Obstacle surmounting assistance device and self-moving apparatus
By designing buffer and obstacle-crossing mechanisms on the robotic vacuum cleaner, the problems of decreased stability and component wear during obstacle crossing have been solved, resulting in higher stability, lower maintenance difficulty, and extended equipment lifespan.
Patent Information
- Application Number
- CN202521709670.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-12
- Publication Date
- 2026-07-14
- Estimated Expiration
- 2035-08-12
AI Technical Summary
Existing robotic vacuum cleaners suffer from decreased stability and component wear during obstacle crossing. In particular, the rigid swing arm connected to the drive wheel is prone to severe vibration when it comes into contact with obstacles, which can lead to sensor misjudgment or component damage.
An obstacle-crossing assist device was designed, which includes a buffer mechanism and an obstacle-crossing mechanism. The buffer mechanism provides elastic support through a support rod and a buffer spring, while the obstacle-crossing mechanism achieves adaptive obstacle crossing through a grounding arc plate and a connecting ring. Combined with the design of the drive wheel and the front wheel, the stability and buffering effect are enhanced.
It effectively reduces the vibration amplitude of the robot vacuum cleaner when crossing obstacles, reduces the probability of damage to internal electronic components, simplifies the maintenance and replacement process of the front wheels, and extends the service life of the equipment.
Smart Images
Figure CN224483922U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of sweeping robot technology, specifically relating to an obstacle-crossing assistance device and a self-moving device. Background Technology
[0002] With the growing demand for smart homes, cleaning robots have become a new choice for household cleaning tools. Traditional manual floor cleaning is time-consuming and laborious, making it difficult to maintain a clean home efficiently and continuously. Against this backdrop, robotic vacuum cleaners have emerged due to their automation advantages.
[0003] Throughout the technological development of robotic vacuum cleaners, obstacle-crossing ability has always been one of the core indicators for measuring their adaptability to complex home environments. In the early stages, simply raising the height of the chassis increased passability, but this brought new problems such as the center of gravity of the machine shifting upward and stability decreasing. Subsequently, some models tried to use rigid swing arms to connect the drive wheels. Although this could adapt to ground undulations to a certain extent, it lacked a buffer structure and was prone to violent vibrations when encountering obstacles, leading to sensor misjudgments or component wear, which was quite inconvenient.
[0004] To address the aforementioned problems, this application proposes an obstacle-crossing assistance device and a self-moving device. Utility Model Content
[0005] To address the aforementioned problems in the existing technology, this utility model provides an obstacle crossing assistance device and a self-moving device, which features adaptive obstacle crossing and buffer protection.
[0006] To achieve the above objectives, this utility model provides the following technical solution: an obstacle-crossing assist device, comprising a body, a drive wheel, and a front wheel, wherein the drive wheel is mounted on the body via a motor, and further comprising:
[0007] The buffer mechanism includes support rods symmetrically arranged on the body, a movable plate slidably sleeved on the support rods, a sliding column slidably connected to the bottom plate of the body located on the bottom surface of the movable plate, a wheel seat located at the bottom of the sliding column, and the front wheel rotatably mounted on the wheel seat.
[0008] The obstacle-crossing mechanism includes a connecting ring sleeved on the drive wheel, and multiple grounding arc plates are movably mounted on the connecting ring for assisting obstacle crossing and buffering collisions.
[0009] Preferably, a first buffer spring is sleeved on the support rod, and a fixed plate is provided at the top of the support rod. The two ends of the first buffer spring abut against the movable plate and the fixed plate respectively, and the movable plate can be moved by the two first buffer springs.
[0010] Preferably, a first screw hole is provided on the bottom end face of the sliding column, and a first screw rod matching the first screw hole is provided on the top surface of the wheel seat.
[0011] Preferably, both connecting rings are provided with multiple connecting plates that can fit together. One of the connecting rings has a second screw hole on its connecting plate, and the other connecting ring has a hand-tightening rod slidably sleeved on its connecting plate. The end of the hand-tightening rod is provided with a second screw rod that matches the second screw hole.
[0012] Preferably, the connecting ring has multiple rectangular holes, a support post is provided in the rectangular holes, a socket post is provided on the grounding arc plate, the socket post has an inner cavity adapted to the support post, and the socket post is slidably sleeved on the support post.
[0013] Preferably, a sliding plate is provided on the sleeve post, and a second buffer spring is sleeved around the outside of the support post. The two ends of the second buffer spring abut against the inner wall of the sliding plate and the rectangular hole, respectively, and the grounding arc plate can be moved by the elastic force of the second buffer spring.
[0014] Preferably, the arc surface of the grounding arc plate is provided with a plurality of equidistant anti-slip patterns.
[0015] In addition, this application also provides a self-moving device, including the obstacle crossing assist device provided in this application.
[0016] Compared with the prior art, the beneficial effects of this utility model are:
[0017] In this invention, by setting an obstacle-crossing mechanism on the front wheel and drive wheel with a buffer function, the device not only assists in overcoming obstacles but also has a buffer and anti-collision function. This reduces the amplitude of vibration when contacting obstacles, thereby reducing the probability of damage to the internal electronic components of the sweeping robot. Furthermore, the obstacle-crossing mechanism is designed to be fixed to the drive wheel of the sweeping robot by two combined connecting rings, which is convenient for installation and disassembly, facilitating subsequent maintenance and replacement, and making it highly practical.
[0018] Other additional advantages and benefits of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0019] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0020] Figure 1This is a three-dimensional structural diagram of the present invention;
[0021] Figure 2 for Figure 1 A schematic diagram of the upper cross-sectional structure;
[0022] Figure 3 for Figure 2 Axonometric three-dimensional structural schematic diagram;
[0023] Figure 4 for Figure 3 Enlarged structural diagram at point A in the diagram;
[0024] Figure 5 A schematic diagram of the structure in which the moving wheels and the obstacle-crossing mechanism work together;
[0025] Figure 6 A three-dimensional structural diagram of an obstacle-crossing mechanism in the event of an explosion;
[0026] Figure 7 for Figure 6 A schematic diagram of a partial cross-section of the structure.
[0027] In the diagram: 1. Fuselage; 2. Drive wheel; 3. Front wheel; 4. Wheel seat; 5. Obstacle crossing mechanism; 6. Sliding column; 7. Movable plate; 8. Support rod; 9. Fixed plate; 10. Buffer spring No. 1; 11. Screw hole No. 1; 12. Screw rod No. 1; 13. Connecting ring; 14. Connecting plate; 15. Hand-tightening rod; 16. Rectangular hole; 17. Support column; 18. Sliding plate; 19. Buffer spring No. 2; 20. Grounding arc plate; 21. Anti-slip texture; 22. Sleeve column; 23. Screw rod No. 2; 24. Screw hole No. 2; 25. Inner cavity. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example
[0029] Please see Figures 1-7 This utility model provides the following technical solution: an obstacle-crossing assist device, comprising a body 1, a drive wheel 2, and a front wheel 3, wherein the drive wheel 2 is driven by a built-in motor and mounted on both sides of the body 1, and further comprising:
[0030] The buffer mechanism includes support rods 8 symmetrically arranged on the body 1, a movable plate 7 slidably sleeved on the support rods 8, a sliding column 6 slidably connected to the bottom plate of the body 1 located on the bottom surface of the movable plate 7, a wheel seat 4 located at the bottom of the sliding column 6, and the front wheel 3 rotatably mounted on the wheel seat 4.
[0031] The obstacle-crossing mechanism 5 includes a connecting ring 13 sleeved on the drive wheel 2. Multiple movable grounding arc plates 20 are evenly distributed around the ring. These grounding arc plates 20 can rotate synchronously with the drive wheel 2 and can adaptively adjust their opening angle according to the height of the ground obstacle.
[0032] Preferably, by Figure 1 and Figure 2 As shown, a buffer spring 10 is sleeved on the outside of the support rod 8, and a fixed plate 9 is fixedly installed on its top. The two ends of the buffer spring 10 respectively abut against the movable plate 7 and the fixed plate 9.
[0033] The movable plate 7 can move flexibly with the help of two buffer springs 10. When the movable plate 7 is subjected to external force, it will compress the buffer spring 10. The elastic deformation of the spring will generate a reverse elastic force, which will buffer and reset the movement of the movable plate 7.
[0034] For example, during the operation of the robot vacuum cleaner, if the front wheel 3 comes into contact with an obstacle or uneven ground, the first buffer spring 10 will absorb the impact force through its own extension and contraction, reduce the vibration of the movable plate 7, and thus provide stable support and protection for the front wheel 3 connected to the movable plate 7, which helps to improve the operational stability and service life of the front wheel 3.
[0035] Preferably, by Figure 3 and Figure 4 As shown, the bottom end face of the sliding column 6 has a screw hole 11, and the top surface of the wheel seat 4 is integrally formed with a screw rod 12 that matches the specifications of the screw hole 11. The two are detachably connected by a threaded structure. The advantage of this design is that when the front wheel 3 is worn, stuck or damaged due to long-term use, the operator does not need to use complicated tools. He can simply rotate the wheel seat 4 to unscrew the screw rod 12 out of the screw hole 11, and quickly separate the sliding column 6 from the wheel seat 4 to complete the disassembly and replacement of the front wheel 3. When installing a new front wheel 3, simply align the screw rod 12 with the screw hole 11 and tighten it to achieve a stable connection.
[0036] This structure not only simplifies the maintenance process of the front wheel 3 and reduces downtime for equipment repair, but also lowers the operational threshold for daily maintenance, making it especially suitable for home users or non-professional repair personnel to perform self-maintenance, effectively extending the overall service life of the robot vacuum cleaner.
[0037] Preferably, by Figures 5 to 7As shown, each of the two connecting rings 13 is provided with multiple connecting plates 14 that can fit together. One connecting plate 14 of the connecting ring 13 has a second screw hole 24, and the connecting plate 14 of the other connecting ring 13 is slidably fitted with a hand-tightening rod 15. The end of the hand-tightening rod 15 is provided with a second screw rod 23 that matches the second screw hole 24. The hand-tightening rod 15 has a screw that can be easily tightened by hand. During installation, the connecting plates 14 of the two connecting rings 13 are aligned and fitted together, so that the second screw rod 23 is aligned with the second screw hole 24. The threaded connection can be completed by manually rotating the screw. This design does not require additional tools and can quickly achieve a reliable connection between the two connecting rings 13. When disassembling, the connection can be separated by rotating the screw in the opposite direction, which significantly improves the assembly efficiency.
[0038] The connecting ring 13 has multiple rectangular holes 16, and a support column 17 is fixed inside each rectangular hole 16. Correspondingly, the end of the grounding arc plate 20 is provided with a sleeve post 22. The sleeve post 22 has an inner cavity 25 that matches the outer diameter of the support column 17. The two are movably connected by sliding sleeve, so that the grounding arc plate 20 can flexibly extend and retract along the axial direction of the support column 17.
[0039] To achieve the buffering and reset functions, a second buffer spring 19 is fitted around the outer ring of the support column 17. The two ends of the spring abut against the sliding plate 18 on the outside of the sleeve column 22 and the inner wall of the rectangular hole 16, respectively. In the natural state, the elastic force of the second buffer spring 19 will push the sliding plate 18, causing the sleeve column 22 to slide outward along the support column 17, so that the grounding arc plate 20 maintains an outwardly expanding posture, ensuring its reliable contact with the ground.
[0040] When the robot vacuum encounters obstacles such as thresholds or carpet edges, the multiple outward-expanding grounding arc plates 20 increase the contact area with the ground, forming stable support in conjunction with the power output of the drive wheels 2, reducing the tilt of the robot body and helping it to smoothly overcome obstacles. During normal operation, if the grounding arc plates 20 collide with furniture corners or walls, the second buffer spring 19 will absorb the impact force through compression deformation. The vibration is buffered by the elastic cooperation between the sliding plate 18 and the spring, avoiding damage to the connecting ring 13 and the body structure caused by rigid collisions, while reducing the impact of vibration transmitted to internal components.
[0041] In addition, the regular layout of the rectangular hole 16 provides a stable installation reference for the support column 17, and the fitting design of the sliding plate 18 with the inner wall of the rectangular hole 16 can limit the radial sway of the sleeve column 22, ensuring that the grounding arc plate 20 maintains a stable posture during the extension and retraction process, taking into account both buffer flexibility and structural reliability.
[0042] Preferably, by Figure 5 and Figure 6As shown, multiple equidistant anti-slip patterns 21 are evenly distributed on the arc-shaped surface of the grounding arc plate 20. These anti-slip patterns are arranged regularly along the arc-shaped surface, which not only preserves the integrity of the curved surface structure of the arc plate, but also improves the anti-slip effect between the grounding arc plate and the contact object by increasing the friction coefficient of the contact surface, ensuring the uniformity of anti-slip performance, avoiding the aggravation of wear caused by local stress concentration, and further extending the service life of the grounding arc plate.
[0043] In this embodiment, the present application also provides a self-moving device, including an obstacle-crossing assist device provided in the embodiment, which is an obstacle-crossing mechanism that can be easily installed and disassembled, improving the shock absorption capability of the sweeping robot and reducing the probability of damage to internal electrical components due to bumps and collisions.
[0044] Components not described in detail in this article are existing technologies.
[0045] The working principle and usage process of this utility model are as follows: During installation, the connecting plates 14 of the two connecting rings 13 are aligned and fitted together, so that the second screw rod 23 is aligned with the second screw hole 24; the threaded connection can be completed by manually rotating the screw. This design does not require additional tools and can quickly achieve a reliable connection between the two connecting rings 13. Moreover, it can be separated by rotating the screw in the opposite direction during disassembly, which significantly improves the assembly efficiency.
[0046] When the robot vacuum encounters obstacles such as thresholds or carpet edges, the multiple outward-expanding grounding arc plates 20 increase the contact area with the ground, forming stable support in conjunction with the power output of the drive wheels 2, reducing the tilt of the robot body and helping it to smoothly overcome obstacles. During normal operation, if the grounding arc plates 20 collide with furniture corners or walls, the second buffer spring 19 will absorb the impact force through compression deformation. The vibration is buffered by the elastic cooperation between the sliding plate 18 and the spring, avoiding damage to the connecting ring 13 and the body structure caused by rigid collisions, while reducing the impact of vibration transmitted to internal components.
[0047] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. An obstacle-crossing assist device, comprising a fuselage (1), a drive wheel (2), and a front wheel (3), wherein the drive wheel (2) is mounted on the fuselage (1) by a motor, characterized in that, Also includes: The buffer mechanism includes a support rod (8) symmetrically arranged on the body (1), a movable plate (7) is slidably sleeved on the support rod (8), a sliding column (6) is provided on the bottom surface of the movable plate (7) and slidably connected to the bottom plate of the body (1), a wheel seat (4) is provided at the bottom of the sliding column (6), and the front wheel (3) is rotatably mounted on the wheel seat (4); The obstacle crossing mechanism (5) includes a connecting ring (13) sleeved on the drive wheel (2), and multiple grounding arc plates (20) are movably installed on the connecting ring (13) for assisting obstacle crossing and buffering collision.
2. The obstacle-crossing assist device according to claim 1, characterized in that, A buffer spring (10) is sleeved on the support rod (8). A fixed plate (9) is provided at the top of the support rod (8). The two ends of the buffer spring (10) abut against the movable plate (7) and the fixed plate (9) respectively. The movable plate (7) can be moved by the two buffer springs (10).
3. The obstacle-crossing assist device according to claim 1, characterized in that, A screw hole (11) is provided on the bottom end face of the sliding column (6), and a screw rod (12) matching the screw hole (11) is provided on the top surface of the wheel seat (4).
4. The obstacle-crossing assist device according to claim 1, characterized in that, Both connecting rings (13) are provided with multiple connecting plates (14) that can fit together. One of the connecting rings (13) has a second screw hole (24) on the connecting plate (14). The other connecting ring (13) has a hand-tightening rod (15) slidably sleeved on the connecting plate (14). The end of the hand-tightening rod (15) is provided with a second screw rod (23) that matches the second screw hole (24).
5. The obstacle-crossing assist device according to claim 1, characterized in that, The connecting ring (13) has multiple rectangular holes (16), and a support column (17) is provided in the rectangular holes (16). The grounding arc plate (20) has a sleeve column (22), and the sleeve column (22) has an inner cavity (25) that is adapted to the support column (17). The sleeve column (22) is slidably sleeved on the support column (17).
6. The obstacle-crossing assist device according to claim 5, characterized in that, A sliding plate (18) is provided on the sleeve post (22), and a second buffer spring (19) is sleeved around the outside of the support post (17). The two ends of the second buffer spring (19) abut against the inner wall of the sliding plate (18) and the rectangular hole (16) respectively. The grounding arc plate (20) can move by the elastic force of the second buffer spring (19).
7. The obstacle-crossing assist device according to claim 1, characterized in that, The grounding arc plate (20) has multiple equidistant anti-slip patterns (21) on its arc-shaped surface.
8. A self-moving device, characterized in that, Includes the obstacle crossing assist device as described in any one of claims 1 to 7.