Chassis structure

Abstract

The utility model belongs to the technical field of smart home, and particularly discloses a chassis structure which comprises a chassis body, a rotating shaft, a universal wheel assembly and a lifting driving assembly, and a shaft hole is formed in the chassis body in a penetrating mode; the rotating shaft penetrates through the shaft hole, can rotate in the shaft hole and reciprocates along the shaft hole; the universal wheel assembly is fixed on the rotating shaft and synchronously moves along with the rotating shaft; the lifting driving assembly is configured to apply pressure to the rotating shaft so that the universal wheel assembly connected to the rotating shaft can move relatively away from the chassis body. The chassis structure can be automatically lifted when encountering an obstacle, and the difficulty that the chassis structure crosses the obstacle is lowered.

Description

Technical Field

[0001] This utility model relates to the field of smart home technology, and in particular to a chassis structure. Background Technology

[0002] Robotic vacuum cleaners have become a popular choice for many families in today's fast-paced lifestyle, as they can automatically clean floors and reduce our housework burden. However, existing robotic vacuum cleaners may experience reduced cleaning efficiency and a negative impact on the user experience when cleaning floors with high steps or uneven surfaces, which hinders their climbing ability. Utility Model Content

[0003] The purpose of this invention is to provide a chassis structure that can be used in sweepers to solve the problem of slow climbing efficiency when sweepers climb steps.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] The chassis structure includes a chassis body, a pivot, a caster wheel assembly, and a lifting drive assembly. The chassis body has a through hole along its height direction. The pivot passes through the pivot hole and is rotatable within the pivot hole and reciprocates along the pivot hole. The caster wheel assembly is fixed to the pivot and moves synchronously with the pivot. The lifting drive assembly is configured to apply pressure to the pivot to cause the caster wheel assembly connected to the pivot to move relatively away from the chassis body.

[0006] Optionally, the lifting drive assembly includes a drive motor and a swing arm. The drive motor is fixed to the chassis body, and the swing arm is connected to the drive motor so that it abuts against the rotating shaft and applies pressure to the rotating shaft under the drive of the drive motor.

[0007] Optionally, the chassis structure further includes a first monitoring element that is communicatively connected to the drive motor. The first monitoring element is disposed on the chassis body and located on the movement path of the end of the swing arm away from the drive motor.

[0008] Optionally, the lifting drive assembly includes a drive motor and a cam. The drive motor is fixed to the chassis body, and the cam is connected to the drive motor via a camshaft to apply pressure to the rotating shaft under the drive of the drive motor.

[0009] Optionally, the lifting drive assembly further includes a limiting bracket, which is Z-shaped. One end of the limiting bracket is connected to the rotating shaft, and the other end of the limiting bracket is located on the side of the cam facing the chassis body, with the cam abutting against the limiting bracket.

[0010] Optionally, the lifting drive assembly further includes a first limiting member, which is fixed to the chassis body and abuts against the camshaft of the cam.

[0011] Optionally, the lifting drive assembly further includes a guide rod arranged parallel to the rotating shaft, the guide rod being fixed to the first limiting member and passing through the limiting bracket and being movably connected to the limiting bracket.

[0012] Optionally, the lifting drive assembly further includes a first elastic element configured to provide a reset force to the limiting bracket.

[0013] Optionally, the lifting drive assembly further includes a second limiting member sleeved on the camshaft of the cam, wherein the wall of the through hole through which the camshaft passes is provided with a limiting groove extending circumferentially along the second limiting member, and a stop block is provided on the camshaft, the stop block being rotatably disposed within the limiting groove.

[0014] Optionally, the chassis structure further includes a second elastic element, which is connected to the pivot and provides elastic force to the caster wheel assembly connected to the pivot, close to the chassis body.

[0015] The beneficial effects of this utility model are as follows: When climbing obstacles such as steps, the chassis structure proposed in this utility model can drive the rotating shaft through the lifting drive component to move the universal wheel assembly away from the chassis body, so that the chassis body is raised relative to the universal wheel assembly, thereby easily overcoming obstacles such as steps. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the chassis structure in an embodiment of this utility model;

[0017] Figure 2 This is a front view of the chassis structure in one embodiment of the present invention;

[0018] Figure 3 It is along Figure 2 Sectional view along the middle AA direction;

[0019] Figure 4 yes Figure 3 Enlarged structural diagram at point M;

[0020] Figure 5 This is a top view of the chassis structure in another embodiment of the present invention;

[0021] Figure 6 It is along Figure 5 Sectional view along the BB direction;

[0022] Figure 7 yes Figure 6A magnified structural diagram at point N;

[0023] Figure 8 This is a schematic diagram of the lifting drive assembly in an embodiment of this utility model;

[0024] Figure 9 This is an assembly diagram of the cam and the second limiting member in an embodiment of this utility model.

[0025] In the picture:

[0026] 1. Chassis body; 11. Shaft holes;

[0027] 2. Shaft; 21. Shaft body; 211. Large diameter section; 212. Small diameter section; 22. Fixing screw; 23. Washer;

[0028] 3. Caster wheel assembly; 31. Caster wheel; 32. Mounting base;

[0029] 4. Lifting drive assembly; 41. Drive motor; 42. Sway bar; 43. Cam; 431. Camshaft; 432. Stop block; 44. First limiting component; 441. Main body; 442. Limiting part; 45. Second limiting component; 411. Limiting groove; 46. First monitoring component; 47. First elastic component; 48. Limiting bracket; 49. Guide rod;

[0030] 5. Second monitoring item;

[0031] 6. Second elastic element;

[0032] 7. Control circuit board. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0037] Example 1

[0038] refer to Figures 1-9 As shown, this embodiment proposes a chassis structure for a sweeping machine. The chassis structure includes a chassis body 1, a rotating shaft 2, a caster wheel assembly 3, and a lifting drive assembly 4. The chassis body 1 has a shaft hole 11 through which the rotating shaft 2 passes along the height direction. The rotating shaft 2 is rotatably disposed in the shaft hole 11 and can reciprocate along the axial direction of the shaft hole 11 within the shaft hole 11. The caster wheel assembly 3 includes a caster wheel 31 and a mounting base 32. The caster wheel 31 is rotatably disposed on the mounting base 32, and the mounting base 32 is fixed to the rotating shaft 2 and moves synchronously with the rotating shaft 2. The lifting drive assembly 4 is disposed on the chassis and is configured to apply pressure to the rotating shaft 2 so that the caster wheel assembly 3 connected to the rotating shaft 2 moves relatively away from the chassis body 1.

[0039] When the aforementioned chassis structure climbs obstacles such as steps, it can drive the pivot 2 through the lifting drive component 4 to move the universal wheel assembly 3 away from the chassis body 1, so that the chassis body 1 is raised relative to the universal wheel assembly 3, thus easily overcoming obstacles such as steps; after the chassis structure successfully overcomes the obstacle, the chassis body 1 falls back to its initial position under its own gravity.

[0040] refer to Figure 4 As shown, the rotating shaft 2 includes a rotating shaft body 21 and a fixing screw 22. The rotating shaft body 21 passes through the shaft hole 11 and is connected to the universal wheel assembly 3. The fixing screw 22 is coaxially inserted into the rotating shaft body 21 and threadedly connected to the rotating shaft body 21 to prevent the rotating shaft 2 from disengaging from the shaft hole 11.

[0041] Specifically, the pivot 2 also includes a washer 23, which is fitted onto the pivot body 21 and abuts against the end face of the shaft hole 11 away from the universal wheel assembly 3. More specifically, to prevent the washer 23 from detaching from the lower end of the pivot body 21 when it is assembled, the pivot body 21 includes a large-diameter section 211 and a small-diameter section 212. The end of the large-diameter section 211 away from the small-diameter section 212 is connected to the universal wheel assembly 3, and the washer 23 is fitted onto the end of the small-diameter section 212 of the pivot body 21, so as to limit the washer 23 by utilizing the step formed between the large-diameter section 211 and the small-diameter section 212. The washer 23 can prevent the nut of the fixing screw 22 from colliding with the end face of the shaft hole 11, thus extending the service life of the chassis body 1.

[0042] refer to Figure 4 As shown, the lifting drive assembly 4 includes a drive motor 41 and a swing arm 42. The drive motor 41 is fixed to the side of the chassis body 1 facing away from the universal wheel assembly 3 by a motor mounting bracket. The first end of the swing arm 42 is connected to the output shaft of the drive motor 41. The swing arm 42 can rotate under the drive of the drive motor 41 to abut against the end of the rotating shaft 2 away from the universal wheel assembly 3 and apply pressure to the rotating shaft 2. At the same time, the swing arm 42 can also disengage from the rotating shaft 2 under the drive of the drive motor 41 so that the chassis body 1 can return to the initial position under its own gravity.

[0043] To prevent excessive rotation of the swing arm 42 when it detaches from the rotating shaft 2, the chassis structure also includes a first monitoring element 46 communicatively connected to the drive motor 41. The first monitoring element 46 is fixed to the chassis body 1 and located on the movement path of the end of the swing arm 42 away from the drive motor 41. When the end of the swing arm 42 away from the drive motor 41 rotates away from the rotating shaft 2 under the action of the drive motor 41 and enters the monitoring range of the first monitoring element 46, the first monitoring element 46 can generate a monitoring signal, thereby stopping the drive motor 41 from rotating.

[0044] For example, the first monitoring element 46 employs a tactile sensor.

[0045] Understandably, the chassis structure also includes a walking assembly and a control circuit board 7. The control circuit board 7 is electrically connected to the walking assembly and the lifting drive assembly 4. When encountering steps or obstacles, due to the difficulty of overcoming obstacles, the walking drive component in the walking assembly, which provides walking power, will inevitably generate a large current instantaneously. After receiving the signal of generating a large current, the control circuit board 7 controls the lifting drive assembly 4 to apply force to the rotating shaft 2, thereby raising the chassis body 1 and thus overcoming the obstacle.

[0046] Alternatively, the chassis structure may also include a second monitoring component 5, which is used to monitor whether there are obstacles such as steps in front of the chassis structure. When the second monitoring component 5 detects that there are obstacles such as steps in front, the lifting drive receives the signal and drives the swing arm 42 to swing, so that it provides pressure to the rotating shaft 2, thereby raising the chassis body 1 and easily passing over the obstacle, without having to generate a feedback signal when in contact with the obstacle, thus improving the service life of the walking drive component.

[0047] Specifically, the second monitoring element 5 can be a laser sensor or an image acquisition device. It is understood that the height of the obstacle detected by the second monitoring element 5 must be higher than the distance between the chassis body 1 and the ground when it is in its initial position. For example, if the distance between the chassis body 1 and the ground when it is in its initial position is 15mm, then the height of the obstacle detected by the second monitoring element 5 must be greater than or equal to 15mm.

[0048] refer to Figure 4 and Figure 7 As shown, in order to provide cushioning for the caster wheel assembly 3 when it comes into contact with obstacles such as steps, and to avoid impact on the drive motor 41, the chassis structure also includes a second elastic element 6. The second elastic element 6 is connected to the pivot 2 and provides a spring force to the caster wheel assembly 3 connected to the pivot 2 to move it closer to the chassis body 1. Obviously, the provision of the second elastic element 6 also facilitates the reset of the caster wheel assembly 3 relative to the chassis body 1.

[0049] Specifically, the second elastic element 6 is a compression spring, which is sleeved on the rotating shaft 2 and located between the nut of the fixing screw 22 and the end face of the shaft hole 11 away from the universal wheel assembly 3.

[0050] When assembling the caster assembly 3 onto the chassis body 1, the pivot body 21 can be pre-assembled onto the caster assembly 3 or integrally formed with the caster assembly 3. Then, the pivot body 21 is passed through the shaft hole 11, the compression spring is sleeved on the pivot body 21, and the fixing screw 22 is screwed into the pivot body 21.

[0051] Example 2

[0052] refer to Figures 5-9 As shown, the lifting drive assembly 4 in this embodiment includes a drive motor 41 and a cam 43. The drive motor 41 is fixed to the side of the chassis body 1 facing away from the universal wheel 31. The cam 43 is connected to the output shaft of the drive motor 41 through a camshaft 431 and can push the rotating shaft 2 so that the universal wheel assembly 3 connected to the rotating shaft 2 moves away from the chassis body 1.

[0053] Specifically, in order to make reasonable use of the space on the chassis body 1 and reduce the height of the chassis structure, the chassis structure also includes a limiting bracket 48. The limiting bracket 48 is Z-shaped, with its first end connected to the rotating shaft 2 and its second end located on the side of the cam 43 facing the chassis body 1. The cam 43 abuts against the limiting bracket 48 to push the rotating shaft 2 to move by squeezing the limiting bracket 48.

[0054] More specifically, in order to axially limit the limiting bracket 48 and prevent the limiting bracket 48 from moving axially relative to the rotating shaft 2, a limiting step is provided at the end of the rotating shaft body 21 away from the universal wheel assembly 3. The fixing screw 22 cooperates with the limiting step to form a limiting space. The first end of the limiting bracket 48 is sleeved on the rotating shaft body 21 and located within the limiting space.

[0055] refer to Figure 7 and Figure 8 As shown, the lifting drive assembly 4 also includes a first limiting member 44, which is fixed on the chassis body 1 and located above the cam 43. The first limiting member 44 abuts against the camshaft 431 of the cam 43 to avoid the eccentricity problem caused by the cam 43 rotating for a long time.

[0056] Specifically, the first limiting member 44 includes a main body 441 and a limiting part 442. The main body 441 has a plate-like structure and is fixedly connected to the chassis body 1 or other structures on the chassis body 1 by means including but not limited to bolts. The limiting part 442 is disposed on the side of the main body 441 facing the cam 43 and abuts against the camshaft 431. More specifically, in order to increase the contact area between the limiting part 442 and the camshaft 431, an arc-shaped stop groove with the same radius as the camshaft 431 is provided at the end of the limiting part 442 that abuts against the camshaft 431. The cam 43 is located in the arc-shaped stop groove and abuts against the groove wall.

[0057] Continue to refer to Figure 8 As shown, the lifting drive assembly 4 also includes a guide rod 49 arranged parallel to the rotating shaft 2. The guide rod 49 is fixed on the first limiting member 44 and passes through the limiting bracket 48, and is movably connected to the limiting bracket 48 to guide the movement of the limiting bracket 48. For example, two guide rods 49 are provided.

[0058] The lifting drive assembly 4 also includes a first elastic element 47, which is configured to provide a reset force to the limiting bracket 48. For example, the first elastic element 47 is a compression spring, with two compression springs respectively sleeved on the two guide rods 49 and located on the side of the limiting bracket 48 facing the chassis body 1.

[0059] To limit the rotation angle of the drive motor 41, the lifting drive assembly 4 also includes a second limiting member 45. The second limiting member is fixed on the drive motor 41 and sleeved on the camshaft 431 of the cam 43. A limiting groove 411 extending circumferentially along the second limiting member 45 is provided on the wall of the through hole through which the camshaft 431 passes. Correspondingly, a stop block 432 is provided radially on the camshaft 431 of the cam 43. The stop block 432 is rotatably disposed in the limiting groove 411. When the stop block 432 contacts one end of the limiting groove 411, the cam 43 is restricted from continuing to rotate in the original direction.

[0060] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A chassis structure, characterized in that, The chassis structure includes: The chassis body (1) has a shaft hole (11) extending through it along the height direction; A rotating shaft (2) passes through the shaft hole (11), and the rotating shaft (2) can rotate within the shaft hole (11) and reciprocate along the axial direction of the shaft hole (11); The universal wheel assembly (3) is fixed to the pivot (2) and moves synchronously with the pivot (2); A lifting drive assembly (4) is configured to apply pressure to the pivot (2) to cause the caster wheel assembly (3) connected to the pivot (2) to move relatively away from the chassis body (1).

2. The chassis structure according to claim 1, characterized in that, The lifting drive assembly (4) includes a drive motor (41) and a swing arm (42). The drive motor (41) is fixed on the chassis body (1). The swing arm (42) is connected to the drive motor (41) so that it abuts against the rotating shaft (2) and applies pressure to the rotating shaft (2) under the drive of the drive motor (41).

3. The chassis structure according to claim 2, characterized in that, The chassis structure also includes a first monitoring element (46) that is communicatively connected to the drive motor (41). The first monitoring element (46) is disposed on the chassis body (1) and located on the movement path of the swing arm (42) away from the drive motor (41).

4. The chassis structure according to claim 1, characterized in that, The lifting drive assembly (4) includes a drive motor (41) and a cam (43). The drive motor (41) is fixed on the chassis body (1). The cam (43) is connected to the output end of the drive motor (41) through a camshaft (431) to apply pressure to the rotating shaft (2) under the drive of the drive motor (41).

5. The chassis structure according to claim 4, characterized in that, The lifting drive assembly (4) also includes a limiting bracket (48), which is Z-shaped. One end of the limiting bracket (48) is connected to the rotating shaft (2), and the other end of the limiting bracket (48) is located on the side of the cam (43) facing the chassis body (1). The cam (43) abuts against the limiting bracket (48).

6. The chassis structure according to claim 5, characterized in that, The lifting drive assembly (4) further includes a first limiting member (44), which is fixed to the chassis body (1) and abuts against the camshaft (431) of the cam (43).

7. The chassis structure according to claim 6, characterized in that, The lifting drive assembly (4) further includes a guide rod (49) arranged parallel to the rotating shaft (2). The guide rod (49) is fixed on the first limiting member (44) and passes through the limiting bracket (48) and is movably connected to the limiting bracket (48).

8. The chassis structure according to claim 5, characterized in that, The lifting drive assembly (4) further includes a first elastic element (47) configured to provide a reset force to the limiting bracket (48).

9. The chassis structure according to claim 4, characterized in that, The lifting drive assembly (4) further includes a second limiting member (45) sleeved on the camshaft (431) of the cam (43). The second limiting member (45) has a limiting groove (411) extending circumferentially along the wall of the through hole through which the camshaft (431) passes. A stop block (432) is provided on the camshaft (431), and the stop block (432) is rotatably disposed in the limiting groove (411).

10. The chassis structure according to any one of claims 1-9, characterized in that, The chassis structure also includes a second elastic element (6), which is connected to the pivot (2) and provides elastic force to the caster assembly (3) connected to the pivot (2) to approach the chassis body (1).

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