Climbing steering driving wheel assembly of cleaning robot

Abstract

The climbing steering driving wheel assembly of the cleaning robot comprises an upper integrated seat, and second machine shells are evenly installed at the bottom of one side of the upper integrated seat. During climbing, the miniature reversible air pump can be controlled by the controller to inflate the anti-explosion air bag layer fixed in the steering adjusting wheel through the rotary joint, so that the corrugated air pipe distributed on the outer wall of the anti-explosion air bag layer is expanded, and then the deformed corrugated air pipe can push the storable ground gripping ribs to slide in the limiting storage grooves; according to the steering adjusting wheel, the foldable ground gripping ribs are separated from the outer wall of the steering adjusting wheel, so that the ground gripping force is enhanced by utilizing an anti-skid structure formed by the foldable ground gripping ribs which are arranged at equal angles and protrude outwards, the smooth proceeding of climbing movement is facilitated, and when the steering adjusting wheel runs on the flat ground, the micro reversible air pump reversely drives the anti-explosion air bag layer to exhaust air, so that the anti-skid effect is achieved. And a user can conveniently push the storable ground gripping ribs into the limiting storage grooves for storage, so that the tread is recovered to be smooth, and the flat ground rolling resistance is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to cleaning robot structure technical field, concretely is a kind of cleaning robot's climbing steering drive wheel assembly. BACKGROUND

[0002] Cleaning robot is widely applied in family scene and commercial, industrial scene, it greatly saves human resources, cleaning robot needs to install climbing steering drive wheel assembly to adapt to diversified ground environment and improve cleaning efficiency and coverage, however, there are still some defects in actual operation.

[0003] The wheel body structure of the climbing steering drive wheel assembly of the cleaning robot is not easy to deform, it cannot change the gripping force by flexibly adjusting the gripping structure to adapt to flat ground movement environment and climbing movement environment, which leads to low applicability of the device, and it directly controls steering by motor drive, which has the problem of easy side deviation during movement after steering, affecting the use precision, based on this, we propose a new type of climbing steering drive wheel assembly of cleaning robot. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of cleaning robot's climbing steering drive wheel assembly to solve the problems raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of cleaning robot's climbing steering drive wheel assembly, including upper integrated seat, the bottom of the one side of the upper integrated seat is evenly installed with second machine shell, and the one end of second machine shell is fixed with step motor, and the output end of step motor is connected with worm, and magnetic encoder is installed between worm and step motor, and the inside of second machine shell is movably connected with the worm wheel matched with worm, and the middle position of the bottom of worm wheel is fixed with first machine shell, and the both ends of first machine shell are respectively installed with brushless outer rotor motor and miniature reversible air pump, and the output end of brushless outer rotor motor is connected with steering adjusting wheel, and the inside of steering adjusting wheel is fixed with explosion-proof air bag layer, and the outer side wall of explosion-proof air bag layer is evenly connected with corrugated air pipe, and the end away from explosion-proof air bag layer of corrugated air pipe is connected with storable gripping rib, and rotary joint is provided between miniature reversible air pump and explosion-proof air bag layer, and air pressure sensor is installed between miniature reversible air pump and rotary joint.

[0006] Preferably, viscous damper oil cylinder is installed at the four corners of the top of the second machine shell by screw.

[0007] Preferably, the inside of the viscous damper oil cylinder is slidably connected with porous piston body, and the porous piston body is evenly provided with energy-consuming holes.

[0008] Preferably, the top of the porous piston body is fixed with a piston rod, the piston rod and the viscous damper oil cylinder are in sliding connection, and the top of the viscous damper oil cylinder is provided with a rubber sealing layer matched with the piston rod.

[0009] Preferably, the top of the piston rod and the upper integrated seat are detachably connected through screws, and the piston rod and the viscous damper oil cylinder are uniformly provided with composite rubber springs.

[0010] Preferably, the upper integrated seat is uniformly provided with locking screw holes at the edges, and the outer wall of the upper integrated seat is vulcanized with a non-slip rubber layer.

[0011] Preferably, the storable gripping ribs are arranged at equal angles on the steering adjusting wheels, and the steering adjusting wheels are provided with limiting storage grooves matched with the storable gripping ribs.

[0012] Preferably, the bottom of the upper integrated seat is uniformly movably connected with auxiliary universal wheels, and the storable gripping ribs and the auxiliary universal wheels are both uniformly provided with nano-level polyurethane fluff, so that the nano-level polyurethane fluff on the surfaces of the storable gripping ribs and the auxiliary universal wheels can enhance the adsorption force by Van der Waals force, improve the friction coefficient of the storable gripping ribs and the auxiliary universal wheels on smooth surfaces, and reduce the skidding.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] (1), the cleaning robot's climbing steering drive wheel assembly is provided with storable gripping ribs, so that the device optimizes its structure, on one hand, when the cleaning robot moves up and down the slope, the controller controls the miniature reversible air pump to inflate the anti-explosion air bag layer fixed inside the steering adjusting wheel through the rotary joint, so that the anti-explosion air bag layer outer wall is arranged at equal angles. The corrugated air pipe expands, then the deformed corrugated air pipe pushes the storable gripping ribs connected therewith to slide in the limiting storage groove corresponding to the steering adjusting wheel, and the gas pressure sensor monitors and feeds back the internal gas pressure state of the anti-explosion air bag layer, so as to intelligently control the inflation state of the anti-explosion air bag layer, so that the storable gripping ribs just come out of the steering adjusting wheel outer wall at a suitable distance, thereby using the anti-skid structure formed by the storable gripping ribs arranged at equal angles and protruding outward to enhance the gripping force, which is conducive to smooth climbing, when driving on flat ground, the miniature reversible air pump drives the anti-explosion air bag layer in reverse, so that the user can push the storable gripping ribs into the limiting storage groove for storage, so that the tread is smooth, reducing the rolling resistance on flat ground. A non-slip silicone layer is arranged between the limiting storage groove and the storable gripping ribs, which is not easy to come out after being stored in the limiting storage groove; on the other hand, the nanometer polyurethane fluff on the surface of the auxiliary universal wheel and the storable gripping ribs enhance the adsorption force by using van der waals force, improve the friction coefficient of the storable gripping ribs and the auxiliary universal wheel on the smooth surface, and reduce the situation of slipping;

[0015] (2), the cleaning robot's climbing steering drive wheel assembly is provided with a magnetic encoder, so that the device optimizes its performance, the controller on the cleaning robot controls the stepping motor to start, then drives the transmission of the worm and the worm gear, drives each group of first shell and steering adjusting wheel to rotate, changes its movement direction, and uses the self-locking effect generated when the worm gear drives the worm in reverse, to ensure that after each steering, it is not easy to deviate due to wheel movement, and improves the steering accuracy. By installing a magnetic encoder between the worm and the stepping motor, the magnetic encoder is composed of a ring-shaped permanent magnet installed on the rotating shaft and a Hall element on the periphery of the rotating shaft. When the permanent magnet rotates with the rotating shaft, the Hall element detects the change of magnetic field distribution and converts it into an electrical signal, and then the controller converts it into angle information using trigonometric function, which is convenient for intelligent control of steering angle. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a front view structural schematic diagram of the utility model;

[0017] Figure 2 It is a front view structural schematic diagram of the utility model;

[0018] Figure 3 It is a second shell front view sectional structure schematic diagram of the utility model;

[0019] Figure 4 It is the front view section structure schematic diagram of viscous damper oil cylinder of the utility model;

[0020] Figure 5 It is the side view partial section structure schematic diagram of steering adjusting wheel of the utility model.

[0021] In the figure: 1, steering adjusting wheel; 2, first machine shell; 3, miniature reversible air pump; 4, second machine shell; 5, brushless outer rotor motor; 6, viscous damper oil cylinder; 7, storable grip rib; 8, air pressure sensor; 9, upper integrated seat; 10, locking screw hole; 11, auxiliary universal wheel; 12, worm; 13, worm wheel; 14, magnetic encoder; 15, stepping motor; 16, composite rubber spring; 17, porous piston body; 18, piston rod; 19, limiting storage groove; 20, corrugated air pipe; 21, anti-explosion air bag layer; 22, nanometer polyurethane fluff; 23, rotary joint. DETAILED DESCRIPTION

[0022] The technical scheme in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without making creative efforts fall within the protection scope of the utility model.

[0023] Please refer to Figures 1-5 The utility model provides an embodiment: a kind of climbing steering drive wheel assembly of cleaning robot, the bottom of one side of upper integrated seat 9 is evenly equipped with second machine shell 4, and one end of second machine shell 4 is fixed with stepping motor 15, and the output end of stepping motor 15 is connected with worm 12, and magnetic encoder 14 is installed between worm 12 and stepping motor 15, and the inside of second machine shell 4 is movably connected with worm wheel 13 matched with worm 12;

[0024] The middle position of the bottom of worm wheel 13 is fixed with first machine shell 2, and the both ends of first machine shell 2 are respectively equipped with brushless outer rotor motor 5 and miniature reversible air pump 3, and the output end of brushless outer rotor motor 5 is connected with steering adjusting wheel 1.

[0025] In use, the controller on the cleaning robot starts the stepper motor 15, which in turn drives the worm gear 12 and worm wheel 13 to rotate each first housing 2 and steering adjustment wheel 1, changing their direction of motion. The self-locking effect generated when the worm wheel 13 drives the worm gear 12 in the opposite direction ensures that there is little lateral fluctuation due to wheel movement after each turn, thus improving steering accuracy. Furthermore, by adding a magnetic encoder 14 between the worm gear 12 and the stepper motor 15, the magnetic encoder 14 consists of a ring permanent magnet mounted on the rotating shaft and a Hall element around the rotating shaft. When the permanent magnet rotates with the rotating shaft, the Hall element detects the change in magnetic field distribution and converts it into an electrical signal. This signal is then converted into angle information using trigonometric functions by the external controller, which facilitates intelligent control of the steering angle.

[0026] An explosion-proof airbag layer 21 is fixed inside the steering adjustment wheel 1. A corrugated air pipe 20 is uniformly connected to the outer wall of the explosion-proof airbag layer 21. A retractable gripping rib 7 is connected to the end of the corrugated air pipe 20 away from the explosion-proof airbag layer 21. A rotary joint 23 is provided between the miniature reversible air pump 3 and the explosion-proof airbag layer 21. A pressure sensor 8 is installed between the miniature reversible air pump 3 and the rotary joint 23.

[0027] The retractable gripping ribs 7 are arranged at equal angles on the steering adjustment wheel 1, and the steering adjustment wheel 1 is provided with a limiting storage groove 19 that matches the retractable gripping ribs 7.

[0028] The bottom of the upper integrated base 9 is evenly connected with auxiliary universal wheels 11. Both the retractable gripping ribs 7 and the auxiliary universal wheels 11 are evenly provided with nano-level polyurethane fibers 22. The nano-level polyurethane fibers 22 on the surface of the retractable gripping ribs 7 and the auxiliary universal wheels 11 enhance the adsorption force by using van der Waals forces, thereby increasing the coefficient of friction of the retractable gripping ribs 7 and the auxiliary universal wheels 11 on the smooth surface and reducing slippage.

[0029] When in use, when the cleaning robot performs up and down orientation climbing movement, the micro reversible air pump 3 can be controlled by the controller to inflate the anti-explosion air bag layer 21 fixed inside the steering adjusting wheel 1 through the rotary joint 23, so that the outer wall of the anti-explosion air bag layer 21 is arranged in an equal angle corrugated air pipe 20, then the deformed corrugated air pipe 20 will push the storable gripping rib 7 connected thereto to slide in the limiting storage groove 19 corresponding arranged on the steering adjusting wheel 1, and then the air pressure sensor 8 can monitor and feedback the internal air pressure state of the anti-explosion air bag layer 21, so as to intelligently control the inflation state of the anti-explosion air bag layer 21, so that the storable gripping rib 7 is just out of the outer wall of the steering adjusting wheel 1 at a suitable distance, thereby forming an anti-skid structure with the storable gripping rib 7 arranged in an equal angle and protruding outward, which enhances the gripping force and is conducive to the smooth climbing movement. When driving on flat ground, the micro reversible air pump 3 drives the anti-explosion air bag layer 21 in the opposite direction to exhaust, so that the user can push the storable gripping rib 7 into the limiting storage groove 19 for storage, so that the tread is smooth and the rolling resistance on the flat ground is reduced. A non-slip silicone layer is arranged between the limiting storage groove 19 and the storable gripping rib 7, which is not easy to come out after being stored in the limiting storage groove 19;

[0030] The viscous damper oil cylinder 6 is installed at the four corners of the top of the second shell 4 by screws;

[0031] The porous piston body 17 is slidably connected inside the viscous damper oil cylinder 6, and the porous piston body 17 is uniformly provided with energy-consuming holes;

[0032] The top of the porous piston body 17 is fixed with a piston rod 18, and the piston rod 18 and the viscous damper oil cylinder 6 are slidably connected. The top of the viscous damper oil cylinder 6 is provided with a rubber sealing layer matched with the piston rod 18;

[0033] The top of the piston rod 18 and the upper integrated seat 9 are detachably connected by screws. The piston rod 18 and the viscous damper oil cylinder 6 are uniformly provided with composite rubber springs 16;

[0034] When in use, four groups of energy-consuming buffer structures can be installed between the steering adjusting wheel 1 and the upper integrated seat 9 installed on the cleaning robot shell. Specifically, the composite rubber springs 16 can achieve good elastic buffer protection. When the piston rod 18 and the porous piston body 17 slide inside the viscous damper oil cylinder 6, the viscous damping medium can convert the absorbed vibration energy into internal energy for consumption through the energy-consuming holes on the porous piston body 17, so as to achieve good shock absorption and buffer protection between the steering drive wheel assembly and the cleaning robot shell;

[0035] The locking screw holes 10 are uniformly arranged at the edges of the upper integrated seat 9, and the outer wall of the upper integrated seat 9 is vulcanized with a non-slip rubber layer.

[0036] The controller on the cleaning robot will control the step motor 15 to start, and then drive the transmission of the worm 12 and the worm gear 13, drive each group of the first shell 2 and the steering adjusting wheel 1 to rotate, change the direction of movement, and use the self-locking effect generated when the worm gear 13 drives the worm 12 in reverse, to ensure that after each steering, it is not easy to deviate due to wheel movement, improving the steering accuracy. Furthermore, by installing a magnetic encoder 14 between the worm 12 and the step motor 15, the magnetic encoder 14 is composed of a ring-shaped permanent magnet installed on the rotating shaft and a Hall element on the periphery of the rotating shaft. When the permanent magnet rotates with the rotating shaft, the Hall element detects the change in the magnetic field distribution and converts it into an electrical signal. Then, through the external controller, it is converted into angle information using the trigonometric function, which facilitates intelligent control of the steering angle. At the same time, when the cleaning robot moves up and down the slope, the controller can control the miniature reversible air pump 3 to inflate the explosion-proof air bag layer 21 fixed inside the steering adjusting wheel 1 through the rotary joint 23, so that the outer wall of the explosion-proof air bag layer 21 is arranged at equal angles. The corrugated air pipe 20 expands, and then the deformed corrugated air pipe 20 pushes the storable gripping ribs 7 connected to it to slide in the limiting storage groove 19 corresponding to the steering adjusting wheel 1. Through the monitoring and feedback of the air pressure sensor 8 to the internal air pressure state of the explosion-proof air bag layer 21, the cleaning robot can intelligently control the inflation state of the explosion-proof air bag layer 21, so that the storable gripping ribs 7 are just out of the outer wall of the steering adjusting wheel 1 at a suitable distance, thereby using the anti-skid structure composed of the storable gripping ribs 7 arranged at equal angles and protruding outward to enhance the gripping force, which is conducive to the smooth movement of the slope. When driving on flat ground, the miniature reversible air pump 3 drives the explosion-proof air bag layer 21 in reverse to exhaust, so that the user can push the storable gripping ribs 7 into the limiting storage groove 19 for storage, so that the tread is smooth and the rolling resistance on flat ground is reduced. A non-slip silicone layer is provided between the limiting storage groove 19 and the storable gripping ribs 7, which is not easy to come out after being stored in the limiting storage groove 19. In addition, by installing four groups of energy-consuming buffer structures between the steering adjusting wheel 1 and the upper integrated seat 9 installed on the cleaning robot shell, the composite rubber spring 16 can achieve good elastic buffer protection, and when the piston rod 18 and the porous piston body 17 slide in the viscous damper oil cylinder 6, the viscous damping medium can convert the absorbed vibration energy into internal energy for consumption through the energy-consuming holes on the porous piston body 17.

Claims

1. A hill-climbing steering drive wheel assembly for a cleaning robot, characterized in that, The system includes an upper integrated base (9), on which a second housing (4) is evenly installed at the bottom of one side. A stepper motor (15) is fixed at one end of the second housing (4). A worm gear (12) is connected to the output end of the stepper motor (15). A magnetic encoder (14) is installed between the worm gear (12) and the stepper motor (15). A worm wheel (13) matching the worm gear (12) is movably connected inside the second housing (4). A first housing (2) is fixed at the middle position of the bottom of the worm wheel (13). A brushless external rotor motor is installed at each end of the first housing (2). 5) and a miniature reversible air pump (3), the output end of the brushless external rotor motor (5) is connected to a steering adjustment wheel (1), the interior of the steering adjustment wheel (1) is fixed with an explosion-proof airbag layer (21), the outer wall of the explosion-proof airbag layer (21) is uniformly connected with a corrugated air pipe (20), the end of the corrugated air pipe (20) away from the explosion-proof airbag layer (21) is connected to a retractable gripping rib (7), a rotary joint (23) is provided between the miniature reversible air pump (3) and the explosion-proof airbag layer (21), and a pressure sensor (8) is installed between the miniature reversible air pump (3) and the rotary joint (23).

2. The climbing and steering drive wheel assembly for a cleaning robot according to claim 1, characterized in that: Viscous damper cylinders (6) are installed at the four corners of the top of the second housing (4) by screws.

3. The climbing and steering drive wheel assembly for a cleaning robot according to claim 2, characterized in that: The viscous damper cylinder (6) has a porous piston body (17) internally connected to it, and the porous piston body (17) is uniformly provided with energy dissipation holes.

4. The climbing and steering drive wheel assembly of a cleaning robot according to claim 3, characterized in that: The top of the porous piston body (17) is fixed with a piston rod (18), and the piston rod (18) and the viscous damper cylinder (6) are connected in a sliding manner. The top of the viscous damper cylinder (6) is provided with a rubber sealing layer that matches the piston rod (18).

5. The climbing and steering drive wheel assembly of a cleaning robot according to claim 4, characterized in that: The piston rod (18) and the upper integrated seat (9) are connected by screws to form a disassembly and installation structure. Composite rubber springs (16) are evenly arranged between the piston rod (18) and the viscous damper cylinder (6).

6. The climbing and steering drive wheel assembly of a cleaning robot according to claim 1, characterized in that: Locking screw holes (10) are evenly provided at the edge of the upper integrated base (9), and an anti-slip rubber layer is vulcanized on the outer wall of the upper integrated base (9).

7. The climbing and steering drive wheel assembly of a cleaning robot according to claim 1, characterized in that: The retractable gripping ribs (7) are arranged at equal angles on the steering adjustment wheel (1), and the steering adjustment wheel (1) is provided with a limiting storage groove (19) that matches the retractable gripping ribs (7).

8. The climbing steering drive wheel assembly of a cleaning robot according to claim 1, characterized in that: The bottom of the upper integrated base (9) is evenly connected with auxiliary universal wheels (11), and nano-level polyurethane fluff (22) is evenly arranged on the retractable gripping rib (7) and the auxiliary universal wheels (11).

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