Obstacle crossing auxiliary device and self-moving equipment

Abstract

The utility model relates to the technical field of machine manufacturing, in particular to an obstacle crossing auxiliary device and self-moving equipment. The obstacle crossing auxiliary device comprises a fixed support, a transmission part and an obstacle contact wheel, the fixed support is arranged on a base support of the driving wheel, and a rotating shaft of the obstacle contact wheel is fixedly connected with the fixed support; the transmission part is positioned between the obstacle contact wheel 2 and the driving wheel 3; the obstacle crossing auxiliary device is arranged, the driving force of the driving wheels in the obstacle crossing process is increased by means of the transmission relation between the obstacle crossing auxiliary device and the driving wheels, and therefore the obstacle crossing success rate of the self-moving equipment is increased.

Description

Technical Field

[0001] The present application relates to the field of mechanical manufacturing technology, and in particular to an obstacle-crossing assisting device, a self-moving device and a sweeping robot. Background Art

[0002] During the operation of the self-moving device, it is necessary to avoid large obstacles and overcome small obstacles. In the related technology, the diameter of the wheel hub of the self-moving device or the wear resistance of the tire skin of the self-moving device is usually increased to forcibly achieve the obstacle-overcoming function; however, in the above obstacle-overcoming method, due to the change in the ground friction coefficient in the actual working scene, the tire will slip and the obstacle-overcoming function cannot be achieved, that is, the self-moving device will be stuck in front of the obstacle. Summary of the invention

[0003] In view of the above-mentioned problems in the prior art, the purpose of the present application is to provide an obstacle crossing assistance device, utilize the transmission relationship between the obstacle crossing assistance device and the driving wheel, increase the driving force of the driving wheel during the obstacle crossing process, and thus improve the obstacle crossing success rate of the self-moving device.

[0004] In order to solve the above problems, the present application provides an obstacle-crossing assist device, including a fixed bracket, a transmission member and an obstacle contact wheel.

[0005] The fixed bracket is arranged on the base bracket of the driving wheel, and the rotating shaft of the obstacle contact wheel is fixedly connected to the fixed bracket;

[0006] The transmission member is located between the obstacle contact wheel and the driving wheel.

[0007] In the embodiment of the present application, the transmission member includes a transmission wheel, and the rotating shaft of the transmission wheel is fixedly connected to the fixed bracket;

[0008] In the first state, the obstacle contact wheel is in transmission connection with the driving wheel via the transmission wheel.

[0009] In the embodiment of the present application, the obstacle contact wheel abuts against the transmission wheel.

[0010] In an embodiment of the present application, the obstacle contact wheel is connected to the transmission wheel via a belt drive.

[0011] In the embodiment of the present application, the surface material of the obstacle contact wheel is the same as the surface material of the transmission wheel.

[0012] In the embodiment of the present application, in the first state, the transmission wheel abuts against the driving wheel.

[0013] In an embodiment of the present application, the base bracket includes a connecting shaft, and the fixed bracket is rotatably connected to the base bracket via the connecting shaft;

[0014] In the second state, the transmission wheel and the driving wheel are spaced apart from each other.

[0015] In the embodiment of the present application, the surface material of the transmission wheel is the same as the surface material of the driving wheel.

[0016] In an embodiment of the present application, in the second state, the obstacle contact wheel is in a suspended state.

[0017] On the other hand, the present application also provides a self-moving device, which includes the obstacle-crossing assistance device in the embodiment of the present application, a driving wheel, and a base bracket of the driving wheel.

[0018] On the other hand, the present application also provides a sweeping robot, which includes the obstacle crossing assistance device in the embodiment of the present application, a driving wheel, and a base bracket of the driving wheel.

[0019] Due to the above technical solution, the obstacle-crossing assisting device described in the present application has the following beneficial effects:

[0020] By setting up the obstacle contact wheel, when the device encounters a small obstacle, the obstacle contact wheel will contact the obstacle before the driving wheel; when the obstacle contact wheel contacts the surface of the obstacle, the obstacle contact wheel will be subjected to the friction force given by the obstacle surface, so that the obstacle contact wheel rotates. Specifically, under the influence of the friction force, the obstacle contact wheel rotates, and the friction force on the obstacle contact wheel is transmitted to the driving wheel through the transmission member set between the obstacle contact wheel and the driving wheel, giving the driving wheel a force for the same direction transmission, thereby increasing the forward driving force of the driving wheel and improving the obstacle crossing success rate of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a schematic diagram of the structure of an obstacle-crossing assistance device provided in an embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of an application of an obstacle assistance device provided in an embodiment of the present application.

[0024] Among them, 1-fixed bracket, 2-obstacle contact wheel, 3-driving wheel, 4-base bracket, 5-transmission wheel. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0027] Combination Figure 1 , introduces an obstacle crossing assistance device provided in an embodiment of the present application, the device includes a fixed bracket 1, a transmission member and an obstacle contact wheel 2, the fixed bracket 1 is arranged on a base bracket 4 of a driving wheel 3, and the rotating shaft of the obstacle contact wheel 2 is fixedly connected to the fixed bracket 1; the transmission member is located between the obstacle contact wheel 2 and the driving wheel 3.

[0028] In an embodiment of the present application, the obstacle crossing assistance device can be set on a self-moving device, or on a device such as a suitcase that needs to overcome obstacles; specifically, the self-moving device can be a sweeping robot, a lawn mowing robot, or an intelligent robot that walks on tires.

[0029] In the embodiment of the present application, by setting the obstacle contact wheel 2, when the device encounters a small obstacle, the obstacle contact wheel 2 contacts the obstacle before the driving wheel 3; when the obstacle contact wheel 2 contacts the surface of the obstacle, the obstacle contact wheel 2 is subjected to the friction force given by the surface of the obstacle, so that the obstacle contact wheel 2 rotates. Specifically, under the influence of the friction force, the obstacle contact wheel 2 rotates, and the friction force received by the obstacle contact wheel 2 is transmitted to the driving wheel 3 through the transmission member provided between the obstacle contact wheel 2 and the driving wheel 3, giving the driving wheel 3 a force for the same-direction transmission, thereby increasing the forward driving force of the driving wheel 3 and improving the obstacle crossing success rate of the device.

[0030] In the embodiment of the present application, the transmission member includes a transmission wheel 5, and the rotating shaft of the transmission wheel 5 is fixedly connected to the fixed bracket 1; in the first state, the obstacle contact wheel 2 is transmission-connected to the driving wheel 3 through the transmission wheel 5.

[0031] In a specific embodiment of the present application, the first state is a state in which the device needs to overcome an obstacle. Specifically, when the obstacle contact wheel 2 contacts the surface of the obstacle, the device enters the first state. The device may enter the first state actively, such as by switching the device mode controlled by a controller, or may enter the first state passively, such as by switching the pressure transmission under pressure.

[0032] In a specific embodiment of the present application, the transmission member may include a first transmission wheel 5 , or may include a plurality of transmission wheels 5 arranged in sequence, and the friction force is transmitted from the obstacle contact wheel 2 to the driving wheel 3 through the transmission wheels 5 arranged in sequence.

[0033] In the specific embodiment of the present application, the transmission wheel 5 and the obstacle contact wheel 2 can be driven by friction or by belt; the transmission wheel 5 and the drive wheel 3 can be driven by friction or by belt.

[0034] In the embodiment of the present application, the transmission wheel 5 is provided to transmit the drive wheel 3, so that the transmission scheme can be adjusted based on actual needs, thereby improving the transmission flexibility.

[0035] In the embodiment of the present application, the obstacle contact wheel 2 abuts against the transmission wheel 5 .

[0036] In the embodiment of the present application, the abutment between the obstacle contact wheel 2 and the transmission wheel 5 represents that the obstacle contact wheel 2 and the transmission wheel 5 are driven by friction.

[0037] In the embodiment of the present application, the obstacle contact wheel 2 is brought into contact with the transmission wheel 5 and the transmission between the obstacle contact wheel 2 and the transmission wheel 5 is achieved by friction transmission, which can reduce the cost of belt transmission and the maintenance cost of belt transmission, thereby reducing the manufacturing cost of the obstacle crossing assist device.

[0038] In another embodiment of the present application, the transmission member includes a gear, that is, in the first state, the obstacle contact wheel 2 can be connected to the driving wheel through the gear.

[0039] In another specific embodiment of the present application, when the transmission member is a gear, both the driving wheel 3 and the obstacle contact wheel 2 are provided with a transmission gear.

[0040] In the embodiment of the present application, the surface material of the obstacle contact wheel 2 may be the same as the surface material of the transmission wheel 5 .

[0041] In the embodiment of the present application, by setting the surface material of the obstacle contact wheel 2 to be the same as the surface material of the transmission wheel 5, the tire skin loss during the friction transmission process between the obstacle contact wheel 2 and the transmission wheel 5 is reduced, thereby increasing the service life of the obstacle crossing assistance device and improving the reliability of the obstacle crossing assistance device.

[0042] In the embodiment of the present application, in the first state, the transmission wheel 5 abuts against the driving wheel 3 .

[0043] In the embodiment of the present application, the transmission wheel 5 abuts against the driving wheel 3 to indicate that the transmission wheel 5 and the driving wheel 3 are driven by friction.

[0044] In the embodiment of the present application, by abutting the transmission wheel 5 against the drive wheel 3 and adopting friction transmission to realize transmission between the transmission wheel 5 and the drive wheel 3, the transmission cost and the maintenance cost of the transmission can be reduced, thereby reducing the manufacturing cost of the obstacle crossing assist device.

[0045] In a specific embodiment of the present application, when friction transmission is used between the transmission wheel 5 and the drive wheel 3 and between the transmission wheel 5 and the drive wheel 3, the rotation direction of the obstacle contact wheel 2 is the same as the rotation direction of the drive wheel 3, the rotation direction of the transmission wheel 5 is opposite to the rotation direction of the obstacle contact wheel 2, and the driving force applied to the drive wheel 3 by the transmission is consistent with the rotation direction of the drive wheel 3.

[0046] In the embodiment of the present application, the base bracket 4 includes a connecting shaft, and the fixed bracket 1 is rotatably connected to the base bracket 4 via the connecting shaft; in the second state, the transmission wheel 5 and the driving wheel 3 are arranged at intervals.

[0047] In a specific embodiment of the present application, the second state may refer to a state in which the device is driving normally.

[0048] In the embodiment of the present application, the fixed bracket 1 is rotatably connected to the base bracket 4 via a connecting shaft, and during the normal driving of the mobile equipment, the transmission wheel 5 and the driving wheel 3 are spaced apart, indicating that when the equipment changes from a normal movement state to a situation where it needs to overcome an obstacle, the transmission wheel 5 and the driving wheel 3 change from a spaced apart state to a contact state, thereby transmitting the friction drive received by the obstacle contact wheel 2 to the driving wheel 3, thereby increasing the driving force of the driving wheel 3.

[0049] In the embodiment of the present application, the fixed bracket 1 is rotatably connected to the base bracket 4 through a connecting shaft, and the transmission wheel 5 is spaced apart from the driving wheel 3 during normal driving of the equipment, thereby preventing the obstacle contact wheel 2 from interfering with the rotation of the driving wheel 3 during normal driving of the equipment, thereby improving the application flexibility of the obstacle crossing assistance device.

[0050] In the embodiment of the present application, the surface material of the transmission wheel 5 can be the same as the surface material of the driving wheel 3 .

[0051] In the embodiment of the present application, by setting the surface material of the transmission wheel 5 to be the same as the surface material of the drive wheel 3, the tire skin loss during the friction transmission process between the transmission wheel 5 and the drive wheel 3 is reduced, thereby increasing the service life of the obstacle crossing assistance device and improving the reliability of the obstacle crossing assistance device.

[0052] In another specific embodiment of the present application, the obstacle contact wheel 2 is connected to the transmission wheel 5 through a belt drive.

[0053] In another specific embodiment of the present application, by adopting belt transmission, the transmission reliability between the obstacle contact wheel 2 and the transmission wheel 5 can be improved.

[0054] In the embodiment of the present application, in the second state, the obstacle contact wheel 2 is in a suspended state.

[0055] In the embodiment of the present application, the obstacle contact wheel 2 is suspended in the air, thereby preventing the equipment from being rubbed by the ground during normal driving, thereby preventing the normal driving of the equipment from being disturbed, thereby improving the reliability of the obstacle crossing assistance device.

[0056] In the embodiment of the present application, during normal driving of the equipment, the transmission wheel 5 is in a suspended state.

[0057] In the embodiment of the present application, the wheel diameter of the transmission wheel 5 is smaller than the wheel diameter of the obstacle contact wheel 2 ; the wheel diameter of the obstacle contact wheel 2 is smaller than the wheel diameter of the driving wheel 3 .

[0058] refer to Figure 1-2 , the working principle of the obstacle assistance device in the embodiment of the present application is introduced below:

[0059] During the normal driving of the equipment, the obstacle contact wheel 2 and the transmission wheel 5 are both in a suspended state; when the equipment encounters a small obstacle, the obstacle contact wheel 2 contacts the surface of the obstacle and squeezes the obstacle contact wheel 2 at the same time, so that the fixed bracket 1 rotates relative to the base bracket 4, and then the transmission wheel 5 abuts against the driving wheel 3; when the equipment continues to move forward, the obstacle contact wheel 2 rotates based on the friction force given by the obstacle surface, and the rotation direction of the obstacle contact wheel 2 is consistent with the rotation direction of the driving wheel 3; the driving wheel 5 rotates under friction transmission, and the rotation direction of the driving wheel 5 is opposite to the rotation direction of the obstacle contact wheel 2; under friction transmission, the driving force of the driving wheel 3 in the rotation direction increases, thereby realizing the obstacle crossing function.

[0060] The obstacle-crossing assisting device in the embodiment of the present application has the following beneficial effects:

[0061] By setting the obstacle contact wheel 2, when the device encounters a small obstacle, the obstacle contact wheel 2 contacts the obstacle before the driving wheel 3; when the obstacle contact wheel 2 contacts the surface of the obstacle, the obstacle contact wheel 2 is subjected to the friction force given by the surface of the obstacle, so that the obstacle contact wheel 2 rotates. Specifically, under the influence of the friction force, the obstacle contact wheel 2 rotates, and the friction force on the obstacle contact wheel 2 is transmitted to the driving wheel 3 through the transmission member provided between the obstacle contact wheel 2 and the driving wheel 3, giving the driving wheel 3 a force for the same direction transmission, thereby increasing the forward driving force of the driving wheel 3 and improving the obstacle crossing success rate of the device.

[0062] The embodiment of the present application further provides a device, which includes the obstacle-crossing assist device in the embodiment of the present application, a driving wheel 3 and a base bracket 4 of the driving wheel 3 .

[0063] The present application also provides a sweeping robot, which includes the obstacle-crossing assisting device in the embodiment of the present application, a driving wheel 3 and a base bracket 4 of the driving wheel 3 .

[0064] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. An obstacle assistance device, characterized in that: It comprises a fixed bracket (1), a transmission member and an obstacle contact wheel (2), The fixed bracket (1) is arranged on a base bracket (4) of the driving wheel (3), and the rotating shaft of the obstacle contact wheel (2) is fixedly connected to the fixed bracket (1); The transmission member is located between the obstacle contact wheel (2) and the driving wheel (3).

2. The obstacle-crossing assisting device according to claim 1, characterized in that: The transmission member comprises a transmission wheel (5), and the rotating shaft of the transmission wheel (5) is fixedly connected to the fixed bracket (1).

3. The obstacle-crossing assisting device according to claim 2, characterized in that: In the first state, the obstacle contact wheel (2) is in transmission connection with the drive wheel (3) via the transmission wheel (5).

4. The obstacle-crossing assisting device according to claim 2, characterized in that: The obstacle contact wheel (2) abuts against the transmission wheel (5).

5. The obstacle-crossing assisting device according to claim 2, characterized in that: The obstacle contact wheel (2) is connected to the transmission wheel (5) via a belt drive.

6. The obstacle-crossing assisting device according to claim 4, characterized in that: The surface material of the obstacle contact wheel (2) is the same as the surface material of the transmission wheel (5).

7. The obstacle-crossing assisting device according to any one of claims 2 to 6, characterized in that: In the first state, the transmission wheel (5) abuts against the drive wheel (3).

8. The obstacle-crossing assisting device according to claim 7, characterized in that: The base support (4) comprises a connecting shaft, and the fixed support (1) is rotatably connected to the base support (4) via the connecting shaft; In the second state, the transmission wheel (5) and the driving wheel (3) are spaced apart.

9. The obstacle-crossing assisting device according to claim 7, characterized in that: The surface material of the transmission wheel (5) is the same as the surface material of the driving wheel (3).

10. A self-propelled device, characterized in that: The invention comprises an obstacle-crossing assistance device as claimed in any one of claims 1 to 9, a driving wheel (3) and a base bracket (4) of the driving wheel (3).

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