An adaptive suspension cleaning robot drive wheel module

Abstract

The utility model discloses a kind of self-adaptive suspension cleaning robot drive wheel module, it is related to robot accessory technical field.The utility model includes: rectangular frame, the both sides of the rectangular frame are rotatably connected with driving rod;Fixed block, fixed in the both sides of the rectangular frame, the one end of the driving rod located rectangular frame outside is connected with linkage rod by universal joint, the both sides of the fixed block are hinged with connecting plate, two the connecting plate end side between connection has installation block.The utility model adopts the design of universal joint and hinged connecting plate combination, universal joint realizes the flexible multi-angle transmission between driving rod and linkage rod, the arc connecting plate of hinged provides space for the rotation of installation block, the cooperation of both makes that gyro wheel can be self-adaptive adjustment according to the uneven condition of road surface, effectively solve the problem that traditional fixed suspension drive wheel is easily suspended, and the problem of insufficient contact pressure, substantially improve the passability of robot on complex road surface.

Description

Technical Field

[0001] This utility model relates to the field of robot accessory equipment technology, specifically to an adaptive suspension cleaning robot drive wheel module. Background Technology

[0002] In industrial production workshops, large warehousing centers, municipal public venues and other scenarios, the requirements for efficiency and cleaning quality in ground cleaning operations are increasing. As the core component for robots to achieve walking function, the drive wheel module's structural design directly determines the robot's ground passability, walking stability and final cleaning effect, and is the key to ensuring the continuous and efficient implementation of cleaning operations.

[0003] Currently, most cleaning robots on the market use a fixed suspension structure for their drive wheel modules, lacking an effective adaptive adjustment mechanism between the drive wheels and the main body of the robot. When the robot travels on uneven surfaces, some drive wheels are prone to becoming suspended or having insufficient contact pressure with the ground, causing the robot to wobble, deviate, or even slip, significantly reducing its walking stability. This not only affects the accuracy of the cleaning path but may also cause the robot body to shake due to bumps, resulting in uneven contact between the cleaning brush head and the ground, creating cleaning dead spots or areas that are repeatedly cleaned, greatly weakening the cleaning effect. Furthermore, prolonged travel on uneven surfaces will cause the fixed drive wheel module to continuously bear uneven loads, accelerating wear on the wheels and drive components, shortening its lifespan, and increasing equipment maintenance costs. Therefore, we propose an adaptive suspension drive wheel module for cleaning robots to solve the above problems. Utility Model Content

[0004] To achieve the above objectives, this utility model specifically adopts the following technical solution: An adaptive suspension cleaning robot drive wheel module includes: A rectangular frame, with drive rods rotatably connected to both sides of the rectangular frame; A fixed block is fixed on both sides of the rectangular frame. The end of the drive rod located outside the rectangular frame is connected to a linkage rod via a universal joint. Connecting plates are hinged to both sides of the fixed block. An mounting block is connected between the ends of the two connecting plates. The linkage rod slides through the mounting block and has a roller installed at its end. A driving component is disposed inside the rectangular frame, and the driving component is used to drive the driving rod to rotate.

[0005] Furthermore, the drive unit includes a differential installed inside a rectangular frame, with the two output shafts of the differential connected to one of the drive rods respectively. A drive motor is installed on the outer wall of the rectangular frame, and the output end of the drive motor is connected to the input end of the differential.

[0006] Furthermore, it also includes a shock-absorbing mechanism disposed between the fixed block and the mounting block, the shock-absorbing mechanism being used to reduce vibration.

[0007] Furthermore, the shock absorption mechanism includes a first mounting plate fixed to the top edge of the fixed block, a second mounting plate fixed to the top edge of the mounting block, a damping rod hinged to the middle of the side wall of the first mounting plate, the other end of the damping rod hinged to the middle of the first mounting plate, and a tension spring connected between the end sides of the first mounting plate and the second mounting plate.

[0008] Furthermore, the connecting plate is arc-shaped, and the length of the fixing block is greater than the length of the mounting block.

[0009] Furthermore, the outer surface of the roller is made of rubber and has anti-slip texture.

[0010] The beneficial effects of this utility model are as follows: 1. This utility model adopts a design combining a universal joint and a hinged connecting plate. The universal joint enables flexible multi-angle transmission between the drive rod and the linkage rod, while the hinged arc-shaped connecting plate provides space for the rotation of the mounting block. The combination of the two allows the roller to adaptively adjust according to the unevenness of the road surface, effectively solving the problems of easy suspension of the drive wheel and insufficient contact pressure in traditional fixed suspension systems. This significantly improves the robot's passability on complex road surfaces. In addition, the shock absorption mechanism can effectively absorb the vibration energy caused by uneven road surfaces, reducing the impact of vibration on the robot body and its components, extending the overall service life of the equipment, and reducing the frequency of equipment replacement. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is another three-dimensional structural schematic diagram of this utility model; Figure 3 This is a top view of the present invention.

[0012] Reference numerals: 1. Rectangular frame; 2. Drive rod; 3. Fixing block; 4. Universal joint; 5. Linkage rod; 6. Connecting plate; 7. Mounting block; 8. Roller; 9. Drive component; 901. Differential; 902. Drive motor; 10. Shock absorption mechanism; 1001. First mounting plate; 1002. Second mounting plate; 1003. Damping rod; 1004. Tension spring. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0014] This application provides an adaptive suspension cleaning robot drive wheel module, mainly to solve the problem in existing technologies where some drive wheels tend to be suspended in the air or have insufficient contact pressure with the ground when the robot travels on uneven surfaces. This causes the robot to experience bumps, deviations, or even slippage, significantly reducing its walking stability. This not only affects the accuracy of the cleaning path but may also cause the robot body to shake due to bumps, resulting in uneven contact between the cleaning brush head and the ground, creating cleaning dead zones or areas that are repeatedly cleaned, greatly weakening the cleaning effect. The following technical solution is provided, which will be discussed in conjunction with... Figures 1-3 Please provide a detailed explanation: An adaptive suspension cleaning robot drive wheel module includes: A rectangular frame 1, with drive rods 2 rotatably connected to both sides of the rectangular frame 1; Fixed block 3 is fixed on both sides of the rectangular frame 1. The end of the drive rod 2 located outside the rectangular frame 1 is connected to the linkage rod 5 through the universal joint 4. The two sides of the fixed block 3 are hinged with connecting plates 6. The two ends of the connecting plates 6 are connected with mounting blocks 7. The linkage rod 5 slides through the mounting block 7 and its end is equipped with a roller 8. A drive component 9 is disposed inside the rectangular frame 1. The drive component 9 is used to drive the drive rod 2 to rotate. The drive component 9 includes a differential 901 installed inside the rectangular frame 1. The two output shafts of the differential 901 are respectively connected to one of the drive rods 2. A drive motor 902 is installed on the outer wall of the rectangular frame 1. The output end of the drive motor 902 is connected to the input end of the differential 901. It also includes a shock-absorbing mechanism 10, which is disposed between the fixed block 3 and the mounting block 7. The shock-absorbing mechanism 10 is used to reduce vibration. The shock-absorbing mechanism 10 includes a first mounting plate 1001 fixed to the top edge of the fixed block 3, and a second mounting plate 1002 fixed to the top edge of the mounting block 7. A damping rod 1003 is hinged to the middle of the side wall of the first mounting plate 1001. The other end of the damping rod 1003 is hinged to the middle of the first mounting plate 1001. A tension spring 1004 is connected between the end sides of the first mounting plate 1001 and the second mounting plate 1002.

[0015] It should be noted that the differential 901 and damping rod 1003 are existing technologies, and their working principles and circuit connections will not be described in detail.

[0016] Workflow Description: Basic Operation: When the cleaning robot starts, the drive motor 902 begins to run, and its output transmits power to the differential 901 inside the rectangular frame 1. The gear mechanism inside the differential 901 distributes the power to the two drive rods 2, giving the drive rods 2 rotational power. Since the drive rods 2 are rotatably connected to the rectangular frame 1, they rotate around the pivot point, and then transmit the rotational power to the linkage rod 5 through the universal joint 4. The linkage rod 5 is connected to the roller 8, which ultimately drives the roller 8 to rotate, providing power for the robot to move. During power transmission, the differential 901 can automatically adjust the speed of the two drive rods 2 according to the robot's driving status (such as steering, changes in road resistance). When the robot turns, the speed of the inner drive rod 2 decreases, and the speed of the outer drive rod 2 increases, ensuring that the robot turns smoothly and avoiding slippage of the drive wheels, thus ensuring the high efficiency and stability of power transmission. Adaptive adjustment: When the robot travels on an uneven surface, the rollers 8 at different positions will be subjected to different ground forces. If a roller 8 encounters a raised surface, it will be subjected to an upward thrust. This thrust is transmitted to the mounting block 7 through the linkage rod 5. After being subjected to force, the mounting block 7 will rotate at a certain angle around the hinge point with the connecting plate 6. At the same time, the linkage rod 5 slides within the mounting block 7. During this process, the universal joint 4 can realize multi-angle transmission between the drive rod 2 and the linkage rod 5, avoiding power transmission interruption due to angle changes, and ensuring that the roller 8 can always adapt to changes in the road surface and maintain effective contact with the ground. Shock absorption and buffering: During robot operation, the shock absorption mechanism 10 also plays a role. When the mounting block 7 moves upward, it stretches the tension spring 1004 connected between the ends of the first mounting plate 1001 and the second mounting plate 1002. The tension spring 1004 generates a reverse tension force to buffer the upward movement tendency of the mounting block 7. At the same time, the damping rod 1003, which is hinged between the middle of the side wall of the first mounting plate 1001 and the middle of the second mounting plate 1002, generates a corresponding damping force according to the movement speed of the mounting block 7, slowing down the movement speed of the mounting block 7 and further absorbing vibration energy. If the mounting block 7 moves downward, the tension spring 1004 will contract, and the damping rod 1003 will also generate a damping force to prevent the mounting block 7 from moving downward quickly, thereby effectively reducing the vibration when the robot walks on uneven ground.

[0017] Through the aforementioned adaptive adjustment and shock absorption process, the roller 8 always maintains good contact with the ground, avoiding situations where it is suspended or has insufficient contact pressure, ensuring the stability of the robot's movement, and thus ensuring that the cleaning brush head makes uniform contact with the ground, achieving efficient and thorough cleaning operations.

[0018] The device employs a design combining a universal joint 4 and a hinged connecting plate 6. The universal joint 4 enables flexible multi-angle transmission between the drive rod 2 and the linkage rod 5, while the hinged arc-shaped connecting plate 6 provides space for the rotation of the mounting block 7. This combination allows the roller 8 to adaptively adjust to uneven road surfaces, effectively solving the problems of traditional fixed suspension drive wheels being prone to suspension and insufficient contact pressure. This significantly improves the robot's passability on complex terrain. Furthermore, the shock absorption mechanism 10 effectively absorbs vibration energy from uneven road surfaces, reducing the impact of vibration on the robot body and its components, extending the overall service life of the equipment, and reducing the frequency of equipment replacement. like Figure 1 As shown, in some embodiments, the connecting plate 6 is arc-shaped, and the length of the fixing block 3 is greater than the length of the mounting block 7. More specifically, the arc-shaped connecting plate 6 matches the rotation trajectory of the mounting block 7 around the hinge point of the fixing block 3, which can reduce the space occupation and structural interference during movement and avoid the problem of needing to reserve extra rotation gap for straight plates. The length of the fixing block 3 is greater than that of the mounting block 7, which allows the mounting block 7 to move within the range below the fixing block 3 without needing to extend more space outward. The combination of the two can meet the motion stroke required for the adaptive adjustment of the roller 8 while greatly compressing the overall volume of the drive wheel module, making the structure more compact and adapting to the space requirements of the robot vacuum cleaner for the layout of internal components.

[0019] like Figure 1 As shown, in some embodiments, the outer surface of the roller 8 is made of rubber and has anti-slip texture. More specifically, the outer surface of the roller 8 is made of rubber, which has high elasticity and can conform to uneven ground, reducing bumps and enhancing the adhesion to the ground. This avoids the problem of slipping or strong vibration due to hard materials. The anti-slip texture on the surface can increase the friction with the ground, and even in wet or dusty cleaning scenarios, it can prevent the roller 8 from slipping, ensuring the robot's walking trajectory is accurate, thereby ensuring the efficient operation of the cleaning brush head and reducing the problem of cleaning omissions or repeated cleaning caused by slipping.

[0020] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive suspension cleaning robot drive wheel module, characterized by, include: A rectangular frame (1) is rotatably connected to two sides of the rectangular frame (1); A fixed block (3) is fixed on both sides of the rectangular frame (1). The drive rod (2) is connected to a linkage rod (5) at one end outside the rectangular frame (1) via a universal joint (4). Connecting plates (6) are hinged on both sides of the fixed block (3). An installation block (7) is connected between the ends of the two connecting plates (6). The linkage rod (5) slides through the installation block (7) and a roller (8) is installed at its end. A drive element (9) is disposed inside the rectangular frame (1) and is used to drive the drive rod (2) to rotate.

2. An adaptive suspension cleaning robot drive wheel module according to claim 1, wherein, The drive unit (9) includes a differential (901) installed inside a rectangular frame (1). The two output shafts of the differential (901) are respectively connected to one of the drive rods (2). A drive motor (902) is installed on the outer wall of the rectangular frame (1). The output end of the drive motor (902) is connected to the input end of the differential (901).

3. The self-adapting suspension cleaning robot drive wheel module of claim 1, wherein, It also includes a shock-absorbing mechanism (10) disposed between the fixed block (3) and the mounting block (7), the shock-absorbing mechanism (10) being used to reduce vibration.

4. The self-adapting suspension cleaning robot drive wheel module of claim 3, wherein, The shock absorption mechanism (10) includes a first mounting plate (1001) fixed to the top edge of the fixed block (3), a second mounting plate (1002) fixed to the top edge of the mounting block (7), a damping rod (1003) hinged to the middle of the side wall of the first mounting plate (1001), the other end of the damping rod (1003) hinged to the middle of the first mounting plate (1001), and a tension spring (1004) connected between the end sides of the first mounting plate (1001) and the second mounting plate (1002).

5. The self-adapting suspension cleaning robot drive wheel module of claim 1, wherein, The connecting plate (6) is arc-shaped, and the length of the fixing block (3) is greater than the length of the mounting block (7).

6. The self-adapting suspension cleaning robot drive wheel module of claim 1, wherein, The outer surface of the roller (8) is made of rubber and has anti-slip texture.

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