Walking mechanism and cleaning robot comprising same

Abstract

The walking mechanism and the cleaning robot comprising the same relate to the technical field of intelligent cleaning equipment. The walking mechanism is driven by a motor and comprises at least one set of synchronous wheels and a synchronous belt wound on the synchronous wheels and driven by the synchronous wheels; a supporting wheel is arranged between two adjacent synchronous wheels in the same set, and the supporting wheel applies a force to the synchronous belt under the elastic force of an elastic component, so that the synchronous wheels press the synchronous belt against the surface to be cleaned, and the supporting wheel also presses the part of the synchronous belt between the two adjacent synchronous wheels against the surface to be cleaned. The supporting wheel arranged between the two adjacent synchronous wheels enables the part of the synchronous belt between the two adjacent synchronous wheels to be actively pressed against the surface to be cleaned, thereby increasing the effective contact area and improving the driving stability.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment technology, and in particular to a walking mechanism and a cleaning robot including the mechanism. Background Technology

[0002] In existing technologies (such as the window cleaning robot disclosed in Chinese patent document CN213940598U), the upper and lower drive wheels drive the tracks to move on the vertical glass surface. However, this structure has the following drawbacks:

[0003] 1. Uneven contact pressure distribution: The track is only pressed in the local area where the upper and lower drive wheels contact the glass, and the track area between the two drive wheels lacks effective support, resulting in a reduction in the actual contact area with the glass;

[0004] 2. Insufficient motion stability: When moving in a vertical plane, the track is not compressed in the middle, which can easily lead to slippage or detachment due to insufficient friction, especially under high load or wet and slippery surface conditions. Utility Model Content

[0005] One of the purposes of this invention is to provide a walking mechanism that increases the effective contact area of ​​the synchronous belt and improves driving stability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The traveling mechanism is driven by a motor and includes at least one set of synchronous pulleys and a synchronous belt wound around the synchronous pulleys and driven by the synchronous pulleys;

[0008] A support wheel is provided between two adjacent synchronous pulleys in the same group. The support wheel applies force to the synchronous belt under the elastic force of the elastic component, so that while the synchronous pulley presses the synchronous belt tightly onto the surface to be cleaned, the support wheel also presses the part of the synchronous belt located between the two adjacent synchronous pulleys tightly onto the surface to be cleaned.

[0009] Furthermore, the elastic component is a spring, and a spring is connected to each end of the shaft of the support wheel;

[0010] The spring pushes the support wheel outward and is compressed when the timing belt is pressed against the surface to be cleaned by the timing wheel.

[0011] Furthermore, the walking mechanism also includes:

[0012] A mounting base having a mounting cavity, wherein one side of the mounting base is provided with an opening;

[0013] The slides are symmetrically arranged on both sides of the mounting cavity, and each slide has a groove extending in a direction perpendicular to the surface to be cleaned;

[0014] The timing pulley, timing belt, and support pulley are all installed inside the mounting cavity, and part of the structure extends out of the mounting base through the opening;

[0015] The support wheel has sliders at both ends of its shaft, and each slider is slidably fitted into the groove of the corresponding slide block. The spring is connected to the slider and the mounting base at both ends.

[0016] Furthermore, a revolute pair is formed between the support wheel and the shaft, and / or between the shaft and the slider. Specifically, the support wheel is rotatably mounted on the shaft via a first bearing, and / or both ends of the shaft are rotatably connected to the corresponding sliders via second bearings.

[0017] Furthermore, the outer periphery of both the synchronous pulley and the support pulley is provided with teeth, and the inner wall of the synchronous belt is provided with matching teeth, so that the two mesh and drive each other.

[0018] Furthermore, the radii of the two adjacent synchronous pulleys are the same;

[0019] The diameter of the support wheel is less than or equal to the radius of any one of the two adjacent synchronous wheels;

[0020] The highest point of the support wheel does not exceed the line connecting the centers of the two adjacent synchronous wheels in the direction perpendicular to the surface to be cleaned.

[0021] Furthermore, the axial direction of the spring coincides with or is parallel to the direction of the perpendicular bisector of the line connecting the centers of the two adjacent synchronous pulleys.

[0022] Furthermore, the outer surface of the synchronous belt is provided with an elastic friction layer, and multiple recessed structures are distributed on the elastic friction layer. When the synchronous belt is pressed against the surface to be cleaned, the recessed structures can form a negative pressure adsorption effect with the surface to be cleaned.

[0023] Furthermore, the surface of the elastic friction layer is provided with isolation grooves, which divide the recessed structure into multiple independent adsorption units.

[0024] Another objective of this utility model is to provide a cleaning robot, which includes a body on which the aforementioned walking mechanism is installed.

[0025] This invention adds a support wheel between two adjacent synchronous pulleys, so that the synchronous belt can also be actively pressed against the surface to be cleaned at the part between the adjacent synchronous pulleys, thereby increasing the effective contact area and improving drive stability. Attached Figure Description

[0026] Figure 1 For the three-dimensional walking mechanism Figure 1 ;

[0027] Figure 2 For the three-dimensional walking mechanism Figure 2 ;

[0028] Figure 3 Disassembly of the walking mechanism Figure 1 ;

[0029] Figure 4 Disassembly of the walking mechanism Figure 2 ;

[0030] Figure 5 A perspective view of the traveling mechanism without the mounting base;

[0031] Figure 6 A 3D view of the mounting base;

[0032] Figure 7 For the three-dimensional synchronous belt Figure 1 ;

[0033] Figure 8 For the three-dimensional synchronous belt Figure 2 .

[0034] In the picture:

[0035] 1 - Synchronous pulley 2 - Synchronous belt

[0036] 2a – Elastic friction layer; 2a1 – Recessed structure

[0037] 2a2——Isolation trench 3——Motor

[0038] 4 - Support wheel; 5 - Elastic component

[0039] 6 – Shaft; 7 – Mounting base

[0040] 7a – Mounting cavity; 7b – First housing

[0041] 7c - Second housing; 8 - Slide

[0042] 8a - Slide groove; 9 - Slider. Detailed Implementation

[0043] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, the following description, in conjunction with embodiments and accompanying drawings, will provide a further explanation.

[0044] like Figure 1-8As shown, this embodiment provides an improved walking mechanism, which includes at least one set of synchronous pulleys 1 and a synchronous belt 2 wound around and driven by the synchronous pulleys 1. The walking mechanism is mainly driven by a motor 3 (which may be equipped with a reduction gear), which provides power output to the walking mechanism by driving the synchronous pulleys 1 to rotate. A support wheel 4 is provided between two adjacent synchronous pulleys 1 in the same set, and the support wheel 4 is equipped with an elastic member 5. Under the elastic force of the elastic member 5, the support wheel 4 applies a force to the synchronous belt 2, so that while the synchronous pulleys 1 press the synchronous belt 2 tightly against the surface to be cleaned, the support wheel 4 also presses the portion of the synchronous belt 2 located between the two adjacent synchronous pulleys 1 tightly against the surface to be cleaned. For ease of understanding, this embodiment uses a configuration of one set of synchronous pulleys 1 (including two synchronous pulleys 1) as an example for explanation.

[0045] The walking mechanism in this embodiment adds a support wheel 4 between two adjacent synchronous pulleys 1, so that the synchronous belt 2 can also be actively pressed against the surface to be cleaned at the part between the adjacent synchronous pulleys 1, thereby increasing the effective contact area and improving driving stability.

[0046] In this embodiment, the elastic component 5 is selected as a spring (such as a compression spring). Figure 5 As shown, a spring is connected to each end of the shaft 6 of the support wheel 4; the spring pushes the support wheel 4 outward and is compressed (providing elastic pressure) when the timing belt 2 is pressed against the surface to be cleaned by the timing wheel 1.

[0047] like Figure 1-4 and Figure 6 As shown, the walking mechanism also includes a mounting base 7 with a mounting cavity 7a, and an opening on one side of the mounting base 7 for exposed components. Slides 8 are symmetrically arranged on both sides inside the mounting cavity 7a, each slide 8 having a groove 8a extending perpendicular to the surface to be cleaned. The timing pulley 1, timing belt 2, and support wheel 4 are all installed inside the mounting cavity 7a, with their working parts extending out of the mounting base 7 through the opening. Sliders 9 are mounted at both ends of the shaft 6 of the support wheel 4, and these sliders 9 form a sliding engagement with the grooves 8a on the slides 8, allowing the support wheel 4 to move perpendicular to the surface to be cleaned. The mounting base 7 can be a split structure, including a first housing 7b and a second housing 7c connected by fasteners (such as bolts). After assembly, the two housings form the mounting cavity 7a, with a working opening on the side (usually the lower side of the mounting base 7). This split design facilitates the installation and maintenance of the timing belt 2. In this embodiment, the slides 8 are symmetrically mounted on the first housing 7b and the second housing 7c. Springs connect the slides 9 to the mounting base 7 at both ends. Specifically, the two housings (first housing 7b and second housing 7c) are provided with fixing blocks for fixing one end of the spring, while the other end of the spring is fixed to the slider 9.

[0048] In this embodiment, the support wheel 4 forms a rotating pair with the shaft 6 via bearings, and / or both ends of the shaft 6 are rotatably connected to the slider 9 via bearings. Specifically, a first bearing can be used to realize the rotation of the support wheel 4 and the shaft 6, and a second bearing can realize the rotatable connection between the shaft 6 and the slider 9.

[0049] In this embodiment, the outer circumferences of the synchronous pulley 1 and the support pulley 4 are toothed, which mesh with the corresponding teeth on the inner wall of the synchronous belt 2 for transmission. All synchronous pulleys 1 (i.e., two synchronous pulleys 1 in the same group) have the same radius specification, the diameter of the support pulley 4 does not exceed the radius of any synchronous pulley 1, and its highest point does not extend beyond the center line connecting the two (adjacent) synchronous pulleys 1 in the vertical direction (i.e., the direction perpendicular to the surface to be cleaned). The above dimensional relationship ensures that the pressure distribution of the support pulley 4 on the synchronous belt 2 is uniform, does not interfere with the movement of the synchronous pulley 1, and maintains the optimal tension of the synchronous belt 2. At the same time, this design allows the support pulley 4 to maintain a compact structure while meeting functional requirements.

[0050] In this embodiment, the direction of the spring's axis is parallel to or coincides with the direction of the perpendicular bisector of the line connecting the centers of adjacent synchronous pulleys 1, ensuring the linearity of pressure transmission. This arrangement allows the support pulley 4 to generate a uniform clamping force on the synchronous belt 2.

[0051] like Figure 7 , 8 As shown, the outer surface of the synchronous belt 2 in this embodiment is provided with an elastic friction layer 2a, and the surface of the friction layer is uniformly distributed with a plurality of micro-recessed structures 2a1 (such as grooves). When the synchronous belt 2 is pressed against the surface to be cleaned under the action of the support wheel 4, these recessed structures 2a1 can form a local sealed space with the contact surface, generating a negative pressure adsorption effect. Among them, the recessed structures 2a1 can be arranged in a matrix uniformly.

[0052] To further enhance adsorption stability, the surface of the elastic friction layer 2a is provided with a structured isolation trench array, the distribution pattern of which includes:

[0053] (1) Grid-like distribution (see Figure 8 ): A regular grid is formed by crisscrossing isolation trenches 2a2;

[0054] (2) Parallel array distribution (see Figure 7 ): It consists of multiple parallel and equally spaced isolation trenches 2a2.

[0055] The cross-section of the isolation trench 2a2 is trapezoidal, rectangular, or arc-shaped.

[0056] These isolation trenches 2a2 divide the surface of the elastic friction layer 2a into multiple independent adsorption units, each unit containing at least one recessed structure 2a1. This design prevents the failure of a single adsorption unit from affecting the overall adsorption performance, while ensuring good adsorption performance even when working on surfaces with poor flatness.

[0057] When the walking mechanism is in operation, the vertical pressure provided by the support wheel 4 and the negative pressure adsorption generated by the recessed structure 2a1 work synergistically: on the one hand, ensuring sufficient frictional driving force, and on the other hand, enhancing the adhesion stability of the walking mechanism on vertical surfaces. Especially on smooth surfaces such as glass and tiles, this design can effectively improve anti-slip performance.

[0058] Furthermore, this embodiment also provides a cleaning robot, which includes a body, a suction module disposed on the body, at least one set of the aforementioned walking mechanisms symmetrically installed on both sides of the body, and a controller. Generally, a negative pressure suction chamber is formed at the bottom of the body to adsorb the entire cleaning robot onto the surface to be cleaned. The suction module is responsible for extracting air from the negative pressure suction chamber, creating a negative pressure within the chamber, thereby adsorbing the entire cleaning robot onto the surface to be cleaned. When the cleaning robot works on a horizontal, vertical, or inclined surface to be cleaned, the support wheels 4 of the walking mechanism maintain almost full-area pressure contact between the synchronous belt 2 and the surface to be cleaned, ensuring driving stability. This cleaning robot is preferably a window cleaning robot and is suitable for cleaning scenarios such as walls, glass windows, and glass curtain walls. The remaining structure is similar to existing cleaning robots and will not be described in detail here.

[0059] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A walking mechanism, driven by a motor (3) and comprising at least one set of synchronous pulleys (1) and a synchronous belt (2) wound around the synchronous pulleys (1) and driven by the synchronous pulleys (1), characterized in that: A support wheel (4) is provided between two adjacent synchronous pulleys (1) in the same group. The support wheel (4) applies force to the synchronous belt (2) under the elastic force of the elastic component (5), so that while the synchronous pulley (1) presses the synchronous belt (2) tightly on the surface to be cleaned, the support wheel (4) also presses the part of the synchronous belt (2) located between the two adjacent synchronous pulleys (1) tightly on the surface to be cleaned.

2. The walking mechanism according to claim 1, characterized in that: The elastic component (5) is a spring, and a spring is connected to each end of the shaft (6) of the support wheel (4); The spring pushes the support wheel (4) outward and is compressed when the timing belt (2) is pressed against the surface to be cleaned by the timing wheel (1).

3. The walking mechanism according to claim 2, characterized in that, Also includes: A mounting base (7) having a mounting cavity (7a) and an opening on one side; The slides (8) are symmetrically arranged on both sides of the mounting cavity (7a), and each slide (8) is provided with a groove (8a) extending in a direction perpendicular to the surface to be cleaned. The synchronous pulley (1), synchronous belt (2) and support pulley (4) are all installed in the mounting cavity (7a), and part of the structure extends out of the mounting seat (7) through the opening; The support wheel (4) has sliders (9) at both ends of its shaft (6). Each slider (9) is slidably fitted into the groove (8a) of the corresponding slide block (8). The spring is connected to the slider (9) and the mounting base (7) at both ends.

4. The walking mechanism according to claim 3, characterized in that: The support wheel (4) and the shaft (6) and / or the shaft (6) and the slider (9) form a rotating pair.

5. The walking mechanism according to any one of claims 1-4, characterized in that: The outer periphery of both the synchronous pulley (1) and the support pulley (4) is provided with teeth, and the inner wall of the synchronous belt (2) is provided with matching teeth, and the two mesh and drive each other.

6. The walking mechanism according to claim 1, characterized in that: The radii of the two adjacent synchronous pulleys (1) are the same; The diameter of the support wheel (4) is less than or equal to the radius of any one of the two adjacent synchronous wheels (1); The highest point of the support wheel (4) does not exceed the line connecting the centers of the two adjacent synchronous wheels (1) in the direction perpendicular to the surface to be cleaned.

7. The walking mechanism according to claim 2 or 3, characterized in that: The direction of the spring's axis coincides with or is parallel to the direction of the perpendicular bisector of the line connecting the centers of the two adjacent synchronous pulleys (1).

8. The walking mechanism according to claim 1, characterized in that: The outer surface of the synchronous belt (2) is provided with an elastic friction layer (2a), and multiple recessed structures (2a1) are distributed on the elastic friction layer (2a). When the synchronous belt (2) is pressed against the surface to be cleaned, the recessed structures (2a1) can form a negative pressure adsorption effect with the surface to be cleaned.

9. The walking mechanism according to claim 8, characterized in that: The surface of the elastic friction layer (2a) is provided with isolation grooves (2a2), which divide the recessed structure (2a1) into multiple independent adsorption units.

10. A cleaning robot, comprising a body, characterized in that: The machine body is equipped with a walking mechanism as described in any one of claims 1-9.

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