Obstacle crossing auxiliary device and cleaning robot

Abstract

The utility model relates to the technical field of robots, in particular to an obstacle crossing auxiliary device and a cleaning robot, which comprise a rotary driving component, a connecting rod, an auxiliary wheel and a hub motor, one end of the connecting rod is connected with the rotary driving component, and the other end of the connecting rod is connected with the auxiliary wheel; the auxiliary wheel is provided with a first transmission connecting element, the hub motor is provided with a second transmission connecting element, and the rotary driving assembly is used for driving the connecting rod to rotate so as to drive the auxiliary wheel to move, so that the first transmission connecting element is in transmission connection with the second transmission connecting element. The obstacle crossing mechanism solves the problem that an existing obstacle crossing structure only has an auxiliary function and does not have a power function. The obstacle crossing effect is better, and the stability is better.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an obstacle-crossing auxiliary device and a cleaning robot. 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 the house with a certain degree of artificial intelligence. Sweeping robots use brushing and vacuuming to absorb debris on the ground 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] The cleaning robot is a mobile device with automated technology. The vacuum cleaner with a dust collection box cooperates with the body to set the control path, so that it can walk repeatedly indoors. When cleaning in a house, there are usually some stairs with different heights, and the cleaning robot needs to cross the stairs to clean. Most of the existing obstacle crossing mechanisms have complex structures, complex installation procedures, and poor stability. Utility Model Content

[0004] In order to solve the above problems, the utility model provides an obstacle-crossing auxiliary device and a cleaning robot with better obstacle-crossing effect and better stability, which solves the problem that the existing obstacle-crossing structure only has auxiliary function but no power function.

[0005] The technical solution adopted by the utility model is: an obstacle-crossing auxiliary device, comprising a rotary drive assembly, a connecting rod, an auxiliary wheel and a hub motor, wherein one end of the connecting rod is connected to the rotary drive assembly, and the other end is connected to the auxiliary wheel; the auxiliary wheel is provided with a first transmission connection element, and the hub motor is provided with a second transmission connection element, and the rotary drive assembly is used to drive the connecting rod to rotate to drive the auxiliary wheel to move, so that the first transmission connection element is transmission-connected with the second transmission connection element.

[0006] A further improvement to the above solution is that a connecting piece is provided at the driving end of the rotary drive assembly, and one end of the connecting piece is connected to the connecting rod.

[0007] A further improvement to the above solution is that the connecting member is provided with a plurality of connecting holes, and the connecting rod is rotatably connected to the connecting holes by screws.

[0008] A further improvement to the above solution is that the rotation drive component is a motor or a steering gear.

[0009] A further improvement to the above solution is that both the first transmission connection element and the second transmission connection element are gears, and when the hub motor rotates, the auxiliary wheel is driven to rotate through the meshing of the gears.

[0010] A further improvement to the above solution is that the rotary drive assembly is used to drive the connecting rod to rotate, so as to drive the auxiliary wheel to rotate around the rotary drive assembly as an axis.

[0011] A further improvement to the above scheme is that when the first transmission connection element is separated from the second transmission connection element, the horizontal height of the auxiliary wheel is higher than the horizontal height of the hub motor, and when the first transmission connection element is transmission-connected with the second transmission connection element, the horizontal height of the auxiliary wheel is lower than the horizontal height.

[0012] A cleaning robot comprises the obstacle-crossing auxiliary device.

[0013] A further improvement to the above scheme is that the cleaning robot includes a fuselage, and the rotary drive assembly and the hub motor are both mounted on the fuselage, and the rotary drive assembly is used to drive the connecting rod to rotate to drive the auxiliary wheel to move, so that one end of the fuselage is lifted.

[0014] A further improvement to the above scheme is that a front wheel is provided in the traveling direction of the fuselage, and the front wheel is provided with a suspension connected to the fuselage, and the suspension is used for the front wheel to float up and down along the vertical direction of the fuselage.

[0015] The beneficial effects of the utility model are:

[0016] Compared with the existing robot obstacle crossing mechanism, the utility model drives the connecting rod to drive the auxiliary wheel to move by rotating the driving assembly, so as to form an angle between the robot body and the ground, and lift the body to cross the obstacle; a hub motor is also provided, and the second transmission connection element provided on the hub motor is connected to the first transmission connection element of the auxiliary wheel to make the auxiliary wheel have power, so that after being lifted, the auxiliary wheel can drive the robot body to move, so that the auxiliary wheel has power when crossing the obstacle. The problem that the existing obstacle crossing structure only has auxiliary function but no power function is solved. The obstacle crossing effect is better and the stability is better.

[0017] The utility model drives the connecting rod to rotate through the rotary drive assembly, so that the auxiliary wheel can move. This design enables the auxiliary wheel to help the main device to cross obstacles, thereby improving the passing capacity and flexibility of the device. The connection between the connecting rod and the rotary drive assembly and the connection between the auxiliary wheel and the connecting rod ensures the smooth movement of the auxiliary wheel during the movement. This can reduce vibration and friction, and improve the stability and service life of the equipment. The transmission connection between the auxiliary wheel and the hub motor is realized through the transmission connection of the first transmission connection element and the second transmission connection element. This design ensures the reliability of the transmission connection and ensures that the auxiliary wheel can accurately follow the rotation of the rotary drive assembly.

[0018] The design of the utility model allows adjustment and change according to actual needs. The length of the connecting rod, the position of the auxiliary wheel and other parameters can be adjusted according to different scenes and obstacles to achieve better obstacle crossing. The setting of the hub motor allows the device to be operated and adjusted through an intelligent control system. The movement speed and direction of the auxiliary wheel can be automatically adjusted according to real-time data and user instructions, improving the intelligence and adaptive ability of the device.

[0019] A cleaning robot using the obstacle-crossing auxiliary device can easily cross various step obstacles, making it easy for the cleaning robot to enter and exit different areas for cleaning, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the obstacle-crossing auxiliary device of the utility model;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure of the obstacle-crossing auxiliary device in another state;

[0022] Figure 3 for Figure 1 A schematic side view of the obstacle assistance device;

[0023] Figure 4 for Figure 1 A schematic side view of the obstacle assistance device in another state;

[0024] Figure 5 for Figure 1 A three-dimensional schematic diagram of the obstacle-crossing assistance device;

[0025] Figure 6 This is a schematic diagram of the structure of the cleaning robot of the utility model;

[0026] Figure 7 for Figure 6 Schematic diagram of the cleaning robot's obstacle crossing state.

[0027] Explanation of the reference numerals: rotary drive assembly 1 , connecting member 11 , connecting hole 12 , connecting rod 2 , auxiliary wheel 3 , first transmission connecting element 31 , wheel hub motor 4 , second transmission connecting element 41 , fuselage 5 , front wheel 51 . DETAILED DESCRIPTION

[0028] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0031] like Figure 1 to Figure 5 As shown, in one embodiment of the utility model, an obstacle crossing auxiliary device is involved, including a rotary drive component 1, a connecting rod 2, an auxiliary wheel 3 and a hub motor 4, one end of the connecting rod 2 is connected to the rotary drive component 1, and the other end is connected to the auxiliary wheel 3; the auxiliary wheel 3 is provided with a first transmission connection element 31, and the hub motor 4 is provided with a second transmission connection element 41, and the rotary drive component 1 is used to drive the connecting rod 2 to rotate, so as to drive the auxiliary wheel 3 to move, so that the first transmission connection element 31 is connected to the second transmission connection element 41. In this embodiment, the rotary drive component 1 drives the connecting rod 2 to drive the auxiliary wheel 3 to move, so as to form an angle between the robot body and the ground, and lift the body to cross the obstacle; the hub motor 4 is also provided, and the second transmission connection element 41 provided on the hub motor 4 is connected to the first transmission connection element 31 of the auxiliary wheel 3 through transmission, so that the auxiliary wheel 3 has power, so that after lifting, the robot body can be driven to move through the auxiliary wheel 3, so that the auxiliary wheel 3 has power when crossing the obstacle. The problem that the existing obstacle crossing structure has only auxiliary function but no power function is solved. The obstacle crossing effect is better and the stability is better.

[0032] In this embodiment, the auxiliary wheel 3 is moved by driving the connecting rod 2 to rotate through the rotary drive component 1. This design enables the auxiliary wheel 3 to help the main device to overcome obstacles, thereby improving the passing capacity and flexibility of the device. The connection between the connecting rod 2 and the rotary drive component 1 and the connection between the auxiliary wheel 3 and the connecting rod 2 ensures the smooth movement of the auxiliary wheel 3 during the movement. This can reduce vibration and friction and improve the stability and service life of the equipment. The transmission connection between the auxiliary wheel 3 and the hub motor 4 is achieved through the transmission connection of the first transmission connection element 31 and the second transmission connection element 41. This design ensures the reliability of the transmission connection and ensures that the auxiliary wheel 3 can accurately follow the rotation of the rotary drive component 1.

[0033] The design of the above embodiment allows adjustment and change according to actual needs. According to different scenes and obstacles, the length of the connecting rod 2, the position of the auxiliary wheel 3 and other parameters can be adjusted to achieve better obstacle crossing effect. The setting of the hub motor 4 allows the device to be operated and adjusted through an intelligent control system. The movement speed and direction of the auxiliary wheel 3 can be automatically adjusted according to real-time data and user instructions, improving the intelligence and adaptability of the device.

[0034] The driving end of the rotary drive assembly 1 is provided with a connecting member 11, one end of which is connected to the connecting rod 2. Specifically, the connecting member 11 is provided with a plurality of connecting holes 12, and the connecting rod 2 is rotatably connected to the connecting hole 12 by screws. In this embodiment, the design of the connecting member 11 allows the connecting rod 2 to be rotatably connected to the connecting hole 12 by screws. This connection method can provide a stable connection to ensure that the transmission between the connecting rod 2 and the rotary drive assembly 1 can be carried out reliably. The connecting member 11 is provided with a plurality of connecting holes 12, which allows the connecting rod 2 to be installed and adjusted by selecting different connecting holes 12. According to the height and position of the obstacle, a suitable connecting hole 12 can be selected to adjust the length of the connecting rod 2 to meet different obstacle crossing requirements. Driven by the rotary drive assembly 1, the connecting rod 2 can be precisely rotated. This design enables the cleaning robot to adjust the angle and strength of obstacle crossing according to actual conditions to achieve a more accurate and stable obstacle crossing effect.

[0035] The rotary drive assembly 1 is a motor or a steering gear. In this embodiment, a steering gear is generally selected for use, which has low structural cost, occupies little space, and does not require too much force to support the cleaning robot body, so the selection of a steering gear is more appropriate. When used in some robot bodies with heavier bodies and larger volumes, a motor can be used for driving, and the body can also be lifted.

[0036] The first transmission connection element 31 and the second transmission connection element 41 are both gears. When the hub motor 4 rotates, the auxiliary wheel 3 is driven to rotate through the meshing of the gears. In this embodiment, gears are selected for meshing transmission connection, which is better used during the meshing and separation process and has better stability. Consistency can also be achieved during transmission. In different embodiments, structures with similar functions to gears can also be selected, such as a transmission structure in which a tooth block and a groove cooperate.

[0037] The rotary drive assembly 1 is used to drive the connecting rod 2 to rotate, so as to drive the auxiliary wheel 3 to rotate with the rotary drive assembly 1 as the axis. In this embodiment, the function is to drive the connecting rod 2 to rotate, and at the same time form a circular swing, so as to lift the fuselage to a certain angle under the action of a certain arc, so that the forward direction of the fuselage is lifted to cross the step.

[0038] When the first transmission connection element 31 is separated from the second transmission connection element 41, the level of the auxiliary wheel 3 is higher than the level of the hub motor 4, and when the first transmission connection element 31 is transmission-connected to the second transmission connection element 41, the level of the auxiliary wheel 3 is lower than the horizontal height. In this embodiment, the height adjustment of the auxiliary wheel 3 can be achieved through the transmission connection between the first transmission connection element 31 and the second transmission connection element 41. When separated, the level of the auxiliary wheel 3 is higher than the level of the hub motor 4 to increase the height of the obstacle. When the transmission connection is in connection, the level of the auxiliary wheel 3 is lower than the horizontal height so as to travel on flat ground. By adjusting the transmission connection state between the first transmission connection element 31 and the second transmission connection element 41, the height of the auxiliary wheel 3 can be changed under different terrains. This design enables the cleaning robot to adapt to obstacles of different heights and improves the flexibility and adaptability of obstacle crossing.

[0039] See also Figure 1 to Figure 7 As shown, a cleaning robot using the above obstacle-crossing assisting device can easily cross various step obstacles, making it convenient for the cleaning robot to enter and exit different areas for cleaning, and has strong adaptability.

[0040] The cleaning robot includes a fuselage 5, on which the rotary drive assembly 1 and the hub motor 4 are both mounted, and the rotary drive assembly 1 is used to drive the connecting rod 2 to rotate, so as to drive the auxiliary wheel 3 to move, so that one end of the fuselage 5 is lifted. Specifically, a front wheel 51 is provided in the driving direction of the fuselage 5, and the front wheel 51 is provided with a suspension connected to the fuselage 5, and the suspension is used for the front wheel 51 to float up and down along the vertical direction of the fuselage 5. The connecting rod 2 is driven to rotate by the rotary drive assembly 1, so that the auxiliary wheel 3 can move. When the auxiliary wheel 3 moves, one end of the fuselage 5 will be lifted, so that the cleaning robot can cross obstacles, thereby improving its obstacle crossing ability. Through the coordinated movement of the rotary drive assembly 1 and the auxiliary wheel 3, one end of the fuselage 5 can be lifted and kept stable. This helps to avoid collision or jamming of the fuselage 5 with obstacles, and improves the stability and safety of the robot in the process of crossing obstacles. By controlling the movement of the rotary drive assembly 1, the moving speed and angle of the auxiliary wheel 3 can be adjusted, thereby realizing the adjustment of the height and angle of the lifting of the fuselage 5. This flexible adjustment can adapt to obstacles of different heights and shapes, and improve the flexibility and adaptability of the cleaning robot in overcoming obstacles. By setting the suspension of the front wheel 51, the front wheel 51 can float up and down in the vertical direction of the fuselage 5. This helps to reduce the vibration and impact of the fuselage 5 during driving, and provides a smoother driving experience. The up and down floating of the suspension allows the front wheel 51 to adapt to uneven ground. When the fuselage 5 passes over a raised or sunken ground, the suspension of the front wheel 51 can keep the tire in contact with the ground, providing better traction and stability.

[0041] When the cleaning robot encounters an obstacle during operation, the auxiliary wheel 3 is rotated and extended out of the bottom of the cleaning robot and contacts the ground, so that a certain angle is formed between the cleaning robot and the ground, and then the wheel at the front end of the cleaning robot contacts the obstacle. During the rotation and descent of the auxiliary wheel 3, the gear of the auxiliary wheel 3 meshes with the gear of the wheel hub motor 4, thereby transmitting the power of the wheel hub motor 4 to the auxiliary wheel 3. In this way, the auxiliary wheel 3 obtains power and can rotate, thereby driving the cleaning robot to move until the wheel hub contacts and passes the obstacle.

[0042] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. An obstacle-crossing assisting device, characterized in that: It includes a rotary drive assembly, a connecting rod, an auxiliary wheel and a hub motor, wherein one end of the connecting rod is connected to the rotary drive assembly, and the other end is connected to the auxiliary wheel; the auxiliary wheel is provided with a first transmission connection element, and the hub motor is provided with a second transmission connection element. The rotary drive assembly is used to drive the connecting rod to rotate to drive the auxiliary wheel to move, so that the first transmission connection element is transmission-connected with the second transmission connection element.

2. The obstacle-crossing assisting device according to claim 1, characterized in that: A connecting piece is provided at the driving end of the rotary driving assembly, and one end of the connecting piece is connected to the connecting rod.

3. The obstacle-crossing assisting device according to claim 2, characterized in that: The connecting piece is provided with a plurality of connecting holes, and the connecting rod is rotatably connected to the connecting holes through screws.

4. The obstacle-crossing assisting device according to claim 1, characterized in that: The rotary drive component is a motor.

5. The obstacle-crossing assisting device according to claim 1, characterized in that: The first transmission connection element and the second transmission connection element are both gears. When the hub motor rotates, the auxiliary wheel is driven to rotate through the meshing of the gears.

6. The obstacle-crossing assisting device according to claim 1, characterized in that: The rotary drive assembly is used to drive the connecting rod to rotate, so as to drive the auxiliary wheel to rotate with the rotary drive assembly as the axis.

7. The obstacle-crossing assisting device according to claim 1, characterized in that: When the first transmission connection element is separated from the second transmission connection element, the level of the auxiliary wheel is higher than the level of the hub motor; when the first transmission connection element is transmission-connected to the second transmission connection element, the level of the auxiliary wheel is lower than the horizontal height.

8. A cleaning robot, characterized in that: The obstacle-crossing assisting device comprises the obstacle-crossing assisting device as described in any one of claims 1 to 6.

9. The cleaning robot according to claim 8, characterized in that: The cleaning robot comprises a body, and the rotary drive assembly and the hub motor are both mounted on the body. The rotary drive assembly is used to drive the connecting rod to rotate, so as to drive the auxiliary wheel to move, so that one end of the body is lifted.

10. The cleaning robot according to claim 9, characterized in that: A front wheel is arranged in the traveling direction of the fuselage, and the front wheel is provided with a suspension connected with the fuselage, and the suspension is used for the front wheel to float up and down along the vertical direction of the fuselage.

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