Cleaning robot chassis
By introducing the front follower wheel and the left-right symmetrical articulated wheel system assembly on the cleaning robot chassis, the problems of emergency stop, forward leaning and insufficient ground adhesion are solved, and the stable motion and driving wheel protection is achieved, and the structure is compact and lightweight.
Patent Information
- Application Number
- CN202422139547.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-02
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-02
AI Technical Summary
When the existing cleaning robot chassis uses two-drive wheel differential drive and vertical column-type buffering mechanism, it is easy to cause emergency stops and forward tilts or insufficient ground adhesion, affecting motion stability.
The front follower wheel and the left and right symmetrical articulated wheel system components are adopted, including the articulated base, the articulated shaft, the articulated swing arm, the speed reducer, the drive motor, the drive wheel and the rear follower wheel. The uneven ground is adapted to the swing of the articulated swing arm, ensuring that all wheels hit the ground, avoiding emergency stops, forward leaning and insufficient ground adhesion.
It ensures the motion stability of the cleaning robot chassis without matching springs, avoids excessive wear of the drive wheels, and the overall structure is compact and lightweight.
Smart Images
Figure CN223126439U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of cleaning robots, and particularly relates to a chassis of a cleaning robot. Background Art
[0002] Most of the existing chassis of cleaning robots use differential drive with two driving wheels, with several follower wheels, and mostly adopt a vertical guide post type buffer mechanism. Such a chassis structure requires strict spring matching, which is likely to cause the situation of sudden stop and forward tilt or insufficient ground adhesion, affecting the movement stability of the robot. Summary of the Utility Model
[0003] Aiming at the above problems, the purpose of the utility model is to provide a chassis of a cleaning robot.
[0004] The purpose of the utility model is realized by the following technical solutions:
[0005] A chassis of a cleaning robot, comprising a chassis body, a brush disk group, a brush disk drive assembly and a scraper. The brush disk drive assembly is installed on the chassis body and is used to drive the brush disk group to act. The brush disk group is located at the front side position of the bottom of the chassis body. The scraper is arranged at the rear side position of the bottom of the chassis body. It is characterized in that: it further includes a front follower wheel and a hinged wheel train assembly. The front follower wheel is arranged at the bottom of the chassis body and is located at the front side of the brush disk group. There are two groups of the hinged wheel train assemblies, and the two groups of the hinged wheel train assemblies are symmetrically arranged on the left and right sides of the bottom of the chassis body, and both groups of the hinged wheel train assemblies are located at the position between the brush disk group and the scraper.
[0006] There is one front follower wheel, and this front follower wheel is located on the center line of the length direction of the chassis body.
[0007] Each group of the hinged wheel train assemblies includes a hinged base, a hinged shaft, a hinged swing arm, a speed reducer, a driving motor, a driving wheel, a rear follower wheel mounting seat and a rear follower wheel;
[0008] The top of the hinge base of each set of the articulated gear train assemblies is fixedly connected to the bottom of the chassis body. The bottom of the hinge base of each set of the articulated gear train assemblies is provided with an articulated shaft of the same set of the articulated gear train assemblies. The articulated shaft of each set of the articulated gear train assemblies is rotatably connected to the middle of the articulated swing arm of the same set of the articulated gear train assemblies. The front end of the articulated swing arm of each set of the articulated gear train assemblies is equipped with the housing of the speed reducer of the same set of the articulated gear train assemblies. The housing of the speed reducer of each set of the articulated gear train assemblies is fixedly connected to the housing of the driving motor of the same set of the articulated gear train assemblies. The input end of the speed reducer of each set of the articulated gear train assemblies is connected to the output shaft of the driving motor of the same set of the articulated gear train assemblies. The output end of the speed reducer of each set of the articulated gear train assemblies is connected to the axle of the driving wheel of the same set of the articulated gear train assemblies. The rear end of the articulated swing arm of each set of the articulated gear train assemblies is fixedly connected to the trailing wheel mounting seat of the same set of the articulated gear train assemblies. The bottom of the trailing wheel mounting seat of each set of the articulated gear train assemblies is connected to the trailing wheel of the same set of the articulated gear train assemblies.
[0009] The length direction of the articulated swing arm of each set of the articulated gear train assemblies is parallel to the length direction of the chassis body.
[0010] The axial centerlines of the front trailing wheels, all the axial centerlines of the rear trailing wheels, and all the axial centerlines of the driving wheels are parallel to the horizontal plane.
[0011] The driving wheels of the two sets of the articulated gear train assemblies are respectively located on the outer sides of the chassis body.
[0012] The bottom of the hinge base of each set of the articulated gear train assemblies is further provided with a copper sleeve rotatably connected to the articulated shaft of the same set of the articulated gear train assemblies.
[0013] Anti-slip patterns are provided on the outer circumferential surfaces of all the driving wheels.
[0014] The advantages and positive effects of the present utility model are as follows:
[0015] Through the arrangement of the front trailing wheels and the two sets of left-right symmetric articulated gear train assemblies, the present utility model can enable the driving wheels and the trailing wheels to fully adapt to relatively uneven ground, ensure that all wheels are in contact with the ground without matching the weight of the floor washing robot and springs, have good movement stability, effectively avoid the situations of easy sudden stop and forward tilt or insufficient ground adhesion, avoid excessive wear of the driving wheels, and the overall structure is compact, stable, and more lightweight. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a bottom view structural schematic diagram of the present utility model;
[0017] Figure 2 It is a three-dimensional structural schematic diagram of the present utility model;
[0018] Figure 3This is a schematic structural diagram of the articulated wheel train assembly of the present utility model.
[0019] In the figure: 1 is the front follower wheel, 2 is the articulated base, 3 is the articulated shaft, 4 is the articulated swing arm, 5 is the speed reducer, 6 is the drive motor, 7 is the drive wheel, 8 is the rear follower wheel mounting seat, and 9 is the rear follower wheel;
[0020] 001 is the chassis body, 002 is the brush disk group, 003 is the brush disk drive assembly, and 004 is the squeegee. Specific embodiments
[0021] The following will further elaborate on the present utility model in conjunction with the attached Figures 1-3 drawings.
[0022] A cleaning robot chassis, as Figures 1-3 shown, in this embodiment, it includes a chassis body 001, a brush disk group 002, a brush disk drive assembly 003, and a squeegee 004. The brush disk drive assembly 003 is installed on the chassis body 001 and is used to drive the brush disk group 002 to act. The brush disk group 002 is located at the front side position of the bottom of the chassis body 001, and the squeegee 004 is arranged at the rear side position of the bottom of the chassis body 001. In this embodiment, the setting structures of the brush disk group 002, the brush disk drive assembly 003, and the squeegee 004 all adopt existing technologies; among them, the brush disk group 002 in this embodiment includes three brush disks, the brush disk drive assembly 003 includes three brush disk motors, two sets of lifting linkages, a drive electric cylinder, etc. The drive electric cylinder can drive the three brush disks to rise and fall. One end of the two sets of lifting linkages is connected to the chassis body 001, and the other end is connected to the three brush disks. The brush disk motors drive the brush disks to rotate for cleaning work, and the squeegee 004 is used to block part of the liquid on the ground when cleaning the ground.
[0023] The cleaning robot chassis of the present utility model further includes a front follower wheel 1 and an articulated wheel train assembly. The front follower wheel 1 is arranged at the bottom of the chassis body 001 and is located in front of the brush disk group 002. There are two sets of articulated wheel train assemblies, and the two sets of articulated wheel train assemblies are symmetrically arranged on the left and right at the bottom of the chassis body 001, and both sets of articulated wheel train assemblies are located at the position between the brush disk group 002 and the squeegee 004, and the overall structure is compact and stable.
[0024] Specifically, in this embodiment, there is one front follower wheel 1, and this front follower wheel 1 is located on the center line of the length direction of the chassis body 001, which can better realize the supporting effect on the front part of the cleaning robot chassis, can walk stably with the chassis body 001, and saves the setting space. The front follower wheel 1 can also be evenly arranged in multiple numbers according to the use requirements.
[0025] Specifically, in this embodiment, each set of articulated wheel train assemblies includes an articulated base 2, an articulated shaft 3, an articulated swing arm 4, a speed reducer 5, a drive motor 6, a drive wheel 7, a rear follower wheel mounting seat 8, and a rear follower wheel 9.
[0026] The top of the articulated base 2 of each set of articulated gear train components is fixedly connected to the bottom of the chassis body 001 by screws. The bottom of the articulated base 2 of each set of articulated gear train components is provided with an articulated shaft 3 of the same set of articulated gear train components. The articulated shaft 3 of each set of articulated gear train components is rotatably connected to the middle of the articulated swing arm 4 of the same set of articulated gear train components. The front end of the articulated swing arm 4 of each set of articulated gear train components is installed with the housing of the reducer 5 of the same set of articulated gear train components by screws. The housing of the reducer 5 of each set of articulated gear train components is fixedly connected to the housing of the drive motor 6 of the same set of articulated gear train components by bolts. The input end of the reducer 5 of each set of articulated gear train components is connected to the output shaft of the drive motor 6 of the same set of articulated gear train components. The output end of the reducer 5 of each set of articulated gear train components is connected to the axle of the drive wheel 7 of the same set of articulated gear train components. The rear end of the articulated swing arm 4 of each set of articulated gear train components is fixedly connected to the trailing wheel mounting seat 8 of the same set of articulated gear train components by screws. The bottom of the trailing wheel mounting seat 8 of each set of articulated gear train components is connected to the trailing wheel 9 of the same set of articulated gear train components by screws. In this embodiment, the swing range of the articulated swing arm 4 of each set of articulated gear train components around the articulated shaft 3 of the same set of articulated gear train components is ±8°. By connecting the drive wheel 7 and the trailing wheel 9 through the articulated swing arm 4 that can swing in the vertical plane, the drive wheel 7 and the trailing wheel 9 can fully adapt to relatively uneven ground, ensure that all wheels can touch the ground, effectively avoid the situations of easy sudden stop and forward tilt or insufficient ground adhesion, and avoid excessive wear of the drive wheel 7.
[0027] In this embodiment, the length direction of the articulated swing arm 4 of each set of articulated gear train components is parallel to the length direction of the chassis body 001. The axial centerlines of the front trailing wheels 1, all the axial centerlines of the trailing wheels 9, and all the axial centerlines of the drive wheels 7 are parallel to the horizontal plane. The drive wheels 7 of the two sets of articulated gear train components are respectively located on the outer sides of the chassis body 001, so that the overall force on the cleaning robot chassis is uniform and the operation is stable.
[0028] In this embodiment, the reducer 5, the drive motor 6, the drive wheel 7, the trailing wheel 9, and the front trailing wheel 1 are all commercially available products. The material of the outer peripheral surface of all the drive wheels 7 is polyurethane, with a hardness of 75±5 Shore A, and anti-slip patterns are provided on the outer peripheral surfaces of all the drive wheels 7, effectively preventing slipping. The two drive motors 6 are respectively controlled by the main controller of the cleaning robot to act, respectively drive the two drive wheels 7 to act, and the two drive wheels 7 can perform normal in-situ spin motion.
[0029] In this embodiment, a copper sleeve rotatably connected to the articulated shaft 3 of the set of articulated gear train components is further provided at the bottom of the articulated base 2 of each set of articulated gear train components. The setting method of the copper sleeve adopts the prior art. Through the setting of the copper sleeve, the anti-wear property of the articulated shaft 3 can be increased and the service life is long.
Claims
1. A cleaning robot chassis, comprising a chassis body (001), a brush disk group (002), a brush disk drive assembly (003) and a squeegee (004). The brush disk drive assembly (003) is installed on the chassis body (001) and is used to drive the brush disk group (002) to act. The brush disk group (002) is located at the front side position of the bottom of the chassis body (001), and the squeegee (004) is arranged at the rear side position of the bottom of the chassis body (001), characterized in that: It further includes a front follower wheel (1) and a hinged wheel system assembly. The front follower wheel (1) is arranged at the bottom of the chassis body (001) and on the front side of the brush disc group (002). There are two sets of the hinged wheel system assemblies, which are symmetrically arranged left and right at the bottom of the chassis body (001), and both sets of the hinged wheel system assemblies are located at the position between the brush disc group (002) and the squeegee (004).
2. The chassis of a cleaning robot according to claim 1, characterized in that: There is one front follower wheel (1), and this front follower wheel (1) is located on the center line in the length direction of the chassis body (001).
3. The chassis of a cleaning robot according to claim 1, characterized in that: Each set of the hinged wheel system assemblies includes a hinged base (2), a hinge shaft (3), a hinged swing arm (4), a speed reducer (5), a drive motor (6), a drive wheel (7), a rear follower wheel mounting seat (8) and a rear follower wheel (9); The top of the hinged base (2) of each set of the hinged wheel system assemblies is fixedly connected to the bottom of the chassis body (001). The bottom of the hinged base (2) of each set of the hinged wheel system assemblies is provided with the hinge shaft (3) of the same set of the hinged wheel system assemblies. The hinge shaft (3) of each set of the hinged wheel system assemblies is rotatably connected to the middle of the hinged swing arm (4) of the same set of the hinged wheel system assemblies. The front end of the hinged swing arm (4) of each set of the hinged wheel system assemblies is installed with the housing of the speed reducer (5) of the same set of the hinged wheel system assemblies. The housing of the speed reducer (5) of each set of the hinged wheel system assemblies is fixedly connected to the housing of the drive motor (6) of the same set of the hinged wheel system assemblies. The input end of the speed reducer (5) of each set of the hinged wheel system assemblies is connected to the output shaft of the drive motor (6) of the same set of the hinged wheel system assemblies. The output end of the speed reducer (5) of each set of the hinged wheel system assemblies is connected to the wheel shaft of the drive wheel (7) of the same set of the hinged wheel system assemblies. The rear end of the hinged swing arm (4) of each set of the hinged wheel system assemblies is fixedly connected to the rear follower wheel mounting seat (8) of the same set of the hinged wheel system assemblies. The bottom of the rear follower wheel mounting seat (8) of each set of the hinged wheel system assemblies is connected to the rear follower wheel (9) of the same set of the hinged wheel system assemblies.
4. The chassis of a cleaning robot according to claim 3, characterized in that: The length direction of the hinged swing arm (4) of each set of the hinged wheel system assemblies is parallel to the length direction of the chassis body (001).
5. The chassis of a cleaning robot according to claim 3, characterized in that: The axial center lines of the front follower wheel (1), all the rear follower wheels (9) and all the drive wheels (7) are parallel to the horizontal plane.
6. The chassis of a cleaning robot according to claim 3, characterized in that: The drive wheels (7) of the two sets of the hinged wheel system assemblies are respectively located on the outer sides of the chassis body (001).
7. The chassis of a cleaning robot according to claim 3, characterized in that: The bottom of the hinged base (2) of each set of the hinged wheel system assemblies is further provided with a copper sleeve rotatably connected to the hinge shaft (3) of this set of the hinged wheel system assemblies.
8. The chassis of a cleaning robot according to claim 3, characterized in that: Anti-slip patterns are provided on the outer circumferential surfaces of all the drive wheels (7).