Active obstacle-crossing driving wheel and robot thereof

Abstract

The present invention relates to the technical field of household cleaning equipment, and more specifically, to an active obstacle-crossing driving wheel and a robot thereof. Mainly applied to a cleaning robot, the front side of the bottom of the cleaning robot is provided with a front wheel, the active obstacle-crossing driving wheel comprises a power source, and a main wheel and an auxiliary wheel provided at the bottom of the cleaning robot, the auxiliary wheel and the main wheel share the power output of the power source, and the main wheel is located at the rear side of the center of gravity of the cleaning robot, and the auxiliary wheel is located at the front side of the center of gravity of the cleaning robot; in the active obstacle-crossing driving wheel and the robot thereof, by distributing the main wheel and the auxiliary wheel on both sides of the center of gravity of the cleaning robot, and by changing the supporting position of the cleaning robot when facing an obstacle, the cleaning robot is tilted to the rear side as a whole, and the tilting makes the height of the front side of the cleaning robot higher, thereby achieving the traversal of obstacles with a height higher than the height of the chassis, and increasing the obstacle-crossing ability of the cleaning robot.

Description

Technical Field

[0001] The invention relates to the technical field of household cleaning equipment, in particular to an active obstacle-crossing driving wheel and a robot thereof. Background Art

[0002] Cleaning robots, also known as automatic sweepers, smart vacuum cleaners, robot vacuum cleaners, etc., are a type of smart home appliance that can automatically clean the floor in a room with a certain degree of artificial intelligence. Generally, they use brushing and vacuuming to absorb debris on the floor into their 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 cleaning robots.

[0003] At present, household cleaning robots are becoming more and more popular. Many consumers will buy cleaning robots for household floor cleaning. The obstacle crossing ability of existing cleaning robots is limited by the diameter of the running wheels, that is, the larger the running wheel diameter, the stronger the obstacle crossing ability, and the smaller the diameter, the weaker the obstacle crossing ability. When the cleaning robot is performing a cleaning task, the body cannot be too far from the ground, otherwise it will affect the cleaning robot's ability to clean up garbage on the ground. Therefore, the diameter of the running wheel cannot be increased indefinitely.

[0004] However, there are usually some sliding door tracks, small steps in sunken bathrooms, etc. on the floor of the user's home. When the height of these obstacles is higher than the height of the cleaning robot chassis, conventional robots find it difficult to overcome these obstacles, resulting in the robot being unable to clean every location in the user's home, affecting the user's experience. Summary of the invention

[0005] The object of the present invention is to provide an active obstacle-crossing driving wheel and a robot thereof, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, one of the objects of the present invention is to provide an active obstacle-crossing driving wheel, which is applied to a cleaning robot, wherein a front wheel is arranged at the front side of the bottom of the cleaning robot, and the active obstacle-crossing driving wheel comprises a power source, and a main wheel and an auxiliary wheel arranged at the bottom of the cleaning robot, wherein the auxiliary wheel and the main wheel share the power output of the power source, and the main wheel is located at the rear side of the center of gravity of the cleaning robot, and the auxiliary wheel is located at the front side of the center of gravity of the cleaning robot;

[0007] The auxiliary wheel is connected to a swing arm, and the height of the auxiliary wheel is adjusted by the swing arm to lift the cleaning robot, so that the main supporting part of the bottom of the cleaning robot is in front of the center of gravity, forcing the cleaning robot to tilt backward as a whole, thereby making the cleaning robot face obstacles in an inclined posture and increasing the height of the front side of the cleaning robot.

[0008] As a further improvement of the present technical solution, the front side refers to a side in the forward direction of the cleaning robot, and the rear side refers to a side opposite to the forward direction of the cleaning robot.

[0009] As a further improvement of the present technical solution, a shell is provided on the outer periphery of the main wheel, and a rotating shaft passing through one side of the shell is coaxially fixedly connected to one side of the main wheel, a first motor is provided at the shell, and the first motor and the rotating shaft are rotationally connected through a first gear set, the first gear set is rotatably provided on the side wall of the shell, and a first gear cover is provided on the side wall of the shell corresponding to the first gear set.

[0010] As a further improvement of the technical solution, the swing arm includes a swing arm housing having one end rotatably arranged on the side wall of the first gear cover and the other end rotatably connected to the auxiliary wheel; one end of the rotating shaft passes through the first gear cover and penetrates into the swing arm housing, and a shaft is coaxially fixedly connected to one side of the auxiliary wheel, one end of the shaft is rotatably penetrated into the swing arm housing, and a transmission belt is provided between the shaft and the rotating shaft to connect the two;

[0011] The portion where the swing arm is rotatably connected to the first gear cover is coaxial with the rotating shaft; and a connecting rod cover is provided on the side wall of the swing arm housing.

[0012] As a further improvement of the present technical solution, it also includes a driving mechanism, which includes a transmission shaft connected to the second motor, one end of the transmission shaft is fixedly connected to a cam located at the top of the connecting rod cover; a spring is arranged between the top of the swing arm housing and the side wall of the first gear cover to provide the swing arm housing with the ability to reset.

[0013] As a further improvement of the present technical solution, the transmission shaft is rotatably arranged at one end in the motor housing, the second motor is fixedly arranged at the other end of the motor housing, and the output end of the second motor penetrates into the motor housing; a second gear set is arranged between the transmission shaft and the output shaft of the second motor to connect the two.

[0014] As a further improvement of the technical solution, it also includes a center of gravity transfer mechanism, which includes an electromagnet fixedly arranged on the front side of the cleaning robot and a metal counterweight block slidably arranged on the rear side of the cleaning robot; wherein,

[0015] The metal counterweight is within the magnetic range of the electromagnet. When the electromagnet attracts the metal counterweight, the center of gravity of the cleaning robot is transferred from between the main wheel and the auxiliary wheel to between the front wheel and the auxiliary wheel, so that the cleaning robot can switch from an inclined state to a horizontal state when climbing over an obstacle.

[0016] As a further improvement of the technical solution, the electromagnet and the metal counterweight are both arranged in an installation cavity arranged inside the cleaning robot, and the installation cavity is in an inclined state with a height toward the front side and a height toward the rear side;

[0017] The electromagnet is fixed at the higher end of the installation cavity, and the metal counterweight is slidably arranged at the lower end of the installation cavity.

[0018] As a further improvement of the present technical solution, when the auxiliary wheel is above an obstacle, the swing arm drives the auxiliary wheel to contact the top of the obstacle, so that the auxiliary wheel uses rotation to provide traction for the cleaning robot to move forward, so that the cleaning robot has the ability to overcome obstacles without accelerating.

[0019] A second object of the present invention is to provide a robot using active obstacle-crossing drive wheels, comprising a shell, wherein the active obstacle-crossing drive wheels are arranged at the bottom of the shell.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the active obstacle-crossing driving wheel and the robot thereof, the main wheels and auxiliary wheels are distributed on both sides of the center of gravity of the cleaning robot, and when facing an obstacle, the supporting position of the cleaning robot is changed so that the cleaning robot as a whole tilts toward the rear side. The tilting will increase the height of the front side of the cleaning robot, thereby achieving climbing over obstacles with a height higher than the chassis height, thereby increasing the obstacle-crossing capability of the cleaning robot.

[0022] 2. In the active obstacle-crossing driving wheel and the robot thereof, the center of gravity of the cleaning robot is changed by the magnetic attraction between the electromagnet and the metal counterweight, so that the cleaning robot can be tilted by the auxiliary wheel before crossing the obstacle to increase the front height of the cleaning robot. During the obstacle-crossing process, the cleaning robot is supported to a horizontal state, and the rotation of the auxiliary wheel drives the main wheel to the top of the obstacle until the main wheel contacts the top of the obstacle. Therefore, there is no need to accelerate to climb over the obstacle, which reduces the impact force of the cleaning robot with the object when climbing over.

[0023] 3. The active obstacle-crossing drive wheel and its robot, through the cooperation of the auxiliary wheel and the main wheel, can provide the cleaning robot with forward traction during the obstacle-crossing process, so that the cleaning robot can use the forward traction to increase the forward power of the cleaning robot, so that the cleaning robot can slowly climb over obstacles without accelerating. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the rotating shaft of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the swing arm of the present invention;

[0027] Figure 4 is a schematic structural diagram of the auxiliary wheel of the present invention;

[0028] Figure 5 It is a schematic diagram of the state of the swing arm of the present invention;

[0029] Figure 6 The state diagram of the cleaning robot of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 7 The state diagram of the cleaning robot of the present invention is shown in FIG. Figure 2 ;

[0031] Figure 8 The auxiliary state of the swing arm of the present invention is shown in FIG. Figure 1 ;

[0032] Fig. 9 The auxiliary state of the swing arm of the present invention is shown in FIG. Figure 2 .

[0033] The meaning of each number in the figure is:

[0034] 100, main wheel; 101, first motor; 102, housing; 103, rotating shaft; 104, first gear set; 105, first gear cover; 110, swing arm; 111, swing arm housing; 112, transmission belt; 113, connecting rod cover; 120, auxiliary wheel; 130, driving mechanism; 131, motor housing; 132, second motor; 133, transmission shaft; 134, second gear cover; 135, cam; 136, spring; 137, second gear set; 200, cleaning robot; 201, front wheel; 202, inclined plane; 203, rear wheel; 300, electromagnet; 301, metal counterweight. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] See also Figure 1 As shown, one of the purposes of the present invention is to provide an active obstacle-crossing drive wheel, which is applied to a cleaning robot 200. A front wheel 201 is arranged on the front side of the bottom of the cleaning robot 200. The active obstacle-crossing drive wheel includes a power source, and a main wheel 100 and an auxiliary wheel 120 arranged at the bottom of the cleaning robot 200. The auxiliary wheel 120 and the main wheel 100 share the power output of the power source. The main wheel 100 is located at the rear side of the center of gravity of the cleaning robot 200, and the auxiliary wheel 120 is located at the front side of the center of gravity of the cleaning robot 200; the auxiliary wheel 120 is connected to a swing arm 110, and the height of the auxiliary wheel 120 is adjusted by the swing arm 110 to lift the cleaning robot 200, so that the main supporting part of the bottom of the cleaning robot 200 is located in front of the center of gravity, thereby making the cleaning robot 200 tilt backward as a whole, so that the cleaning robot 200 faces the obstacle in an inclined posture, and the height of the front side of the cleaning robot 200 is increased.

[0039] The front side refers to a side in the forward direction of the cleaning robot 200 , and the rear side refers to a side opposite to the forward direction of the cleaning robot 200 .

[0040] That is to say, by distributing the main wheels 100 and the auxiliary wheels 120 on both sides of the center of gravity of the cleaning robot 200, and by changing the support position of the cleaning robot 200 when facing an obstacle, the cleaning robot 200 is tilted toward the rear as a whole. The tilting will increase the height of the front side of the cleaning robot 200, thereby achieving the ability to climb over obstacles that are higher than the height of the chassis, thereby increasing the obstacle-crossing capability of the cleaning robot 200.

[0041] In addition, an upwardly contracted inclined surface 202 is provided on the rear side of the bottom of the cleaning robot 200, so as to prevent the rear side of the cleaning robot 200 from contacting the ground when tilted. In addition, a rear wheel 203 is provided on the inclined surface 202 to reduce the friction generated when the bottom of the cleaning robot 200 contacts the ground.

[0042] like Figure 2 As shown, a shell 102 is provided on the outer periphery of the main wheel 100, and a rotating shaft 103 penetrating one side of the shell 102 is coaxially fixedly connected to one side of the main wheel 100, a first motor 101 is provided at the shell 102, and the first motor 101 and the rotating shaft 103 are rotationally connected via a first gear set 104, the first gear set 104 is rotatably provided on the side wall of the shell 102, and a first gear cover 105 is provided at a position of the side wall of the shell 102 corresponding to the first gear set 104.

[0043] Here, the first motor 101 is the power source mentioned above. The power of the output shaft of the first motor 101 is amplified by the first gear set 104 and then transmitted to the rotating shaft 103, so that the rotating shaft 103 drives the main wheel 100 to rotate, thereby allowing the cleaning robot 200 to move through the main wheel 100.

[0044] like Figure 3 and Figure 4 As shown, the swing arm 110 includes a swing arm housing 111 with one end rotatably arranged on the side wall of the first gear cover 105 and the other end rotatably connected to the auxiliary wheel 120; one end of the rotating shaft 103 passes through the first gear cover 105 and penetrates into the swing arm housing 111; and a shaft is coaxially fixedly connected to one side of the auxiliary wheel 120, one end of the shaft rotates and penetrates into the swing arm housing 111, and a transmission belt 112 is arranged between the shaft and the rotating shaft 103 to connect the two. At the same time, the part where the swing arm 110 is rotatably connected to the first gear cover 105 is coaxial with the rotating shaft 103. In addition, a connecting rod cover 113 is arranged on the side wall of the swing arm housing 111. In this way, the rotating shaft 103 can drive the auxiliary wheel 120 to rotate through the transmission belt 112 during the rotation process.

[0045] Moreover, the active obstacle-crossing driving wheel further includes a driving mechanism 130, which includes a transmission shaft 133 drivingly connected to the second motor 132, and one end of the transmission shaft 133 is fixedly connected to a cam 135 located at the top of the connecting rod cover 113. At the same time, a spring 136 is arranged between the top of the swing arm housing 111 and the side wall of the first gear cover 105, and the spring 136 is a tension spring to provide the swing arm housing 111 with the ability to reset.

[0046] Specifically, one end of the transmission shaft 133 is rotatably disposed in the motor housing 131, and the second motor 132 is fixedly disposed at the other end of the motor housing 131, and the output end of the second motor 132 penetrates into the motor housing 131, and a second gear set 137 is disposed between the transmission shaft 133 and the output shaft of the second motor 132 to transmit and connect the two, and a second gear cover 134 is disposed on the side wall of the motor housing 131 to protect the second gear set 137. In addition, one end of the transmission shaft 133 penetrates the second gear cover 134 to achieve connection with the cam 135.

[0047] When the active obstacle-crossing driving wheel of the present invention is in operation, Figure 5 As shown in the state in , A is the center of gravity of the cleaning robot 200, the main wheel 100 is located on the right side of the center of gravity A (i.e., the rear side), the auxiliary wheel 120 is located on the left side of the center of gravity A (i.e., the front side), and the front wheel 201 is located on the front side of the cleaning robot 200; in normal conditions, the main wheel 100 and the front wheel 201 are in contact with the ground, and at this time, the center of gravity A is between the main wheel 100 and the front wheel 201, so the cleaning robot 200 is in a horizontal state as a whole.

[0048] Then, if Figure 6 As shown in the upper part of the figure, when an obstacle appears in front of the cleaning robot 200, the second motor 132 drives the transmission shaft 133 to rotate, the transmission shaft 133 drives the cam 135 to rotate, and the cam 135 rotates to apply downward pressure to the swing arm 110, so that the swing arm 110 drives the auxiliary wheel 120 to move downward and lift the cleaning robot 200. Then, as shown in FIG. Figure 6 As shown in the lower half of the figure, when the auxiliary wheel 120 lifts up the cleaning robot 200, since the center of gravity A is located behind the auxiliary wheel 120, the cleaning robot 200 as a whole will tilt to the lower right (i.e., the rear side). At this time, the height of the left side of the cleaning robot 200 becomes higher, thereby preventing the front side of the cleaning robot 200 from contacting obstacles and allowing the cleaning robot 200 to continue moving forward.

[0049] Then, if Figure 7As shown in the state in , when the cleaning robot 200 is tilted, the main wheel 100 and the auxiliary wheel 120 are both in contact with the ground, and the swing arm 110 and the auxiliary wheel 120 can drive the cleaning robot 200 to move forward. When the auxiliary wheel 120 moves to the obstacle, the cam 135 is controlled to return to its position, and the cam 135 stops pressing the swing arm 110, and then the spring 136 drives the auxiliary wheel 120 to return to its position through its own elasticity. When the auxiliary wheel 120 moves to the top of the obstacle, the cam 135 is continued to be controlled to rotate, and the cam 135 applies downward pressure to the swing arm 110 again, so that the auxiliary wheel 120 lifts the cleaning robot 200 again. In this process, the cleaning robot 200 is in a continuous moving process. Therefore, when the cleaning robot 200 is lifted, the inertia of the cleaning robot 200 itself will force the cleaning robot 200 to continue to move forward, thereby driving the main wheel 100 to move to the top of the obstacle. At this time, the main wheel 100 continues to rotate to increase the power for the cleaning robot 200 to move forward, so as to achieve the obstacle crossing action.

[0050] In addition, in the related art, most of the actions related to overcoming obstacles need to be performed with the help of inertia, that is, the cleaning robot 200 needs to be accelerated during the obstacle-crossing process so as to use the inertia generated during acceleration to climb over the obstacle. However, in this way, since acceleration will increase the force of contact and collision with the obstacle, and the cleaning robot 200 will also fall to the ground after flying in the air when climbing over the obstacle, the cleaning robot 200 will be subjected to a large impact force, which is easy to be damaged and is not conducive to long-term use.

[0051] To this end, in some embodiments, such as Figure 5 As shown, the active obstacle-crossing driving wheel of the present invention also includes a center of gravity transfer mechanism, which includes an electromagnet 300 fixedly arranged on the front side of the cleaning robot 200, and a metal counterweight block 301 slidably arranged on the rear side of the cleaning robot 200; wherein the metal counterweight block 301 is within the magnetic range of the electromagnet 300. When the electromagnet 300 attracts the metal counterweight block 301, the center of gravity of the cleaning robot 200 is transferred from between the main wheel 100 and the auxiliary wheel 120 to between the front wheel 201 and the auxiliary wheel 120, so that the cleaning robot 200 can switch from an inclined state to a horizontal state when climbing over an obstacle.

[0052] Specifically, first, a mounting cavity is set inside the cleaning robot 200, and the mounting cavity should be in an inclined state with the left side higher and the right side lower. Then, the electromagnet 300 is fixed at the higher end of the mounting cavity, and the metal counterweight 301 is set at the lower end of the mounting cavity. In this way, when the electromagnet 300 is powered on to generate magnetic force, the electromagnet 300 attracts the metal counterweight 301, forcing the metal counterweight 301 to move toward the electromagnet 300, thereby adding weight to the front side of the cleaning robot 200. When the electromagnet 300 is powered off, the metal counterweight 301 is automatically reset through the inclined mounting cavity.

[0053] Specifically at work, Fig. 9 As shown in the figure, when the auxiliary wheel 120 moves to the top of the obstacle, the electromagnet 300 is energized, so that the electromagnet 300 attracts the metal counterweight 301 to the electromagnet 300. At this time, the metal counterweight 301 is located between the front wheel 201 and the auxiliary wheel 120, and changes the center of gravity of the cleaning robot 200 through its own gravity, so that the center of gravity point A of the cleaning robot 200 is transferred from between the main wheel 100 and the auxiliary wheel 120 to between the front wheel 201 and the auxiliary wheel 120. At this time, Figure 8 As shown, the auxiliary wheel 120 acts as a fulcrum. Since the weight of the front side of the cleaning robot 200 is greater than the weight of the rear side, the cleaning robot 200 begins to tilt to the lower left until it is in a horizontal state. In this state, the front wheel 201 and the auxiliary wheel 120 are in contact with the top of the obstacle, and then the auxiliary wheel 120 rotates to drive the cleaning robot 200 to move until the main wheel 100 is at the top of the obstacle. The swing arm 110 is controlled to reset and the auxiliary wheel 120 moves up. At this time, the main wheel 100 is in contact with the ground again to achieve obstacle crossing.

[0054] It is worth noting that in this state, the cleaning robot 200 does not need to accelerate forward, but only needs to move slowly to the obstacle, and then change the center of gravity of the cleaning robot 200, and lift the cleaning robot 200 through the auxiliary wheels 120 to achieve the horizontal state of the cleaning robot 200.

[0055] That is, the center of gravity of the cleaning robot 200 is changed by the magnetic attraction between the electromagnet 300 and the metal counterweight 301, so that the cleaning robot 200 is tilted by the auxiliary wheel 120 before crossing the obstacle to increase the front height of the cleaning robot 200, and the cleaning robot 200 is supported to a horizontal state during the obstacle crossing process, and the main wheel 100 is driven to the top of the obstacle by the rotation of the auxiliary wheel 120 until the main wheel 100 contacts the top of the obstacle. Therefore, there is no need to climb over the obstacle by accelerating, and the impact force of the cleaning robot 200 with the object when climbing over is reduced.

[0056] Furthermore, in some other embodiments, the auxiliary wheels 120 can also be used to assist the cleaning robot 200 in overcoming obstacles. Fig. 9 As shown, when the auxiliary wheel 120 is above an obstacle, the swing arm 110 drives the auxiliary wheel 120 to contact the top of the obstacle, so that the auxiliary wheel 120 uses rotation to provide traction for the cleaning robot 200 to move forward, so that the cleaning robot 200 has the ability to overcome obstacles without accelerating.

[0057] Specifically, during operation, when the auxiliary wheel 120 is on the side of the obstacle, the control cam 135 returns to its original position. At this time, the spring 136 pulls the swing arm 110 to reset, and the swing arm 110 drives the auxiliary wheel 120 to move upward. Then the main wheel 100 drives the cleaning robot 200 forward by rotating, so that the auxiliary wheel 120 is located at the top of the obstacle, and then the cam 135 applies downward pressure to the swing arm 110 to make the auxiliary wheel 120 contact with the top of the obstacle. At this time, the auxiliary wheel 120 provides forward traction for the cleaning robot 200 by rotating, and the main wheel 100 rotates to contact the side wall of the obstacle, providing upward power for the cleaning robot 200. Therefore, under the combined action of the forward traction and the upward power, the cleaning robot 200 can slowly climb over the obstacle without accelerating.

[0058] In summary, through the cooperation of the auxiliary wheel 120 and the main wheel 100, forward traction can be provided to the cleaning robot 200 during the obstacle traversal process, so that the cleaning robot 200 can use the forward traction to increase the forward power of the cleaning robot 200, so that the cleaning robot 200 can slowly climb over obstacles without accelerating.

[0059] The second object of the present invention is to provide a robot using an active obstacle-crossing drive wheel, including a shell and an active obstacle-crossing drive wheel. The specific structure of the active obstacle-crossing drive wheel refers to the above embodiment. Since the present robot adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. The active obstacle-crossing drive wheel is arranged at the bottom of the shell. Optionally, the robot can be a sweeping robot, a washing robot, a mopping robot, etc.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An active obstacle-crossing driving wheel, applied to a cleaning robot (200), wherein a front wheel (201) is arranged at the front side of the bottom of the cleaning robot (200), and the active obstacle-crossing driving wheel comprises a power source, and a main wheel (100) and an auxiliary wheel (120) arranged at the bottom of the cleaning robot (200), characterized in that: The auxiliary wheel (120) and the main wheel (100) share the power output of the power source, and the main wheel (100) is located at the rear side of the center of gravity of the cleaning robot (200), and the auxiliary wheel (120) is located at the front side of the center of gravity of the cleaning robot (200); The auxiliary wheel (120) is connected to a swing arm (110), and the height of the auxiliary wheel (120) is adjusted by the swing arm (110) to lift the cleaning robot (200), so that the main supporting part of the bottom of the cleaning robot (200) is located in front of the center of gravity, forcing the cleaning robot (200) to tilt backward as a whole, thereby making the cleaning robot (200) face the obstacle in an inclined posture, thereby increasing the height of the front side of the cleaning robot (200); It also comprises a centre of gravity transfer mechanism, which comprises an electromagnet (300) fixedly arranged on the front side of the cleaning robot (200), and a metal counterweight block (301) slidably arranged on the rear side of the cleaning robot (200).

2. The active obstacle-crossing driving wheel according to claim 1, characterized in that: The front side refers to a side in the forward direction of the cleaning robot (200), and the rear side refers to a side opposite to the forward direction of the cleaning robot (200).

3. The active obstacle-crossing driving wheel according to claim 1, characterized in that: A housing (102) is provided on the outer periphery of the main wheel (100), and a rotating shaft (103) penetrating one side of the housing (102) is coaxially fixedly connected to one side of the main wheel (100), and a first motor (101) is provided at the housing (102), and the first motor (101) and the rotating shaft (103) are rotationally connected via a first gear set (104), and the first gear set (104) is rotationally provided on a side wall of the housing (102), and a first gear cover (105) is provided at a portion of the side wall of the housing (102) corresponding to the first gear set (104).

4. The active obstacle-crossing driving wheel according to claim 3, characterized in that: The swing arm (110) comprises a swing arm housing (111) having one end rotatably arranged on a side wall of a first gear cover (105) and the other end rotatably connected to an auxiliary wheel (120); one end of the rotating shaft (103) passes through the first gear cover (105) and then penetrates into the swing arm housing (111); a shaft is coaxially fixedly connected to one side of the auxiliary wheel (120); one end of the shaft is rotatably inserted into the swing arm housing (111); and a transmission belt (112) is provided between the shaft and the rotating shaft (103) to connect the two; The portion where the swing arm (110) is rotatably connected to the first gear cover (105) is coaxial with the rotating shaft (103); and a connecting rod cover (113) is provided on the side wall of the swing arm housing (111).

5. The active obstacle-crossing driving wheel according to claim 4, characterized in that: The invention also comprises a driving mechanism (130), wherein the driving mechanism (130) comprises a transmission shaft (133) drivingly connected to the second motor (132), one end of the transmission shaft (133) being fixedly connected to a cam (135) located at the top of the connecting rod cover (113); and a spring (136) is arranged between the top of the swing arm housing (111) and the side wall of the first gear cover (105) to provide the swing arm housing (111) with a reset capability.

6. The active obstacle-crossing driving wheel according to claim 5, characterized in that: One end of the transmission shaft (133) is rotatably disposed in the motor housing (131), the second motor (132) is fixedly disposed in the other end of the motor housing (131), and the output end of the second motor (132) penetrates into the motor housing (131); a second gear set (137) is disposed between the transmission shaft (133) and the output shaft of the second motor (132) for transmission connection between the two.

7. The active obstacle-crossing driving wheel according to claim 1, characterized in that: The metal counterweight (301) is within the magnetic range of the electromagnet (300); when the electromagnet (300) attracts the metal counterweight (301), the center of gravity of the cleaning robot (200) is transferred from between the main wheel (100) and the auxiliary wheel (120) to between the front wheel (201) and the auxiliary wheel (120), so that the cleaning robot (200) switches from an inclined state to a horizontal state when climbing over an obstacle.

8. The active obstacle-crossing driving wheel according to claim 7, characterized in that: The electromagnet (300) and the metal counterweight (301) are both arranged in an installation cavity arranged inside the cleaning robot (200), and the installation cavity is in an inclined state with a height toward the front and a height toward the rear; The electromagnet (300) is fixed at the higher end of the installation cavity, and the metal counterweight (301) is slidably arranged at the lower end of the installation cavity.

9. The active obstacle-crossing driving wheel according to claim 1, characterized in that: When the auxiliary wheel (120) is located above an obstacle, the swing arm (110) drives the auxiliary wheel (120) to contact the top of the obstacle, so that the auxiliary wheel (120) uses rotation to provide traction for the cleaning robot (200) to move forward, so that the cleaning robot (200) has the ability to overcome obstacles without accelerating.

10. A robot using the active obstacle-crossing driving wheel as claimed in any one of claims 1 to 9, characterized in that: It comprises a shell, and the active obstacle-crossing driving wheel is arranged at the bottom of the shell.

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