Obstacle crossing auxiliary mechanism of sweeping robot

Abstract

The obstacle crossing auxiliary mechanism comprises a driving wheel shell, an assembling groove is formed in one of the left side and the right side of the driving wheel shell, a wheel frame is arranged on the other side of the driving wheel shell, an assembling cover is arranged on the side, away from the wheel frame, of the assembling groove, and a driving wheel transmission chain is arranged between the assembling groove and the assembling cover. A driving wheel is rotationally arranged on the wheel frame, and the driving wheel transmission chain is in transmission connection with the driving wheel; a transmission wheel and a swing rod are rotationally arranged on the assembly cover, the swing rod is located in front of the transmission wheel, the transmission wheel is in transmission connection with the driving wheel in a transmission chain mode, an obstacle crossing wheel train is arranged on the lower front portion of the transmission wheel, and the obstacle crossing wheel train is rotationally arranged on the swing rod. And the obstacle crossing wheel train can be in transmission connection with and separated from the transmission wheel. The obstacle crossing device is reasonable in structural design, the obstacle crossing wheel train and the driving wheels are driven by the driving wheel transmission chain, passive obstacle crossing is achieved, triggering is achieved when the obstacle crossing device touches an obstacle, and using is very convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of obstacle-crossing assisting mechanisms, in particular to an obstacle-crossing assisting mechanism for a sweeping robot. Background Art

[0002] In homes, many places have steps and thresholds, such as balconies and living rooms, living room bathrooms, and sliding doors. These steps and thresholds can become obstacles for robot vacuums. To enable robot vacuums to navigate these obstacles, separate obstacle-crossing mechanisms are usually designed. However, these obstacle-crossing mechanisms and the robot's drive wheels are driven by different power sources, causing inconvenience. Utility Model Content

[0003] The purpose of the present utility model is to provide an obstacle-crossing assistance mechanism for a sweeping robot, so as to solve the technical problem that in the prior art, a separate obstacle-crossing assistance mechanism usually needs to be designed, but these obstacle-crossing assistance mechanisms and the driving wheels of the sweeping robot are driven by different power sources, causing inconvenience in use.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present utility model provides an obstacle-crossing assistance mechanism for a sweeping robot, including a driving wheel housing, a mounting groove is provided on one of the left and right sides of the driving wheel housing, and a wheel frame is provided on the other side, an mounting cover is provided on the side of the mounting groove away from the wheel frame, a driving wheel transmission chain is provided between the mounting groove and the mounting cover, a driving wheel is rotatably provided on the wheel frame, and the driving wheel transmission chain is transmission-connected to the driving wheel; a transmission wheel and a rocker arm are rotatably provided on the assembly cover, the rocker arm is located in front of the transmission wheel, the transmission wheel is transmission-connected to the driving wheel transmission chain, an obstacle-crossing wheel train is provided at the front and lower part of the transmission wheel, the obstacle-crossing wheel train is rotatably provided on the rocker arm, and the obstacle-crossing wheel train can be transmission-connected and disengaged with the transmission wheel.

[0005] Furthermore, the obstacle-crossing wheel train includes a wheel train bracket, a driving wheel, and several rotating wheels. The wheel train bracket is rotatably arranged on the rocker arm, and the driving wheel and several rotating wheels are rotatably arranged on the wheel train bracket; the driving wheel can be connected to and disconnected from the transmission wheel, and the driving wheel can drive the several rotating wheels to rotate.

[0006] Furthermore, the plurality of rotating wheels are respectively a first rotating wheel, a second rotating wheel, and a third rotating wheel; the driving wheel and the first rotating wheel and the third rotating wheel are distributed in a triangle; the second rotating wheel is located between the first rotating wheel and the third rotating wheel; the diameter of the second rotating wheel is smaller than the diameter of the first rotating wheel and the third rotating wheel; the first rotating wheel cooperates with the second rotating wheel and the third rotating wheel to form a concave shape.

[0007] Furthermore, the transmission wheel and the driving wheel are gears or friction wheels, and the ends of the first rotating wheel, the second rotating wheel, and the third rotating wheel close to the gear train bracket are gears or friction wheels; the driving wheel can be engaged with the transmission wheel through gear teeth or friction transmission, and the driving wheel can be engaged with the first rotating wheel, the second rotating wheel, and the third rotating wheel through gear teeth or friction transmission, and the driving wheel can drive several of the rotating wheels to rotate simultaneously and in the same direction.

[0008] Furthermore, the driving wheel and the plurality of rotating wheels are rotatably arranged on the inner side of the wheel train bracket, and the rocker arm is rotatably arranged on the outer side of the wheel train bracket; the rotation axis between the rocker arm and the wheel train bracket and the rotation axis between the driving wheel and the wheel train bracket are coaxially arranged, and the first rotating wheel, the second rotating wheel and the third rotating wheel do not contact each other.

[0009] Furthermore, a spring is provided on the assembly cover, and the spring is located above and behind the rocker arm. The spring is connected to the rocker arm so that the obstacle overcoming wheel train can be separated from the transmission wheel under the action of the gravity of the obstacle overcoming wheel train and the spring force of the spring.

[0010] Furthermore, a limiting column is provided on the assembly cover, and the limiting column is located in the front and lower part of the rocker arm. The limiting column can cooperate with the rocker arm to limit the range of movement of the rocker arm and the obstacle crossing wheel system.

[0011] Furthermore, a motor bracket is provided on the driving wheel housing, and the motor bracket is located in front of the wheel frame. A motor is provided on the motor bracket, and the motor is connected to the driving wheel transmission chain.

[0012] Furthermore, the drive wheel transmission chain includes a plurality of transmission gears meshed in sequence, wherein an intermediate shaft of one of the transmission gears is connected to the transmission wheel, and the intermediate shaft of the transmission gear can drive the transmission wheel to rotate.

[0013] Furthermore, a rotation groove is provided on the assembly cover, and an opening is provided at the front lower end of the rotation groove. The transmission wheel is rotatably arranged inside the rotation groove, and the front lower end of the transmission wheel is exposed outwardly through the opening.

[0014] In summary, the technical solution of the present invention has the following beneficial effects: the structural design of the present invention is reasonable, (1) by including a driving wheel housing, one of the left and right sides of the driving wheel housing is provided with an assembly groove, the other side is provided with a wheel frame, the side of the assembly groove away from the wheel frame is provided with an assembly cover, a driving wheel transmission chain is provided between the assembly groove and the assembly cover, a driving wheel is rotatably provided on the wheel frame, and the driving wheel transmission chain is connected to the driving wheel; thereby, the driving wheel transmission chain can always drive the driving wheel to rotate. (2) A transmission wheel and a rocker arm are rotatably mounted on the assembly cover. The rocker arm is located in front of the transmission wheel. The transmission wheel is connected to the drive wheel transmission chain. An obstacle-crossing wheel system is provided in the front and lower part of the transmission wheel. The obstacle-crossing wheel system is rotatably mounted on the rocker arm. The obstacle-crossing wheel system can be connected to and disconnected from the transmission wheel. Thus, the drive wheel transmission chain can always drive the transmission wheel to rotate. The rocker arm can swing relative to the drive wheel housing, and the obstacle-crossing wheel system can swing relative to the rocker arm. Therefore, when the obstacle-crossing wheel system encounters an obstacle during its forward movement, the obstacle-crossing wheel system will push the rocker arm to swing upward and backward, and then the obstacle-crossing wheel system will realize transmission connection with the transmission wheel, and then the transmission wheel will drive the obstacle-crossing wheel system to rotate, and the obstacle-crossing wheel system will be used to cross the obstacle. When the obstacle-crossing wheel system has crossed the obstacle or has not encountered the obstacle during its forward movement, the obstacle-crossing wheel system will drive the rocker arm to move forward and downward to reset under the action of gravity. At this time, the obstacle-crossing wheel system is disconnected from the transmission wheel, and the obstacle-crossing wheel system no longer rotates. From the above analysis, it can be seen that the utility model automatically performs obstacle overcoming action when encountering an obstacle during the forward movement of the obstacle overcoming wheel system, and can automatically stop the obstacle overcoming action when the obstacle has been crossed or no obstacle is encountered during the forward movement of the obstacle overcoming wheel system. The obstacle overcoming wheel system and the driving wheel are driven by the driving wheel transmission chain, and the obstacle overcoming is passive, and is only triggered when encountering an obstacle. It is very convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the utility model when it is not in contact with an obstacle;

[0016] Figure 2 It is a schematic diagram of the structure of the utility model when it contacts an obstacle;

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of the obstacle-crossing wheel system of the present invention;

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 5 This is a schematic diagram of the three-dimensional structure of the utility model from another perspective;

[0020] Figure 6 This is a schematic diagram of the three-dimensional structure of the driving wheel housing of the present utility model;

[0021] Figure 7 This is a schematic diagram of the three-dimensional structure of the utility model without the assembly cover;

[0022] Explanation of the accompanying numbers: 1-driving wheel housing, 2-driving wheel transmission chain, 3-driving wheel, 4-transmission wheel, 5-rocker, 6-obstacle crossing wheel system, 7-spring, 8-limiting column, 9-motor; 10-under the robot housing, 11-ground, 12-obstacle.

[0023] 101-assembly slot, 102-wheel frame, 103-assembly cover, 104-motor bracket, 105-rotation slot, 106-opening; 201-transmission gear; 601-wheel train bracket, 602-driving wheel, 603-rotating wheel. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention, but this does not constitute a limitation on the protection scope of the present invention.

[0025] In this utility model, for a clearer description, the following explanation is made: the observer faces the Figure 1 For observation, the left side of the observer is set as the front, the right side of the observer is set as the back, the front of the observer is set as the right, the back of the observer is set as the left, the top of the observer is set as the top, and the bottom of the observer is set as the bottom. It should be noted that the terms "front end", "rear end", "left side", "right side", "middle", "top", "bottom", etc. in the text indicate the direction or position relationship based on the direction or position relationship set in the accompanying drawings. They are only for the convenience of clearly describing the present invention, and do not indicate or imply that the structure or component referred to must have a specific direction or be constructed in a specific direction. Therefore, they cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are only used for the purpose of clarifying or simplifying the description, and cannot be understood as indicating or implying relative importance or quantity.

[0026] See also Figures 1 to 7, this embodiment provides an obstacle-crossing assistance mechanism for a sweeping robot, including a driving wheel housing 1, wherein a mounting groove 101 is provided on one of the left and right sides of the driving wheel housing 1, and a wheel frame 102 is provided on the other side, and a mounting cover 103 is provided on the side of the mounting groove 101 away from the wheel frame 102, and a driving wheel transmission chain 2 is provided between the mounting groove 101 and the mounting cover 103, and a driving wheel 3 is rotatably provided on the wheel frame 102, and the driving wheel transmission chain 2 is transmission-connected to the driving wheel 3; a transmission wheel 4 and a rocker arm 5 are rotatably provided on the assembly cover 103, and the rocker arm 5 is located in front of the transmission wheel 4, and the transmission wheel 4 is transmission-connected to the driving wheel transmission chain 2, and an obstacle-crossing wheel train 6 is provided at the front and lower part of the transmission wheel 4, and the obstacle-crossing wheel train 6 is rotatably provided on the rocker arm 5, and the obstacle-crossing wheel train 6 can be transmission-connected and disconnected with the transmission wheel 4. Function: (1) It includes a driving wheel housing, one of the left and right sides of the driving wheel housing is provided with an assembly groove, the other side is provided with a wheel frame, the side of the assembly groove away from the wheel frame is provided with an assembly cover, a driving wheel transmission chain is provided between the assembly groove and the assembly cover, a driving wheel is rotatably provided on the wheel frame, and the driving wheel transmission chain is connected to the driving wheel; thereby, the driving wheel transmission chain can always drive the driving wheel to rotate. (2) A transmission wheel and a rocker arm are rotatably mounted on the assembly cover. The rocker arm is located in front of the transmission wheel. The transmission wheel is connected to the drive wheel transmission chain. An obstacle-crossing wheel system is provided in the front and lower part of the transmission wheel. The obstacle-crossing wheel system is rotatably mounted on the rocker arm. The obstacle-crossing wheel system can be connected to and disconnected from the transmission wheel. Thus, the drive wheel transmission chain can always drive the transmission wheel to rotate. The rocker arm can swing relative to the drive wheel housing, and the obstacle-crossing wheel system can swing relative to the rocker arm. Therefore, when the obstacle-crossing wheel system encounters an obstacle during its forward movement, the obstacle-crossing wheel system will push the rocker arm to swing upward and backward, and then the obstacle-crossing wheel system will realize transmission connection with the transmission wheel, and then the transmission wheel will drive the obstacle-crossing wheel system to rotate, and the obstacle-crossing wheel system will be used to cross the obstacle. When the obstacle-crossing wheel system has crossed the obstacle or has not encountered the obstacle during its forward movement, the obstacle-crossing wheel system will drive the rocker arm to move forward and downward to reset under the action of gravity. At this time, the obstacle-crossing wheel system is disconnected from the transmission wheel, and the obstacle-crossing wheel system no longer rotates. From the above analysis, it can be seen that the utility model automatically performs obstacle overcoming action when encountering an obstacle during the forward movement of the obstacle overcoming wheel system, and can automatically stop the obstacle overcoming action when the obstacle has been crossed or no obstacle is encountered during the forward movement of the obstacle overcoming wheel system. The obstacle overcoming wheel system and the driving wheel are driven by the driving wheel transmission chain, and the obstacle overcoming is passive, and is only triggered when encountering an obstacle. It is very convenient to use.

[0027] Specifically, the obstacle-crossing gear train 6 includes a gear train support 601, a driving wheel 602, and several rotating wheels 603. The gear train support 601 is rotatably mounted on the rocker 5, while the driving wheel 602 and several rotating wheels 603 are rotatably mounted on the gear train support 601. The driving wheel 602 can be connected to and disconnected from the transmission wheel 4, driving the several rotating wheels 603 to rotate. Function: The obstacle-crossing gear train consists of a driving wheel and several rotating wheels. The transmission wheel 4 sequentially drives the driving wheel 602 and several rotating wheels 603 to rotate. When the driving wheel 602 is disconnected from the transmission wheel 4, the driving wheel 602 and several rotating wheels 603 stop rotating.

[0028] Specifically, the multiple wheels 603 are the first, second, and third wheels. The driving wheel 602, the first, and third wheels are arranged in a triangle, with the second wheel located between them. The diameter of the second wheel is smaller than that of the first and third wheels, and the first wheel, the second, and the third wheels cooperate to form a concave shape. Purpose: The multiple wheels of the obstacle-crossing wheel system are assembled on a single bracket, and their contours cooperate to form a concave shape to accommodate various obstacle shapes.

[0029] Specifically, the transmission wheel 4 and the driving wheel 602 are gears or friction wheels. The ends of the first, second, and third rotating wheels closest to the gear train support 601 are gears or friction wheels. The driving wheel 602 can mesh with the transmission wheel 4 through gear teeth or friction transmission, and the driving wheel 602 can mesh with the first, second, and third rotating wheels through gear teeth or friction transmission. The driving wheel 602 can drive multiple rotating wheels 603 to rotate simultaneously and in the same direction. Function: The transmission wheel can be designed as a gear or friction wheel to drive the gear or friction wheel on the gear train support 601 to rotate when encountering an obstacle. The driving wheel can drive multiple rotating wheels to rotate simultaneously and in the same direction, thereby improving obstacle clearance.

[0030] Specifically, the driving wheel 602 and several rotating wheels 603 are rotatably mounted inside the gear train support 601, while the pendulum rod 5 is rotatably mounted outside the gear train support 601. The rotation axis between the pendulum rod 5 and the gear train support 601 is coaxial with the rotation axis between the driving wheel 602 and the gear train support 601, and the first, second, and third rotating wheels do not contact each other. This coaxial arrangement ensures that the pendulum rod 5 and the driving wheel 602 always maintain relative position, improving the accuracy of the coupling between the driving wheel 602 and the transmission wheel. The multiple rotating wheels do not contact each other, thus preventing mutual interference.

[0031] Specifically, a spring 7 is mounted on the assembly cover 103 and located above and behind the pendulum 5. This spring is connected to the pendulum 5, allowing the obstacle-overcoming gear train 6 to disengage from the transmission wheel 4 under the combined force of its gravity and the spring's force. Function: The spring, located above and behind the pendulum, ensures that the transmission wheel and the driving wheel of the obstacle-overcoming gear train are always disengaged. When an obstacle is not in contact with the obstacle-overcoming gear train, the combination of gravity and the spring's force pulls the obstacle-overcoming gear train away from the transmission wheel.

[0032] Specifically, a limiting post 8 is provided on the assembly cover 103 and is located in front of and below the rocker arm 5. The limiting post 8 cooperates with the rocker arm 5 to limit the range of motion of the rocker arm 5 and the obstacle-overcoming gear train 6. Function: The limiting post is provided on the drive wheel housing to limit the range of motion of the rocker arm and the obstacle-overcoming gear train, enabling a small swing.

[0033] Specifically, the drive wheel housing 1 is further provided with a motor bracket 104, which is located in front of the wheel frame 102. The motor bracket 104 is provided with a motor 9, which is in transmission connection with the drive wheel transmission chain 2. Function: The setting of the motor can provide an independent power source for the drive wheel transmission chain 2.

[0034] Specifically, the drive wheel transmission chain 2 includes several sequentially meshed transmission gears 201. The intermediate shaft of one transmission gear 201 is connected to the transmission wheel 4, and this intermediate shaft drives the transmission wheel 4 to rotate. Function: The driving force of the passive obstacle-crossing assist mechanism comes from the original transmission chain of the drive wheel and is drawn from the middle of the transmission chain, thereby effectively utilizing the original driving force.

[0035] Specifically, assembly cover 103 is provided with a rotation slot 105, with an opening 106 at the front lower end of rotation slot 105. Drive wheel 4 is rotatably mounted within rotation slot 105, with the front lower end of drive wheel 4 exposed outward through opening 106. Purpose: The obstacle-crossing wheel train and drive wheel are positioned outside the existing drive wheel housing, achieving efficient space utilization.

[0036] In summary, the obstacle-crossing assist mechanism of a sweeping robot of the present invention is actually a passive obstacle-crossing assist mechanism for the driving wheel of a sweeping robot. When the present invention is actually applied to a sweeping robot, reference can be made to Figure 1 (Not touching obstacles), Figure 2 (Contact obstacle state), the driving wheel 3 passes downward through the bottom 10 of the robot shell and contacts the ground 11, and then the rotation of the driving wheel 3 drives the entire sweeping robot forward, and the obstacle crossing wheel system 6 can be used to cross the obstacle 12. Of course, the number of obstacle crossing auxiliary mechanisms on the sweeping robot can be freely selected according to actual needs.

[0037] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A sweeping robot obstacle-crossing assist mechanism, comprising a driving wheel housing (1), characterized in that: A mounting groove (101) is provided on one of the left and right sides of the driving wheel housing (1), and a wheel frame (102) is provided on the other side. A mounting cover (103) is provided on the side of the mounting groove (101) away from the wheel frame (102). A driving wheel transmission chain (2) is provided between the mounting groove (101) and the mounting cover (103). A driving wheel (3) is rotatably provided on the wheel frame (102), and the driving wheel transmission chain (2) is transmission-connected to the driving wheel (3). A driving wheel (4) and a rocker (5) are rotatably provided on the mounting cover (103). The rocker (5) is located in front of the driving wheel (4). The driving wheel (4) is transmission-connected to the driving wheel transmission chain (2). An obstacle-crossing wheel train (6) is provided at the front lower part of the driving wheel (4). The obstacle-crossing wheel train (6) is rotatably provided on the rocker (5). The obstacle-crossing wheel train (6) can be transmission-connected to and disengaged from the driving wheel (4).

2. The obstacle-crossing assist mechanism for a sweeping robot according to claim 1, characterized in that: The obstacle-crossing wheel train (6) comprises a wheel train bracket (601), a driving wheel (602), and a plurality of rotating wheels (603); the wheel train bracket (601) is rotatably arranged on the rocker (5); the driving wheel (602) and the plurality of rotating wheels (603) are rotatably arranged on the wheel train bracket (601); the driving wheel (602) can be connected to and disconnected from the transmission wheel (4); and the driving wheel (602) can drive the plurality of rotating wheels (603) to rotate.

3. The obstacle-crossing assist mechanism for a sweeping robot according to claim 2, characterized in that: The plurality of rotating wheels (603) are respectively a first rotating wheel, a second rotating wheel, and a third rotating wheel; the driving wheel (602) and the first rotating wheel and the third rotating wheel are distributed in a triangle; the second rotating wheel is located between the first rotating wheel and the third rotating wheel; the diameter of the second rotating wheel is smaller than the diameter of the first rotating wheel and the third rotating wheel; the first rotating wheel cooperates with the second rotating wheel and the third rotating wheel to form a concave shape.

4. The obstacle-crossing assist mechanism for a sweeping robot according to claim 3, characterized in that: The transmission wheel (4) and the driving wheel (602) are gears or friction wheels, and the ends of the first rotating wheel, the second rotating wheel, and the third rotating wheel close to the gear train bracket (601) are gears or friction wheels; the driving wheel (602) can be engaged with the transmission wheel (4) through gear meshing transmission or friction transmission, and the driving wheel (602) can be engaged with the first rotating wheel, the second rotating wheel, and the third rotating wheel through gear meshing transmission or friction transmission, and the driving wheel (602) can drive a plurality of the rotating wheels (603) to rotate simultaneously and in the same direction.

5. The obstacle-crossing assist mechanism for a sweeping robot according to claim 4, characterized in that: The driving wheel (602) and a plurality of rotating wheels (603) are rotatably arranged on the inner side of the wheel train bracket (601), and the rocker (5) is rotatably arranged on the outer side of the wheel train bracket (601); the rotation axis between the rocker (5) and the wheel train bracket (601) and the rotation axis between the driving wheel (602) and the wheel train bracket (601) are coaxially arranged, and the first rotating wheel, the second rotating wheel, and the third rotating wheel do not contact each other.

6. The obstacle-crossing assist mechanism for a sweeping robot according to any one of claims 1 to 5, characterized in that: A spring (7) is provided on the assembly cover (103), and the spring (7) is located above and behind the rocker (5). The spring (7) is connected to the rocker (5) so that the obstacle-crossing wheel train (6) can be separated from the transmission wheel (4) under the action of the gravity of the obstacle-crossing wheel train (6) and the spring force of the spring (7).

7. The obstacle-crossing assist mechanism for a sweeping robot according to any one of claims 1 to 5, characterized in that: A limiting column (8) is provided on the assembly cover (103), and the limiting column (8) is located in the front lower part of the swing rod (5). The limiting column (8) can cooperate with the swing rod (5) to limit the range of movement of the swing rod (5) and the obstacle-crossing wheel train (6).

8. The obstacle-crossing assist mechanism for a sweeping robot according to any one of claims 1 to 5, characterized in that: The driving wheel housing (1) is further provided with a motor bracket (104), the motor bracket (104) being located in front of the wheel frame (102), the motor bracket (104) being provided with a motor (9), and the motor (9) being in transmission connection with the driving wheel transmission chain (2).

9. The obstacle-crossing assist mechanism for a sweeping robot according to any one of claims 1 to 5, characterized in that: The driving wheel transmission chain (2) comprises a plurality of transmission gears (201) meshed in sequence, wherein an intermediate shaft of one of the transmission gears (201) is connected to the transmission wheel (4), and the intermediate shaft of the transmission gear (201) can drive the transmission wheel (4) to rotate.

10. The obstacle-crossing assist mechanism for a sweeping robot according to any one of claims 1 to 5, characterized in that: The assembly cover (103) is provided with a rotation groove (105), the front lower end of the rotation groove (105) is provided with an opening (106), the transmission wheel (4) is rotatably arranged inside the rotation groove (105), and the front lower end of the transmission wheel (4) is exposed to the outside through the opening (106).

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