Travel driving mechanism of cleaning robot

Abstract

The utility model relates to the technical field of cleaning driving, in particular to a cleaning robot running driving mechanism which comprises a base, a hinge assembly, a swing arm, a running driving assembly, a running wheel set and a height adjusting assembly. The base is provided with a placement cavity, the hinge assembly is arranged on one side of the placement cavity, one end of the swing arm is connected with the hinge assembly, and the other end of the swing arm moves in the placement cavity under the action of the hinge assembly; the traveling driving assembly is arranged at one end of the swing arm, the traveling wheel set is connected with the driving end of the traveling driving assembly, the height adjusting assembly is arranged on one side of the base, limiting teeth are arranged on the swing arm, and the height adjusting assembly is used for limiting the limiting teeth so as to limit the height position of the swing arm. According to the utility model, the phenomenon of mechanical damage or instability caused by excessive swing is effectively prevented, and the safety and stability of the robot in the running process are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning drives, in particular to a travel drive mechanism of a cleaning robot. Background Art

[0002] The cleaning robot's drive mechanism is one of its core components, primarily consisting of dual stepper motors, worm gears, shafts, drive wheels, and universal wheels. The stepper motor is connected to the worm gear via a coupling, and power is transmitted through the meshing of the worm gears, which in turn drives the drive wheel mounted on the same drive shaft. This design not only ensures stable transmission of driving force but also, through the use of universal wheels, significantly improves the robot's stability and turning agility during movement. The drive mechanism also integrates a variety of sensors, such as an odometer and collision detection, to monitor the robot's operating status and surrounding environment in real time, ensuring safe and efficient operation in complex environments.

[0003] The wheel assembly structure height of the existing cleaning robot driving structure cannot be adjusted in a limited manner, and the stability and adaptability during use are poor. Therefore, it is necessary to make new improvements to the existing cleaning robot structure. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a driving mechanism for a cleaning robot which effectively prevents mechanical damage or instability caused by excessive swinging, and ensures the safety and stability of the robot during operation.

[0005] The technical solution adopted by the present utility model is: a travel drive mechanism of a cleaning robot, comprising a base, an articulated assembly, a swing arm, a travel drive assembly, a travel wheel set and a height adjustment assembly; the base is provided with a placement cavity, the articulated assembly is provided on one side of the placement cavity, one end of the swing arm is connected to the articulated assembly, and the other end moves in the placement cavity under the action of the articulated assembly; the travel drive assembly is provided at one end of the swing arm, the travel wheel set is connected to the driving end of the travel drive assembly, the height adjustment assembly is provided on one side of the base, a limiting tooth is provided on the swing arm, and the height adjustment assembly is used for limiting the position of the limiting tooth to limit the height position of the swing arm.

[0006] A further improvement to the above solution is that a through slot is provided on one side of the base, one end of the through slot is connected to the placement cavity, and the traveling wheel set passes through the through slot from the placement cavity under the action of the swing arm.

[0007] A further improvement to the above scheme is that the hinge assembly includes a fixed connection part, a hinge shaft and a movable connection part, the fixed connection part is arranged on the base, the movable connection part is arranged at one end of the swing arm, and the hinge shaft is used to connect the fixed connection part with the movable connection part.

[0008] A further improvement to the above solution is that a limit stop is provided on one side of the swing arm, the limit stop is close to the hinge assembly, and the limit stop is used to limit the movement of the swing arm.

[0009] A further improvement to the above scheme is that the swing arm includes a swing bracket and a cover plate, the traveling wheel group is arranged on one side of the swing bracket, the cover plate is buckled on the side of the swing bracket opposite to the traveling wheel group, the cover plate is provided with a transmission cavity, and the traveling drive assembly is provided in the transmission cavity; the swing bracket is provided with a protective frame, and the protective frame is surrounded by the outside of the traveling wheel group.

[0010] A further improvement to the above scheme is that the travel drive assembly includes a travel drive motor, a travel transmission gear set and a drive connecting shaft, the travel transmission gear set is provided with multiple groups of mutually meshing transmission gears, the travel drive motor is arranged at one end of the swing arm and connected to the transmission gear; one end of the drive connecting shaft is arranged on the transmission gear, and the other end is connected to the travel wheel set.

[0011] A further improvement to the above solution is that the travel drive assembly is an outer rotor hub motor, and the travel wheel set is arranged outside the outer rotor hub motor.

[0012] A further improvement to the above solution is that an arcuate surface is provided on one side of the swing arm, and a plurality of the limiting teeth are provided, and the plurality of limiting teeth are evenly distributed on the arcuate surface in a circumferential direction.

[0013] A further improvement to the above solution is that the height adjustment assembly includes an adjustment drive element and an adjustment pressure rod, and the adjustment drive element is used to drive the adjustment pressure rod to move toward the limiting tooth to limit the limiting tooth.

[0014] A further improvement to the above solution is that the height adjustment assembly includes an adjustment handle and an adjustment push rod, and the adjustment handle is used to drive the adjustment push rod to move toward the limiting tooth to limit the limiting tooth.

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

[0016] Compared with existing cleaning robots, the utility model realizes flexible adjustment of the traveling wheel set within a horizontal and certain vertical range through the clever arrangement of the hinge assembly and the swing arm structure, which greatly broadens the robot's range of activity and terrain adaptability. Whether it is a flat ground or an environment with a slight slope, the robot can respond flexibly to ensure seamless connection and efficient execution of cleaning operations. The travel drive assembly is directly integrated on the swing arm. This compact layout not only optimizes space utilization, but also improves power transmission efficiency, making the response of the traveling wheel set faster and significantly improving handling performance. At the same time, the design facilitates subsequent maintenance and servicing, reducing maintenance costs and time. The use of the height adjustment assembly in conjunction with the upper limit teeth on the swing arm provides precise limit control for the movement of the swing arm, effectively preventing mechanical damage or instability caused by excessive swinging, and ensuring the safety and stability of the robot during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional schematic diagram of the driving mechanism of the cleaning robot of the present invention;

[0018] Figure 2 for Figure 1 An exploded diagram of the driving mechanism of the cleaning robot;

[0019] Figure 3 for Figure 1 An exploded diagram of the Zhongjie robot's driving mechanism from another perspective;

[0020] Figure 4 for Figure 1 Schematic diagram of the structure of the Zhongjie robot's driving mechanism.

[0021] Explanation of the accompanying drawings: base 1, placement cavity 11, through groove 12, hinge assembly 2, fixed connection part 21, hinge shaft 22, movable connection part 23, swing arm 3, arc surface 31, limit tooth 311, limit block 32, swing bracket 33, protective frame 331, cover plate 34, travel drive assembly 4, travel drive motor 41, travel transmission gear set 42, transmission gear 421, drive connecting shaft 43, travel wheel set 5, height adjustment assembly 6, adjustment drive element 61, adjustment pressure rod 62. DETAILED DESCRIPTION

[0022] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to facilitate a more thorough and comprehensive understanding of the disclosure of the present invention.

[0023] 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 referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention. Figures 1 to 4 As shown, one embodiment of the present invention relates to a driving mechanism for a cleaning robot, comprising a base 1, an articulated assembly 2, a swing arm 3, a driving assembly 4, a driving wheel set 5, and a height adjustment assembly 6. The base 1 is provided with a housing cavity 11, the articulated assembly 2 is provided on one side of the housing cavity 11, one end of the swing arm 3 is connected to the articulated assembly 2, and the other end moves within the housing cavity 11 under the action of the articulated assembly 2. The driving assembly 4 is provided at one end of the swing arm 3, the driving wheel set 5 is connected to the driving end of the driving assembly 4, and the height adjustment assembly 6 is provided on one side of the base 1. The swing arm 3 is provided with a limit tooth 311, and the height adjustment assembly 6 is used to limit the position of the limit tooth 311 to limit the height position of the swing arm 3. This embodiment, through the ingenious arrangement of the articulated assembly 2 and the swing arm 3 structure, achieves flexible adjustment of the driving wheel set 5 within a horizontal and certain vertical range, greatly broadening the robot's range of motion and terrain adaptability. Whether on flat ground or in an environment with a slight slope, the robot can flexibly respond, ensuring seamless and efficient execution of cleaning operations. The travel drive assembly 4 is directly integrated into the swing arm 3. This compact layout not only optimizes space utilization but also improves power transmission efficiency, resulting in faster response from the travel wheels 5 and significantly enhanced maneuverability. This design also facilitates subsequent maintenance and servicing, reducing both cost and time. The height adjustment assembly 6, in conjunction with the limit teeth 311 on the swing arm 3, provides precise limit control of the swing arm 3's movement, effectively preventing mechanical damage or instability caused by excessive swinging, and ensuring the safety and stability of the robot during operation.

[0025] A through slot 12 is provided on one side of the base 1, one end of which connects to the housing cavity 11. The traveling wheelset 5, under the action of the swing arm 3, passes through the through slot 12 from the housing cavity 11. In this embodiment, the traveling wheelset 5, under the precise control of the swing arm 3, can smoothly extend and retract from the housing cavity 11 through the through slot 12. This not only optimizes the robot's space utilization but also enhances its ability to adapt to complex terrain. When it is necessary to traverse obstacles or adjust its travel posture, the wheelset's rapid response ensures smooth operation and improves overall operational efficiency.

[0026] The hinge assembly 2 includes a fixed connection part 21, a hinge shaft 22 and a movable connection part 23. The fixed connection part 21 is arranged on the base 1, and the movable connection part 23 is arranged at one end of the swing arm 3. The hinge shaft 22 is used to connect the fixed connection part 21 with the movable connection part 23. In this embodiment, by firmly mounting the fixed connection part 21 on the base 1, a stable transmission foundation of the driving force is ensured; the ingenious combination of the movable connection part 23 and the swing arm 3 gives the swing arm 3 a high degree of flexibility, which can flexibly cope with complex terrain and obstacles. As a key connecting element, the hinge shaft 22 not only realizes the smooth rotation between the fixed and movable parts, but also ensures low friction and low noise during the rotation process, as well as durability for long-term use through its precise design and manufacturing.

[0027] A limit stop 32 is provided on one side of the swing arm 3, located near the hinge assembly 2. This limit stop 32 is used to limit the movement of the swing arm 3. In this embodiment, the position of the limit stop 32 in close proximity to the hinge assembly 2 cleverly limits the range of motion of the swing arm 3, effectively preventing excessive swing or abnormal displacement of the swing arm 3 under extreme operating conditions, thereby ensuring precise control and efficient operation of the drive system.

[0028] The swing arm 3 comprises a swing bracket 33 and a cover plate 34. The travel wheelset 5 is mounted on one side of the swing bracket 33. The cover plate 34 snaps onto the side of the swing bracket 33 facing away from the travel wheelset 5. The cover plate 34 defines a transmission cavity, within which the travel drive assembly 4 is located. The swing bracket 33 also includes a protective frame 331, which surrounds the exterior of the travel wheelset 5. In this embodiment, the swing bracket 33 serves as the core support, not only stably supporting the travel wheelset 5 but also cleverly achieving lightweight construction and space optimization through its design. The clever snap-fit design of the cover plate 34 not only effectively protects the travel drive assembly 4 within the transmission cavity from external interference and damage, but also enhances overall sealing, ensuring stable operation of the drive system.

[0029] The travel drive assembly 4 includes a travel drive motor 41, a travel transmission gear set 42, and a drive connecting shaft 43. The travel transmission gear set 42 is equipped with multiple sets of intermeshing transmission gears 421. The travel drive motor 41 is mounted at one end of the swing arm 3 and connected to the transmission gear 421. One end of the drive connecting shaft 43 is mounted on the transmission gear 421, and the other end is connected to the travel wheel set 5. In this embodiment, by integrating the travel drive motor 41 with the precisely designed travel transmission gear set 42, efficient power transmission and precise control are achieved. The multiple sets of intermeshing transmission gears 421 not only ensure smooth power transmission, but also effectively improve torque output through the appropriate reduction ratio distribution, allowing the robot to maintain stable travel even in complex ground environments.

[0030] The travel drive assembly 4 is an outer rotor hub motor, and the travel wheelset 5 is mounted externally to the outer rotor hub motor. This embodiment achieves a compact drive system by integrating the motor directly into the wheel hub, eliminating transmission components and reducing energy loss during transmission, thereby improving energy efficiency. Furthermore, the outer rotor structure optimizes the motor's torque output characteristics, enabling the robot to provide smoother, more powerful power support when navigating complex terrain or requiring rapid response, enhancing the flexibility and efficiency of cleaning operations.

[0031] A curved surface 31 is provided on one side of the swing arm 3, and a plurality of the limiting teeth 311 are provided, and the plurality of limiting teeth 311 are evenly distributed on the curved surface 31 in a circumferential direction. The height adjustment component 6 includes an adjusting drive element 61 and an adjusting pressure rod 62, and the adjusting drive element 61 is used to drive the adjusting pressure rod 62 to move toward the limiting tooth 311 to limit the limiting tooth 311. In this embodiment, the adjusting drive element 61 drives the adjusting pressure rod 62 to accurately act on the limiting tooth 311, thereby achieving precise height adjustment and locking, thereby optimizing the driving posture and reducing bumps and slipping. This technical effect not only improves the efficiency and quality of cleaning operations, but also ensures the stable operation of the robot in complex environments, extends the overall service life, and demonstrates a high degree of intelligence and flexibility. In addition, the design also enhances the adaptability of the cleaning robot, enabling it to automatically adjust in real time according to the slope and unevenness of the ground to maintain a stable driving force output. Through the precise cooperation between the limiting teeth 311 and the regulating pressure rod 62, a smooth transition of power transmission is achieved, the mechanical impact and wear caused by terrain changes are reduced, and the durability and reliability of the equipment are further improved.

[0032] An arcuate surface 31 is provided on one side of the swing arm 3, and a plurality of limit teeth 311 are provided, and the plurality of limit teeth 311 are evenly distributed on the arcuate surface 31 in a circumferential direction. The height adjustment assembly 6 includes an adjustment handle and an adjustment push rod, and the adjustment handle is used to drive the adjustment push rod to move toward the limit teeth 311 to limit the limit teeth 311. In this embodiment, precise control and stable locking of the height adjustment are achieved. The cooperation between the adjustment handle and the adjustment push rod enables the operator to easily drive the push rod toward the limit teeth 311, thereby achieving fine-tuning and fixing of the position of the swing arm 3, ensuring that the cleaning robot can maintain the best working posture and stable driving force output under different terrain conditions.

[0033] The above embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A driving mechanism for a cleaning robot, characterized by: The vehicle comprises a base, an articulated assembly, a swing arm, a travel drive assembly, a travel wheel assembly, and a height adjustment assembly; the base is provided with a placement cavity, the articulated assembly is provided on one side of the placement cavity, one end of the swing arm is connected to the articulated assembly, and the other end moves in the placement cavity under the action of the articulated assembly; The travel drive assembly is arranged at one end of the swing arm, the travel wheel group is connected to the drive end of the travel drive assembly, the height adjustment assembly is arranged on one side of the base, and a limiting tooth is provided on the swing arm. The height adjustment assembly is used for limiting the position of the limiting tooth to limit the height position of the swing arm.

2. The driving mechanism of the cleaning robot according to claim 1, characterized in that: A through slot is provided on one side of the base, one end of the through slot is connected to the placement cavity, and the traveling wheel set passes through the through slot from the placement cavity under the action of the swing arm.

3. The driving mechanism of the cleaning robot according to claim 2, characterized in that: The hinge assembly includes a fixed connection part, a hinge shaft and a movable connection part. The fixed connection part is arranged on the base, the movable connection part is arranged at one end of the swing arm, and the hinge shaft is used to connect the fixed connection part with the movable connection part.

4. The driving mechanism of the cleaning robot according to claim 3, characterized in that: A limit stop is provided on one side of the swing arm, the limit stop is close to the hinge assembly, and the limit stop is used to limit the movement of the swing arm.

5. The driving mechanism of the cleaning robot according to claim 1, characterized in that: The swing arm includes a swing bracket and a cover plate, the traveling wheel group is arranged on one side of the swing bracket, the cover plate is buckled on the side of the swing bracket opposite to the traveling wheel group, the cover plate is provided with a transmission cavity, and the traveling drive assembly is provided in the transmission cavity; the swing bracket is provided with a protective frame, and the protective frame is surrounded by the outside of the traveling wheel group.

6. The driving mechanism of the cleaning robot according to claim 1, characterized in that: The travel drive assembly includes a travel drive motor, a travel transmission gear set and a drive connecting shaft. The travel transmission gear set is provided with multiple groups of mutually meshing transmission gears. The travel drive motor is arranged at one end of the swing arm and connected to the transmission gear; one end of the drive connecting shaft is arranged on the transmission gear and the other end is connected to the travel wheel set.

7. The driving mechanism of the cleaning robot according to claim 1, characterized in that: The travel drive assembly is an outer rotor hub motor, and the travel wheel set is arranged outside the outer rotor hub motor.

8. The driving mechanism of the cleaning robot according to claim 1, characterized in that: An arcuate surface is provided on one side of the swing arm, and a plurality of the limiting teeth are provided, and the plurality of limiting teeth are evenly distributed on the arcuate surface in a circumferential direction.

9. The driving mechanism of the cleaning robot according to claim 1, characterized in that: The height adjustment assembly includes an adjustment drive element and an adjustment pressure rod. The adjustment drive element is used to drive the adjustment pressure rod to move toward the limiting tooth to limit the limiting tooth.

10. The driving mechanism of the cleaning robot according to claim 1, characterized in that: The height adjustment assembly includes an adjustment handle and an adjustment push rod. The adjustment handle is used to drive the adjustment push rod to move toward the limiting tooth to limit the limiting tooth.

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