overcome one of the deficiencies of the prior art, and provides a lever-type wheel set mechanism for a sweeping robot, in which the spring is vertically arranged and located on the side of the gear box, and the spring is not horizontally arranged directly above the gear box, thereby providing more vertical space for the gear box.

[0007] To achieve the above-mentioned purpose, the technical scheme provided by the present application is as follows:

[0008] A lever-type wheel set mechanism for a sweeping robot, comprising a main body and a wheel set arranged on the main body, the wheel set comprising a gear box hingedly connected to the main body through a shaft, a driving device connected to the input end of the gear box, a rotating wheel connected to the output end of the gear box, and a spring connected to the gear box and arranged vertically, the spring being located on the side of the gear box, the lower part of the spring being connected to the gear box, the upper part of the spring being connected to the main body, and the spring and the rotating wheel being located on the two sides of the shaft, respectively.

[0009] Further, the main body is internally provided with a protective cover located above the gear box, and the upper part of the spring is connected to the protective cover.

[0010] Further, the bottom of the main body is provided with a through slot for at least the rotating wheel to extend downward out of the main body, the protective cover is arranged on the upper part of the rotating wheel and located above the through slot, the protective cover is at least covered on the rotating wheel, the interior of the protective cover is in communication with the through slot, and the spring is located on the outer side of the protective cover.

[0011] Further, the gear box is provided with a lower connecting rod, the lower part of the spring is arranged on the lower connecting rod, the protective cover is provided with an upper connecting rod, the upper part of the spring is arranged on the upper connecting rod, the upper and lower connecting rods are arranged in an up-down arrangement, and the upper and lower parts of the spring are respectively provided with hook portions arranged on the upper and lower connecting rods.

[0012] Further, the inner bottom surface of the main body is provided with a surrounding plate, the rotating wheel and the gear box are located on the inner side of the surrounding plate, the driving device is at least partially located on the inner side of the surrounding plate, the protective cover is arranged on the surrounding plate, and the driving device at least partially penetrates out of the surrounding plate and the protective cover.

[0013] Further, the lower connecting rod is outwardly penetrated through the coaming, the coaming is provided with a vertical movable slot corresponding to the lower connecting rod, the lower connecting rod is outwardly penetrated through the vertical movable slot, and the coaming and the cover form a space for the rotating wheel, the gear box and the driving device to move up and down.

[0014] Further, the cover is arranged on the gear box and / or the driving device.

[0015] Further, the spring and the rotating wheel are respectively arranged on the front and rear sides of the shaft body, and the shaft body is arranged at the bottom of the gear box and close to the side of the spring.

[0016] Further, the main body is provided with an installation slot penetrating through the bottom surface of the main body and opposite to the bottom of the gear box, and a positioning slot communicating with the installation slot and arranged on both sides of the installation slot, the positioning slot penetrates through the bottom surface of the main body downward, the both ends of the shaft body are arranged in the positioning slots, the bottom of the main body is provided with a cover plate arranged below the shaft body and the gear box, the bottom of the main body is provided with a shaft mounting seat corresponding to the shaft body, the shaft mounting seat is arranged in the installation slot, and the shaft body is arranged on the shaft mounting seat.

[0017] Further, the driving device is an electric motor.

[0018] The beneficial effects of the present application are as follows:

[0019] 1. The spring is vertically arranged and located on the side of the gear box, the spring is not horizontally arranged above the gear box, more vertical movement space is reserved for the gear box, the more vertical movement space can increase the stroke size of the rotating wheel up and down adjustment, and the obstacle crossing ability of the sweeping robot is improved.

[0020] 2. The cover is arranged to reduce the dirt entering the main body through the through slot, the cover separates the spring and the through slot, reduces the dirt adhering to the spring through the through slot, the installation slot and the positioning slot are arranged to reduce the installation height of the shaft body on the main body, thereby reducing the installation height of the gear box, and the gravity center of the main body is reduced.

[0021] 3. The present application has the advantages of simple structure, convenient installation and high reliability. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is an exploded view of an embodiment of the present application.

[0023] Figure 2 It is a structural schematic view of an embodiment of the present application.

[0024] Figure 3 It is a partial view of an embodiment of the present application.

[0025] Figure 4 It is a structural schematic view of a wheel set and a cover of an embodiment of the present application.

[0026] Figure 5 A cross-sectional view of an embodiment of the present application Figure 1 .

[0027] Figure 6 A cross-sectional view of an embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0029] Referring to Figures 1-6 , the lever type wheel set mechanism of the present application comprises a main body 1 and a wheel set arranged on the main body 1, the number of the wheel sets is two and they are arranged symmetrically along the left-right direction, the wheel set comprises a gear box 3 hinged to the main body 1 through a shaft body 2, a driving device 4 connected to the input end of the gear box 3, a rotating wheel 5 connected to the output end of the gear box 3, and a spring 6 connected to the gear box 3 and arranged vertically, the driving device 4 is a motor, the gear box 3 performs circumferential swing with the shaft body 2 as the center, so that the rotating wheel 5 can realize upwarping and downswing, the spring 6 is located at the side of the gear box 3, the lower part of the spring 6 is connected to the gear box 3, the upper part of the spring 6 is connected to the main body 1, the spring 6 and the rotating wheel 5 are respectively located at the two sides of the shaft body 2, and the arrangement mode of the spring 6, the rotating wheel 5, the shaft body 2 and the gear box 3 constitutes a lever type (or called a seesaw type) structure. When the rotating wheel 5 contacts the protrusion of the ground, the rotating wheel 5 upwarp, that is, the rotating wheel 5 is retracted to the inside of the main body 1, and the spring 6 is stretched. When the rotating wheel 5 passes the protrusion, the spring 6 is tightened, driving the rotating wheel 5 to downswing, that is, the rotating wheel 5 is stretched to the lower part of the main body 1.

[0030] The spring 6 of the present application is arranged vertically and located at the side of the gear box 3, the spring 6 is not arranged horizontally above the gear box 3, the spring 6 does not need to span the whole upper part of the gear box 3, more vertical movement space is reserved for the gear box 3, and the more vertical movement space can increase the stroke size of the up-down adjustment of the rotating wheel 5, improving the obstacle crossing ability of the sweeping robot.

[0031] Of course, the arrangement mode of the spring 6 can also not be used to increase the vertical movement space of the gear box 3 or not only be used to increase the vertical movement space of the gear box 3, but instead can adopt the mode of reducing the height dimension of the main body 1. Since the spring 6 is not arranged horizontally above the gear box 3, the height dimension of the main body 1 can be reduced, which is beneficial to reducing the weight of the sweeping robot and realizing the light weight of the sweeping robot.

[0032] In an embodiment of the present application, as Figure 1、 4 As shown in FIG. 5, 6, the body 1 is internally provided with a cover 7 above the gear box 3, the upper part of the spring 6 is connected with the cover 7, and the cover 7 is arranged to facilitate the installation of the upper part of the spring 6.

[0033] In an embodiment of the present application, as shown in FIG. 1, Figure 1 、 2 As shown in FIG. 3, the bottom of the body 1 is provided with a through slot 8 for the downward extension of the rotating wheel 5 out of the body 1, the cover 7 is arranged on the upper part of the rotating wheel 5 and above the through slot 8, the cover 7 is at least arranged on the rotating wheel 5, the inside of the cover 7 is communicated with the through slot 8, the arrangement of the cover 7 is conducive to reducing the dirt entering the inside of the body 1 through the through slot 8, the spring 6 is located outside the cover 7, and the cover 7 separates the spring 6 and the through slot 8, thereby reducing the dirt adhering to the spring 6 through the through slot 8.

[0034] In an embodiment of the present application, as shown in FIG. 1, Figure 1 、 4 As shown in FIG. 6, the gear box 3 is provided with a lower connecting rod 9, the lower part of the spring 6 is arranged on the lower connecting rod 9, the cover 7 is provided with an upper connecting rod 10, the upper part of the spring 6 is arranged on the upper connecting rod 10, the upper connecting rod 10 and the lower connecting rod 9 are arranged in an up-down manner, the arrangement of the lower connecting rod 9 and the upper connecting rod 10 enables the spring 6 to be vertically arranged on the side of the gear box 3, the spring 6 is not horizontally arranged above the gear box 3, more vertical space is reserved for the gear box 3, the upper part and the lower part of the spring 6 are respectively provided with hook parts (not shown in the figure) arranged on the upper connecting rod 10 and the lower connecting rod 9, and the installation of the spring 6 is facilitated.

[0035] In an embodiment of the present application, as shown in FIG. 1, Figure 1 、 5 As shown in FIG. 6, the inner bottom surface of the body 1 is provided with a surrounding plate 11, the rotating wheel 5 and the gear box 3 are located inside the surrounding plate 11, the driving device 4 is at least partially located inside the surrounding plate 11, the cover 7 is arranged on the surrounding plate 11, the arrangement of the cover 7 and the surrounding plate 11 is conducive to reducing the dirt entering the inside of the body 1 through the through slot 8, and the driving device 4 is at least partially outwardly arranged out of the surrounding plate 11 and the cover 7.

[0036] In an embodiment of the present application, as shown in FIG. 1, Figure 1 、 6As shown, the lower connecting rod 9 is outwardly penetrated through the coaming 11, and the coaming 11 is provided with a vertical movable slot 12 corresponding to the lower connecting rod 9, the lower connecting rod 9 is outwardly penetrated through the coaming 11 through the vertical movable slot 12, the vertical movable slot 12 enables the lower connecting rod 9 to be movable, and the vertical movable slot 12 can also be used to limit the movable range of the lower connecting rod 9, the gear box 3 is circumferentially swung with the shaft body 2 as the center, when the lower connecting rod 9 contacts the top of the vertical movable slot 12, the lower connecting rod 9 reaches the maximum position of upward movement, and when the lower connecting rod 9 contacts the bottom of the vertical movable slot 12, the lower connecting rod 9 reaches the maximum position of downward movement. The coaming 11 and the cover 7 form a range for the rotating wheel 5, the gear box 3 and the driving device 4 to move up and down, and the coaming 11 and the cover 7 are provided with notches 13 for the driving device 4 to penetrate outwardly.

[0037] In an embodiment of the present application, the cover 7 covers the gear box 3 and / or the driving device 4, as shown in 5 and 6, in this embodiment, the cover 7 covers the gear box 3 and the driving device 4. Figure 1 、 4 In an embodiment of the present application, the cover 7 covers the gear box 3 and / or the driving device 4, as shown in 5 and 6, in this embodiment, the cover 7 covers the gear box 3 and the driving device 4.

[0038] In an embodiment of the present application, the spring 6 and the rotating wheel 5 are respectively located on the front and rear sides of the shaft body 2, as shown in 5 and 6, the shaft body 2 is located at the bottom of the gear box 3 and close to one side of the spring 6, so as to realize the arrangement of the spring 6, the rotating wheel 5 and the shaft body 2. Figure 1 、 4 In an embodiment of the present application, the spring 6 and the rotating wheel 5 are respectively located on the front and rear sides of the shaft body 2, as shown in 5 and 6, the shaft body 2 is located at the bottom of the gear box 3 and close to one side of the spring 6, so as to realize the arrangement of the spring 6, the rotating wheel 5 and the shaft body 2.

[0039] In an embodiment of the present application, the main body 1 is provided with an installation slot 14 penetrating through the bottom surface of the main body 1 and opposite to the bottom of the gear box 3, and a positioning slot 15 communicating with the installation slot 14 and located on both sides of the installation slot 14, the positioning slot 15 penetrates through the bottom surface of the main body 1 downwardly, both ends of the shaft body 2 are arranged in the positioning slot 15, and the installation slot 14 and the positioning slot 15 are arranged in a manner of reducing the installation height of the shaft body 2 on the main body 1, thereby reducing the installation height of the gear box 3 and lowering the gravity center of the main body 1, which is beneficial to improve the stability of the sweeping robot when walking, the main body 1 is provided with a cover plate 16 located below the shaft body 2 and the gear box 3, the cover plate 16 is arranged for protecting the shaft body 2 and the positioning of the shaft body 2, the main body 1 is provided with a shaft mounting seat 17 corresponding to the shaft body 2, the shaft mounting seat 17 is located in the installation slot 14, and the shaft body 2 is penetrated and arranged on the shaft mounting seat 17, the lever type wheel set mechanism of the present sweeping robot is simple in structure, convenient to install and high in reliability. Figure 1 2 In an embodiment of the present application, the main body 1 is provided with an installation slot 14 penetrating through the bottom surface of the main body 1 and opposite to the bottom of the gear box 3, and a positioning slot 15 communicating with the installation slot 14 and located on both sides of the installation slot 14, the positioning slot 15 penetrates through the bottom surface of the main body 1 downwardly, both ends of the shaft body 2 are arranged in the positioning slot 15, and the installation slot 14 and the positioning slot 15 are arranged in a manner of reducing the installation height of the shaft body 2 on the main body 1, thereby reducing the installation height of the gear box 3 and lowering the gravity center of the main body 1, which is beneficial to improve the stability of the sweeping robot when walking, the main body 1 is provided with a cover plate 16 located below the shaft body 2 and the gear box 3, the cover plate 16 is arranged for protecting the shaft body 2 and the positioning of the shaft body 2, the main body 1 is provided with a shaft mounting seat 17 corresponding to the shaft body 2, the shaft mounting seat 17 is located in the installation slot 14, and the shaft body 2 is penetrated and arranged on the shaft mounting seat 17, the lever type wheel set mechanism of the present sweeping robot is simple in structure, convenient to install and high in reliability.

[0040] ​The above are the preferred schemes of the present application, which show and describe the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Various changes and improvements can be made to the present application without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A lever-type wheel assembly mechanism for a robotic vacuum cleaner, characterized in that, The system includes a main body (1) and a wheel assembly mounted on the main body (1). The wheel assembly includes a gearbox (3) hinged to the main body (1) via a shaft (2), a drive device (4) connected to the input end of the gearbox (3), a rotating wheel (5) connected to the output end of the gearbox (3), and a spring (6) connected to the gearbox (3) and arranged vertically. The spring (6) is located on the side of the gearbox (3), with the lower part of the spring (6) connected to the gearbox (3) and the upper part of the spring (6) connected to the main body (1). The spring (6) and the rotating wheel (5) are located on both sides of the shaft (2). The gearbox (3) swings circumferentially around the shaft (2) so that the rotating wheel (5) can swing up and down. The arrangement of the spring (6), the rotating wheel (5), the shaft (2), and the gearbox (3) constitutes a lever structure. The main body (1) has a cover (7) located above the gearbox (3) inside. The spring (6) is located on the outside of the cover (7). The gearbox (3) has a lower connecting rod (9). The lower part of the spring (6) is set on the lower connecting rod (9). The cover (7) has an upper connecting rod (10). The upper part of the spring (6) is set on the upper connecting rod (10). The upper connecting rod (10) and the lower connecting rod (9) are arranged vertically.

2. The lever-type wheel mechanism of the sweeping robot according to claim 1, characterized in that, The bottom of the main body (1) is provided with at least a through groove (8) for the rotating wheel (5) to extend downward from the main body (1). The cover (7) is provided on the upper part of the rotating wheel (5) and above the through groove (8). The cover (7) covers at least the rotating wheel (5), and the inside of the cover (7) is connected to the through groove (8).

3. The lever-type wheel mechanism of the sweeping robot according to claim 2, characterized in that, The upper and lower parts of the spring (6) are respectively provided with hooks that are hung on the upper connecting rod (10) and the lower connecting rod (9).

4. The lever-type wheel mechanism of the sweeping robot according to claim 3, characterized in that, The inner bottom surface of the main body (1) is provided with a surrounding plate (11), the rotating wheel (5) and the gearbox (3) are located inside the surrounding plate (11), the driving device (4) is at least partially located inside the surrounding plate (11), the cover (7) is provided on the surrounding plate (11), and the driving device (4) extends at least partially outward through the surrounding plate (11) and the cover (7).

5. The lever-type wheel mechanism of the sweeping robot according to claim 4, characterized in that, The lower connecting rod (9) extends outward through the enclosure (11). The enclosure (11) has a vertical movable groove (12) corresponding to the lower connecting rod (9). The lower connecting rod (9) extends outward through the enclosure (11) via the vertical movable groove (12). The enclosure (11) and the cover (7) form a space for the rotating wheel (5), gearbox (3), and drive device (4) to move up and down. The sides of the enclosure (11) and the cover (7) have notches (13) for the drive device (4) to extend outward.

6. The lever-type wheel assembly mechanism of the sweeping robot according to any one of claims 2-5, characterized in that, The cover (7) is placed over the gearbox (3) and / or the drive unit (4).

7. The lever-type wheel mechanism of the sweeping robot according to claim 1, characterized in that, The spring (6) and the rotating wheel (5) are located on the front and rear sides of the shaft (2), respectively. The shaft (2) is located at the bottom of the gearbox (3) and on the side close to the spring (6).

8. The lever-type wheel mechanism of the sweeping robot according to claim 1, characterized in that, The main body (1) is provided with an installation groove (14) that penetrates the bottom surface of the main body (1) and is opposite to the bottom of the gearbox (3), and a positioning groove (15) that communicates with the installation groove (14) and is located on both sides of the installation groove (14). The positioning groove (15) penetrates the bottom surface of the main body (1) downward. The two ends of the shaft (2) are set in the positioning groove (15). The bottom of the main body (1) is provided with a cover plate (16) located below the shaft (2) and the gearbox (3). The bottom of the main body (1) is provided with a shaft mounting seat (17) corresponding to the shaft (2). The shaft mounting seat (17) is located in the installation groove (14), and the shaft (2) is mounted on the shaft mounting seat (17).

9. The lever-type wheel mechanism of the sweeping robot according to claim 1, characterized in that, The driving device (4) is a motor.

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