Dust collection robot with two-degree-of-freedom driven wheel

Abstract

The utility model relates to a dust collection robot with a two-degree-of-freedom driven wheel, which comprises a chassis, the driven wheel and two driving wheels are arranged on the chassis, and at least three rollers which are circumferentially and uniformly distributed are arranged on the radial outer side of the driven wheel; in the axial projection of the driven wheel, arcs formed by the outer side surfaces of the rollers are concentric; the roller can rotate freely, and the rotating direction of the roller is perpendicular to the rolling direction of the driven wheel. The diameters of the rollers are gradually reduced from the center position to the two sides. The rollers not only serve as parts of the driven wheels and can roll on the bottom surface, but also can rotate in the radial direction during steering, and due to the design, the driven wheels can immediately respond to external force and flexibly move in any direction without wobbling the wheel carrier or changing the direction of the wheels.

Description

TECHNICAL FIELD

[0001] The utility model relates to a dust collection robot with double-degree-of-freedom driven wheels. BACKGROUND

[0002] In the field of traditional design of three-wheel driving dust collection robots, common driven wheels usually adopt ordinary universal wheels and ball hinge wheels. These wheels can meet the basic movement requirements of robots to a certain extent. However, with the continuous improvement of the performance requirements of robots, especially in terms of steering flexibility, reaction speed and positioning accuracy, these traditional wheels gradually reveal their limitations.

[0003] Specifically, ordinary universal wheels and ball hinge wheels need a certain radius and time to turn, which leads to relatively slow reaction of the robot when turning. When operating in complex or narrow spaces, this slow turning reaction can seriously affect the operation efficiency and positioning accuracy of the robot. For example, in a home environment, the dust collection robot needs to frequently turn and move in narrow passages, furniture spaces and other spaces. If the steering is not flexible and accurate enough, it will lead to poor cleaning effect, and even may damage furniture or cause the robot to jam.

[0004] In addition, the traditional wheels are also easily affected by ground friction, unevenness and other factors when turning, further reducing the stability and positioning accuracy of the robot.

[0005] Therefore, how to improve the driven wheels of the three-wheel driving dust collection robot to improve the steering flexibility, reaction speed and positioning accuracy of the robot has become a problem to be solved by those skilled in the art. SUMMARY

[0006] To solve the technical problems in the background art, the utility model discloses a dust collection robot with double-degree-of-freedom driven wheels.

[0007] The utility model provides a dust collection robot with double-degree-of-freedom driven wheels, including the chassis, be provided with one driven wheel and two driving wheels on the chassis, the radial outside of driven wheel is provided with at least three circumferentially uniform distribution's roller,

[0008] In the axial projection of the driven wheel, the arc formed by the outer side of the roller is concentric;

[0009] The roller can rotate freely, and the rotation direction is perpendicular to the rolling direction of the driven wheel;

[0010] The diameter of the roller decreases from the center position to both sides.

[0011] The beneficial effects of the above configuration are: 1. The roller not only serves as a component of the driven wheel, rolling on the bottom surface, but also rotates radially when turning. This design allows the driven wheel to respond immediately to external forces and move flexibly in any direction without swinging the wheel frame or changing the wheel direction; 2. Since the wheel frame does not generate eccentric torque when subjected to force, there is no need to reserve extra space for wheel swing; 3. This structure of the driven wheel results in a lower center of gravity, which enhances the robot's stability; 4. The roller's structure helps reduce friction and resistance during turning, enabling the robot to control the turning angle and speed more precisely. This not only improves the robot's reaction speed but also significantly enhances positioning accuracy, ensuring that the robot can accurately reach the target position when performing cleaning tasks, avoiding unnecessary collisions and jamming.

[0012] The driven wheel has the following structure: it includes a sleeve, into which a rotating shaft is inserted; both ends of the rotating shaft are fixedly connected to the chassis; multiple rotationally symmetrical connecting plates are radially extended from the outer wall of the sleeve; the outer ends of the connecting plates are provided with fixed plates forming a V shape; and both ends of the roller are fixedly connected to adjacent fixed plates respectively.

[0013] To improve the stability of the driven wheels, a further design is to make two driven wheels arranged axially side by side.

[0014] Furthermore, the rollers in one of the driven wheels are staggered from those in the other driven wheel, and the staggered rollers partially overlap in radial projection. With this arrangement, when the driven wheels roll, rollers in contact with the ground. Thus, when the robot operates in narrow spaces or aisles, the staggered roller design allows the robot to adjust its posture more flexibly, smoothly pass through narrow spaces, and reduce the risk of getting stuck and colliding with furniture.

[0015] When robots operate in indoor home environments, they often encounter obstacles such as carpets and low-steps. If the driven wheels are directly fixed to the chassis, it may cause the robot to shake and generate noise, and may also cause the chassis to lift, affecting the vacuuming effect. Therefore, a further improvement is made: a vertically arranged spring is installed on the chassis; both ends of the rotating shaft are fixedly connected to the upper ends of the spring, allowing the rotating shaft to move in all directions. The specific installation structure is as follows: a vertically arranged sleeve is installed on the chassis, and the spring is housed within the sleeve; connecting blocks extend vertically downwards from both ends of the rotating shaft; the lower end of the connecting block is flat and fixedly connected to the upper end of the spring; the upper end of the connecting block is spherical and contacts the inwardly protruding limiting ring at the upper end of the sleeve.

[0016] Furthermore, the drive device that drives the rotation of the active wheels is located between the two active wheels, including a motor and a gearbox; the motor and gearbox are configured as two rotationally symmetrical sets; the motor housing is fixedly connected to the housing of one of the gearboxes, and the drive end is fixedly connected to the input end of the other gearbox. The specific structure of the gearbox is as follows: the housing is equipped with an axially parallel motor shaft connecting gear, a double gear, and an output shaft gear; the motor shaft connecting gear is fixedly connected to the drive end of the motor; one gear of the double gear meshes with the motor shaft connecting gear, and the other gear meshes with the output shaft gear; the output shaft gear is fixedly connected to the output shaft; the output shaft is fixedly connected to the active wheels. The beneficial effects of this configuration are: 1. It improves the coaxiality of the two active wheels; 2. The robot's structure is more compact, allowing for a shorter wheelbase between the two active wheels, thus reducing the robot's size; 3. The gearbox provides a self-locking function, acting as a brake; 4. The gearbox also helps to extend the wheelbase, meeting the requirements for precise installation of the active wheels.

[0017] The material and diameter of the gears affect the noise level during robot operation. Based on this, a further improvement is made by using MC nylon for the motor shaft connecting gear, double gear, and output shaft gear.

[0018] Both the double gear and the output shaft gear are fixedly sleeved on the connecting shaft; the two ends of the connecting shaft are rotatably connected by the rolling bearings on the housing; since dust and moisture can easily enter the rolling bearings and affect the normal operation of the gearbox, a further improvement is made: a cover plate covering the rolling bearings is installed on the outer wall of the housing.

[0019] The beneficial effects of this invention are as follows: 1. The roller not only serves as a component of the driven wheel, allowing it to roll on the bottom surface, but also rotates radially when turning. This design enables the driven wheel to respond immediately to external forces and move flexibly in any direction without needing to swing the wheel frame or change the wheel direction; 2. Since the wheel frame does not generate eccentric torque when subjected to force, there is no need to reserve extra space for wheel swing; 3. This structure of the driven wheel results in a lower center of gravity, which enhances the robot's stability; 4. The roller's structure helps reduce friction and resistance during turning, enabling the robot to more precisely control the turning angle and speed. This not only improves the robot's reaction speed but also significantly enhances positioning accuracy, ensuring that the robot can accurately reach the target position when performing cleaning tasks, avoiding unnecessary collisions and jamming. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2This is a top view of the present invention;

[0023] Figure 3 This is the front view of this utility model;

[0024] Figure 4 This is a structural diagram of the driven wheel;

[0025] Figure 5 This is the front view of the driven wheel;

[0026] Figure 6 This is a top sectional view of the gearbox;

[0027] Figure 7 This is a schematic diagram of the spring and its mounting structure;

[0028] In the diagram: 1. Chassis; 2. Driven wheel; 3. Drive wheel; 4. Roller; 5. Spring; 6. Sleeve; 7. Motor; 8. Gearbox; 21. Sleeve; 22. Shaft; 23. Connecting plate; 24. Fixing plate; 25. Connecting block; 26. Connecting plate; 27. Plug; 61. Limiting ring; 81. Housing; 82. Motor shaft connecting gear; 83. Double gear; 84. Output shaft gear; 85. Output shaft; 86. Connecting shaft; 87. Rolling bearing; 88. Cover plate. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0030] like Figures 1-3 As shown, this utility model discloses a vacuuming robot with a dual-degree-of-freedom driven wheel, including a chassis 1. A driven wheel 2 and two driving wheels 3 are installed on the chassis 1. The positions of the driven wheel 2 and the driving wheels 3 form an isosceles triangle, with the driving wheel 3 located at the base angle of the triangle and the driven wheel 2 located at the apex angle of the triangle.

[0031] like Figure 4 and Figure 5 As shown, the driven wheel 2 includes a wheel frame, which includes a horizontally arranged sleeve 21. At least three circumferentially evenly distributed connecting plates 23 extend radially from the outer wall of the sleeve 21. V-shaped fixing plates 24 are connected to the outer ends of the connecting plates 23. The bottom of the fixing plate 24 is connected to the connecting plate 23, with its opening facing outwards, and the V-shaped groove formed by the fixing plates 24 extends axially along the driven wheel 2. In this embodiment, there are three connecting plates 23. A roller 4 is connected between adjacent fixing plates 24, and the roller 4 can rotate radially, with its rotation direction perpendicular to the rolling direction of the driven wheel 2.

[0032] The driven wheels 2 are arranged in parallel, sharing a single sleeve 21. This increases the width of the driven wheels 2, improving rolling stability. The rollers 4 in one driven wheel 2 are staggered from those in the other driven wheel 2, and these staggered rollers 4 partially overlap in radial projection. This arrangement ensures that rollers 4 are in contact with the ground during the rolling of each driven wheel 2. When the robot operates in narrow spaces or aisles, the staggered roller design allows the robot to adjust its posture more flexibly, smoothly navigating confined spaces and reducing the risk of getting stuck or colliding with furniture.

[0033] A rotating shaft 22 is inserted into the sleeve 21, and a bearing enables rotational connection. Both ends of the rotating shaft 22 are elastically connected to the chassis 1 via springs 5, allowing the rotating shaft 22 to move in various directions. The specific installation structure is as follows: a vertically arranged sleeve 6 is provided on the chassis 1, such as... Figure 7 As shown, a connecting plate 26 is provided on the outer wall of the sleeve 6. The part of the sleeve 6 below the connecting plate 26 passes downward through the chassis 1. The lower end face of the connecting plate 26 abuts against the upper end face of the chassis 1 and is fixed by bolts. The spring 5 is arranged vertically and installed inside the sleeve 6. Connecting blocks 25 extend vertically downward from both ends of the rotating shaft 22. The lower end face of the connecting block 25 is flat and is fixedly connected to the upper end of the spring 5. The upper end face of the connecting block 25 is spherical and contacts the inwardly protruding limiting ring 61 at the upper end of the sleeve 6. A plug 27 is threadedly connected to the lower end of the sleeve 6. The upper end of the plug 27 is connected to the lower end of the spring 5. The plug 27 not only ensures that the spring 5 is in a compressed state after the driven wheel 2 is installed, thereby enabling the rotating shaft 22 to move in all directions, but also allows the spring force of the spring 5 to be adjusted according to different ground conditions by adjusting the height of the plug 27, so that the driven wheel 2 can roll stably. This setup not only prevents the robot from bumping and making noise when running on carpets, low-steps, or other obstacles, but also allows the vehicle to be raised so as not to affect the vacuuming effect.

[0034] The drive unit that drives the driving wheel 3 is located between the two driving wheels 3, and includes a motor 7 and a gearbox 8; the motor 7 and gearbox 8 are configured as two rotationally symmetrical sets; the housing of the motor 7 is fixedly connected to the housing 81 of one of the gearboxes 8, and the drive end is fixedly connected to the input end of the other gearbox 8. The specific structure of the gearbox 8 is as follows: Figure 2 and Figure 6As shown, the housing 81 is equipped with an axially parallel motor shaft connecting gear 82, a double gear 83, and an output shaft gear 84. The motor shaft connecting gear 82 is fixedly connected to the drive end of the motor 7. One gear of the double gear 83 meshes with the motor shaft connecting gear 82, and the other gear meshes with the output shaft gear 84. The output shaft gear 84 is fixedly connected to the output shaft 85. The output shaft 85 is fixedly connected to the drive wheel 3. The beneficial effects of this configuration are: 1. It improves the coaxiality of the two drive wheels 3; 2. The robot's structure is more compact, allowing the wheelbase of the two drive wheels 3 to be shortened, thereby reducing the robot's size; 3. The gearbox 8 enables a self-locking function, serving as a braking mechanism; 4. The gearbox 8 also helps to extend the wheelbase, meeting the requirements for precise installation of the drive wheels 3.

[0035] Both the double gear 83 and the output shaft gear 84 are fixedly sleeved on the connecting shaft 86; the two ends of the connecting shaft 86 are rotatably connected by snapping onto the upper rolling bearing 87 of the housing 81; since dust and moisture can easily enter the interior of the rolling bearing 87 and affect the normal operation of the gearbox 8, a cover plate 88 covering the rolling bearing 87 is installed on the outer wall of the housing 81.

[0036] The motor shaft connecting gear 82, double gear 83, and output shaft gear 84 are made of MC nylon. MC nylon is manufactured using anionic polymerization technology, with a molecular weight as high as 70,000-100,000, far exceeding that of ordinary nylon 6 and nylon 66 by three times. MC nylon not only meets the low-speed, low-torque working intensity requirements of vacuum cleaner robots but is also compatible with general gear processing equipment. In practical applications, MC nylon gear sets exhibit advantages such as lightweight, low noise, infrequent lubrication requirements, and rust prevention.

[0037] Compared to existing technologies, the advantages of this embodiment are: 1. The roller 4 not only serves as a component of the driven wheel 2, enabling it to roll on the bottom surface, but also rotates radially when turning. This design allows the driven wheel 2 to respond immediately to external forces and move flexibly in any direction without swinging the wheel frame or changing the wheel direction; 2. Since the wheel frame does not generate eccentric torque when subjected to force, there is no need to reserve extra space for wheel swing; 3. This structure of the driven wheel 2 results in a lower center of gravity, which enhances the robot's stability; 4. The structure of the roller 4 helps reduce friction and resistance during turning, enabling the robot to control the turning angle and speed more precisely. This not only improves the robot's reaction speed but also significantly enhances positioning accuracy, ensuring that the robot can accurately reach the target position when performing cleaning tasks, avoiding unnecessary collisions and jamming.

[0038] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A dusting robot with double-degree-of-freedom driven wheels, comprising a chassis, wherein one driven wheel and two driving wheels are arranged on the chassis, and characterized in that: at least three circumferentially uniformly distributed rollers are arranged on the radially outer side of the driven wheel; in the axial projection of the driven wheel, the arc formed by the outer side of the rollers is concentric; the rollers are freely rotatable, and the rotation direction is perpendicular to the rolling direction of the driven wheel; the diameter of the rollers decreases from the central position to both sides; 2. The robot vacuum cleaner with a double degree of freedom driven wheel according to claim 1, characterized in that: the driven wheel comprises a sleeve, and a rotationally connected rotating shaft is inserted into the sleeve; the two ends of the rotating shaft are fixedly connected to the chassis; a plurality of rotationally symmetrical connecting plates are radially led out from the outer wall of the sleeve; the outer ends of the connecting plates are provided with fixed plates forming a V shape; the two ends of the rollers are fixedly connected to the adjacent fixed plates, respectively.

3. The cleaning robot having a double-degree-of-freedom driven wheel according to claim 2, characterized in that: The driven wheels are arranged axially in parallel.

4. The cleaning robot having a double-degree-of-freedom driven wheel according to claim 3, wherein: The rollers in one of the driven wheels are arranged staggered with the rollers in the other driven wheel, and the staggered rollers partially coincide in the radial projection.

5. The robot vacuum cleaner with a double degree of freedom driven wheel according to claim 2, wherein: A spring is arranged vertically on the chassis; the two ends of the rotating shaft are fixedly connected to the upper end of the spring, so that the rotating shaft can be displaced in all directions.

6. The cleaning robot having a double-degree-of-freedom driven wheel according to claim 5, wherein: A sleeve is arranged vertically on the chassis, and the spring is arranged in the sleeve; the two ends of the rotating shaft vertically lead out connecting blocks downward; the lower end surface of the connecting block is a plane, which is fixedly connected to the upper end of the spring; the upper end surface of the connecting block is a spherical surface, which is in contact with the inwardly protruding limiting ring on the upper end of the sleeve.

7. The robot vacuum cleaner of claim 1, wherein: A driving device for driving the driving wheels to roll is arranged between the two driving wheels, comprising a motor and a gearbox; the motor and the gearbox are arranged in rotationally symmetrical two sets; the shell of the motor is fixedly connected to the box body of one of the gearboxes, and the driving end is fixedly connected to the input end of the other gearbox.

8. The cleaning robot having a double-degree-of-freedom driven wheel according to claim 7, wherein: axially parallel motor shaft connecting gears, double gears and output shaft gears are arranged on the box body; the motor shaft connecting gears are fixedly connected to the driving end of the motor; one of the gears of the double gears is engaged with the motor shaft connecting gears, and the other gear is engaged with the output shaft gears; the output shaft gears are fixedly connected to the output shaft; the output shaft is fixedly connected to the driving wheels.

9. The cleaning robot having a double-degree-of-freedom driven wheel according to claim 8, wherein: The materials of the motor shaft connecting gears, the double gears and the output shaft gears are MC nylon.

10. The robot vacuum cleaner of claim 8, wherein: The double gears and the output shaft gears are fixedly sleeved on the connecting shaft; the two ends of the connecting shaft are rotationally connected to the upper rolling bearings of the box body through clamping; the outer wall of the box body is provided with a cover plate covering the rolling bearings.

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