Integrated lifting and obstacle crossing actuator

Abstract

The utility model relates to a sweeper technology field especially a set lifts and barrier integrated actuating mechanism, including a box (10), be provided with a first transmission assembly (11) and a second transmission assembly (12) in the box (10), a side wheel (20), a swing arm subassembly (30), a first drive assembly (40), the first drive assembly (40) drives the side wheel (20) through the first transmission assembly (11), a second drive assembly (50), the second drive assembly (50) sets up in the box (10) and drives the swing arm subassembly (30) through the second transmission assembly (12), a support rod (60). The utility model is integrated design with lifting and barrier function, and the structure is reasonable, and the occupied space is small, utilizes the swing arm subassembly and support rod length and carries out flexible adjustment, can break through the restriction of sweeper chassis height, to adapt to the barrier of different height, and the barrier ability is strong.

Description

Technical Field

[0001] This utility model relates to the field of sweeping machine technology, and in particular to an integrated lifting and obstacle-crossing actuator. Background Technology

[0002] With the development of artificial intelligence and internet technology, smart home products are developing rapidly, and smart robot vacuums are gradually entering people's lives. Also known as robotic vacuum cleaners, they are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. Smart robot vacuums use a combination of brushing and vacuuming to suck up debris into their own dustbin, thus completing the floor cleaning function.

[0003] However, in addition to issues such as direction and positioning, there are also obstacles that the robot vacuum cleaner may encounter and overcome during its movement. For example, there are often thresholds at doorways, floor supports for furniture, differences in floor level between rooms, small steps, household items that have fallen to the ground, garbage, and carpets, which can create an uneven obstacle environment.

[0004] Existing sweeping machines include a front wheel lifting mechanism and two side wheel clutch obstacle-crossing mechanisms. The front wheel lifting mechanism is located at the front wheel of the sweeping machine and uses a motor to directly drive a connecting rod or lead screw structure to lift the front half of the sweeping machine. The side wheel clutch obstacle-crossing mechanism achieves obstacle crossing through a passive wheel assembly or elastic suspension. The aforementioned sweeping machine's front wheel lifting mechanism and two side wheel clutch obstacle-crossing mechanisms are all set independently, which has problems such as complex structure and large space occupation. Moreover, due to the limited space layout of the sweeping machine, the height of the side wheel clutch obstacle-crossing mechanism from the ground determines the obstacle crossing height of the sweeping machine, resulting in it only being able to handle low obstacles and easily causing the brush disc to be suspended in the air or damaged by collision.

[0005] Therefore, existing technologies need to be improved and enhanced. Utility Model Content

[0006] The purpose of this invention is to provide an integrated lifting and obstacle-crossing actuator to solve the technical problems in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] An integrated lifting and obstacle-crossing mechanism, including

[0009] A housing, wherein a first transmission assembly and a second transmission assembly are disposed within the housing;

[0010] One side wheel, the side wheel is disposed on one side of the housing;

[0011] A swing arm assembly is provided on the other side of the housing and is used to support the machine body to overcome obstacles;

[0012] A first drive assembly drives the side wheel via the first transmission assembly;

[0013] A second drive assembly is disposed within the housing and drives the swing arm assembly via the second transmission assembly;

[0014] A support rod is disposed on the same side as the swing arm assembly and cooperates with the swing arm assembly.

[0015] As a further embodiment of the present invention, the first transmission assembly includes an output shaft, a first driven gear for driving the output shaft, a first gear set meshing with the first driven gear, and a first driving gear meshing with the first gear set.

[0016] As a further embodiment of the present invention, the second transmission assembly includes a second driven gear for driving the output shaft, a second gear set meshing with the second driven gear, and a second driving gear meshing with the second gear set.

[0017] As a further embodiment of this invention, the swing arm assembly includes...

[0018] A swing arm is rotatably mounted on the output shaft and connected to the second driven gear via a spline, wherein the swing arm has a first support and a second support;

[0019] An arm is provided, which is connected to the swing arm via a pivot, and a torsion spring is sleeved on the pivot between the arm and the swing arm;

[0020] A pulley is rotatably mounted on the end of the support arm relative to the swing arm.

[0021] As a further embodiment of this utility model, the swing arm extends in a direction away from the support arm and has a first mounting rod. The free end of the first mounting rod is provided with a first support column. The lower part of the swing arm is inclined towards the support arm and has a second mounting rod. The free end of the second mounting rod is provided with a second support column.

[0022] As a further embodiment of this utility model, the support rod is rotatably mounted on the box body, and includes a first support rod and a second support rod. The first support rod cooperates with the first pillar, and the second support rod cooperates with the second pillar. A roller is rotatably mounted on the free end of the second support rod.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. The design integrates lifting and obstacle-crossing functions, featuring a rational structure and minimal space occupation.

[0025] 2. By flexibly adjusting the length of the swing arm assembly and support rod, it can overcome the limitations of the sweeper chassis height to adapt to obstacles of different heights, and has a strong obstacle-crossing ability. Attached Figure Description

[0026] Appendix Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0027] Appendix Figure 2 This is a schematic diagram of the structure of the first transmission component according to an embodiment of the present utility model;

[0028] Appendix Figure 3 This is a schematic diagram of the assembly of the first drive assembly, the first transmission assembly, the output shaft, and the side wheel in an embodiment of the present utility model;

[0029] Appendix Figure 4 This is a schematic diagram of the assembly of the second drive assembly, the second transmission assembly, and the output shaft according to an embodiment of the present utility model;

[0030] Appendix Figure 5 This is a schematic diagram of the swing arm assembly according to an embodiment of the present utility model;

[0031] Appendix Figure 6 This is an exploded structural diagram of the swing arm assembly according to an embodiment of the present utility model;

[0032] Appendix Figure 7 This is a schematic diagram of the structure of the second driving component in an embodiment of the present invention.

[0033] The labels in the diagram are as follows:

[0034] 10-Box body, 20-Side wheel, 30-Swing arm assembly, 40-First drive assembly, 50-Second drive assembly, 60-Support rod;

[0035] 11-First transmission assembly, 12-Second transmission assembly;

[0036] 111-Output shaft, 112-First driven gear, 113-First gear set, 114-First driving gear;

[0037] 121 - Second driven gear, 122 - Second gear set, 123 - Second driving gear;

[0038] 31-Swing arm, 32-Support arm, 33-Rotating shaft, 34-Torsion spring, 35-Pulley;

[0039] 51-Motor body, 52-Encoder, 53-Planetary gear reducer;

[0040] 311-First mounting rod, 312-First support column, 313-Second mounting rod, 314-Second support column;

[0041] 61-First support rod, 62-Second support rod, 63-Roller. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings:

[0043] The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0044] In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0046] Example:

[0047] Please see Figure 1 This application discloses an integrated lifting and obstacle-crossing actuator, comprising a housing 10, which includes a first housing and a second housing. The first housing and the second housing are detachably connected for easy assembly and disassembly and maintenance. A first transmission assembly 11 and a second transmission assembly 12 are disposed within the housing 10.

[0048] A side wheel 20 is provided on one side of the housing 10;

[0049] A swing arm assembly 30 is disposed on the other side of the housing 10 and is used to support the body of the machine to overcome obstacles;

[0050] A first drive component 40 drives the side wheel 20 through the first transmission component 11. In this embodiment, the first drive component 40 is a motor.

[0051] A second drive assembly 50 is disposed inside the housing 10 and drives the swing arm assembly 30 through the second transmission assembly 12. In this embodiment, the second drive assembly 50 includes a motor.

[0052] A support rod 60 is arranged on the same side as the swing arm assembly 30 and cooperates with the swing arm assembly 30. Through the above structural design, the lifting and obstacle-crossing functions are integrated into one design. The structure is reasonable and occupies little space. The length of the swing arm assembly 30 and the support rod 60 can be flexibly adjusted to overcome the height limitation of the sweeper chassis and adapt to obstacles of different heights, with strong obstacle-crossing ability. At the same time, the side wheel 20 and the swing arm assembly 30 are controlled by different drive components, which ensures high reliability.

[0053] When this application is applied to an intelligent sweeping robot, the intelligent sweeping robot has a rotatable front wheel mounted at the front and two integrated lifting and obstacle-crossing actuators mounted at the rear. During normal operation, the first drive assembly 40 drives the side wheels 20 to rotate via the first transmission assembly 11 to achieve normal sweeping operation. When crossing obstacles, the first drive assembly 40 stops working when the laser radar on the intelligent sweeping robot detects an obstacle ahead. The second drive assembly 50 drives the swing arm assembly 30 to rotate via the second transmission assembly 12. The swing arm assembly 30 drives the support rod 60 to rotate clockwise until the front end of the intelligent sweeping robot is lifted. The machine body is supported by two side wheels 20, two swing arm assemblies 30, and two pulleys 63. The second drive assembly 50 stops working. The first drive assembly 40 starts working again to drive the side wheels 20 to rotate until the swing arm assembly 30 stops at the bottom of the obstacle. At this time, the second drive assembly 50 starts working again to drive the swing arm assembly 30 to rotate, and uses the end of the swing arm assembly 30 as a fulcrum to drive the entire intelligent sweeping robot over the obstacle. After overcoming the obstacle, the second drive assembly 50 reverses to drive the swing arm assembly 30 to reverse back to the initial position. At the same time, the support rod 60 moves counterclockwise under the action of the swing arm assembly 30 to reset and restore the machine body to a horizontal position.

[0054] Specifically, please see Figure 2-5 The first transmission assembly 11 includes an output shaft 111, a first driven gear 112 for driving the output shaft 111, a first gear set 113 meshing with the first driven gear 112, and a first driving gear 114 meshing with the first gear set 113. The first gear set 113 includes a first double gear meshing with the first driving gear 114, a second double gear meshing with the first double gear, and a third double gear meshing with the second double gear and the first driven gear 112. In this embodiment, the first driving gear 114 is mounted on the output shaft of the first drive assembly 40 and is a helical gear. The first double gear is designed as a set of helical gears and a set of spur gears. The helical gear of the first double gear meshes with the first driving gear 114, and the spur gear of the first double gear meshes with the second double gear.

[0055] In this specific implementation, an anti-rotation structure is provided between the first driven gear 112 and the output shaft 111. The anti-rotation structure includes two first flat surfaces disposed on the inner wall of the first driven gear 112 and two second flat surfaces disposed on the outer wall of the output shaft 111. The two first flat surfaces and the two second flat surfaces correspond to each other and fit together, which can effectively prevent relative rotation and realize reliable torque transmission between the first driven gear 112 and the output shaft 111.

[0056] In this specific implementation, a snap ring groove is provided on the output shaft 111 on the side of the first driven gear 112 relative to the side wheel 20, and a snap ring is installed in the snap ring groove to restrict the axial movement of the first driven gear 112.

[0057] Specifically, please see Figure 4 The second transmission assembly 12 includes a second driven gear 121 for driving the output shaft 111, a second gear set 122 meshing with the second driven gear 121, and a second driving gear 123 meshing with the second gear set 122. The second gear set 122 includes a fourth double gear meshing with the second driving gear 123 and a fifth double gear meshing with the fourth double gear and the second driven gear 121. In this embodiment, the second driving gear 123 is mounted on the output shaft of the second drive assembly 50 and is a worm gear. The worm gear meshes with the fourth double gear. Through the above-mentioned structural design of several double gears, a large overall transmission ratio is achieved within the housing 10.

[0058] Specifically, please see Figure 5 and Figure 6 The swing arm assembly 30 includes

[0059] A swing arm 31 is rotatably mounted on the output shaft 111 via a sliding bearing and is connected to the second driven gear 121 via a spline. In this embodiment, a retaining ring groove is formed on the output shaft 111 on the side of the swing arm 31 opposite to the second driven gear 121, and a retaining ring is installed in the retaining ring groove to limit the axial movement of the swing arm 31 and the second driven gear 121. A support arm 32 is connected to the swing arm 31 via a rotating shaft 33. A torsion spring 34 is sleeved on the rotating shaft 33 between the support arm 32 and the swing arm 31. When the torsion spring 34 is in its natural state, the swing arm 31 and the support arm 32 are in the same position. On the horizontal line, in specific implementation, the pivot sequentially passes through the swing arm, torsion spring, and support arm and is connected to the screw, thereby connecting the swing arm and the support arm together. A washer is also provided on the side of the support arm near the screw. The swing arm 31 has a first support 312 and a second support 314. In specific implementation, the swing arm 31 extends a first mounting rod 311 in a direction away from the support arm 32. The free end of the first mounting rod 311 is provided with the first support 312. The lower part of the swing arm 31 is inclined towards the support arm 32 and a second mounting rod 313 is provided. The free end of the second mounting rod 313 is provided with the second support 314.

[0060] A pulley 35 is rotatably mounted on the end of the support arm 32 relative to the swing arm 31.

[0061] Specifically, please see Figure 1 The support rod 60 is rotatably mounted on the housing 10 and includes a first support rod 61 and a second support rod 62. The first support rod 61 cooperates with the first support column 312, and the second support rod 62 cooperates with the second support column 314. A roller 63 is rotatably mounted on the free end of the second support rod 62.

[0062] With the above structural design, when the laser radar on the intelligent sweeping robot detects an obstacle in front, the first drive component 40 stops working; the second drive component 50 drives the swing arm 31 to rotate through the second transmission component 12, the swing arm 31 drives the support arm 32 to rotate, the second pillar 314 on the swing arm 31 pushes the first support rod 61, the second support rod 62 disengages from the second pillar 314, so that the support rod 60 rotates clockwise, the roller 63 is lifted up, at this time the front end of the intelligent sweeping robot is lifted, the body is supported by two side wheels 20, two pulleys 35 and two rollers 63, and the second drive component 50 stops working; The first drive assembly 40 operates again to drive the side wheel 20 to rotate until the two pulleys 35 stop at the bottom of the obstacle. At this time, the second drive assembly 50 operates again to drive the swing arm 31 and the support arm 32 to rotate, and with the pulley 35 as the fulcrum, the entire robot vacuum cleaner is driven to climb over the obstacle. After crossing the obstacle, the second drive assembly 50 reverses to drive the swing arm 31 and the support arm 32 to reverse to the initial position. At the same time, when the swing arm assembly resets, the first pillar 312 slides along the outer wall surface of the first support rod 61 away from the second support rod 62, causing the support rod 60 to rotate counterclockwise until the second support rod 62 contacts the second pillar 314.

[0063] Specifically, please see Figure 5The second drive assembly 50 includes a motor body 51, an encoder 52 mounted on the motor body 51 for detecting the number of rotations of the output shaft of the motor body, and a planetary gear reducer 53 connected to the output shaft of the motor body 51. In this embodiment, the encoder 52 and the planetary gear reducer 53 adopt existing structural designs, which are well known to those skilled in the art. For ease of understanding, the encoder 52 and the planetary gear reducer 53 are briefly described as follows: The encoder 52 includes a magnetic sensing element and a magnet mounted on the output shaft of the motor body 51. The magnetic sensing element and the magnet are separated and opposite to each other. A magnet sheath is provided on the side of the magnet opposite to the magnetic sensing element. The encoder 52 can control the number of rotations of the motor body 51, thereby controlling the running angle of the swing arm assembly 30. Therefore, when the second drive assembly 50 drives the swing arm 31 and the support arm 32 through the second transmission assembly 12, the swing arm 31 and the support arm 32 can form a 45-degree angle with the ground, thereby lifting the front end of the intelligent sweeping robot. The body is supported by two side wheels 20 and Two pulleys 35 provide stable support; the planetary gear reducer 53 includes a first gear connected to the output shaft of the motor body 51, which meshes with a first planetary gear mounted on a planetary carrier; the first planetary gear meshes with an internal gear ring, and a second gear is provided on one side of the planetary carrier relative to the first planetary gear, which meshes with a second planetary gear mounted on a connector, and the second planetary gear meshes with an internal gear ring of the internal gear housing. An output shaft for mounting a worm gear is provided on one side of the connector relative to the second planetary gear. By providing the planetary gear reducer 53, a very high reduction ratio can be achieved in the confined space of the housing 10, and a large torque can be transmitted.

[0064] In summary, this utility model, through the above-described structural design, overcomes the shortcomings of the prior art and features a reasonable structure, small footprint, and strong obstacle-crossing ability.

[0065] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An integrated lifting and obstacle-crossing actuator, characterized in that: include A housing (10), wherein a first transmission assembly (11) and a second transmission assembly (12) are provided inside the housing (10). A side wheel (20) is provided on one side of the housing (10); A swing arm assembly (30) is provided on the other side of the housing (10) for supporting the fuselage to overcome obstacles; A first drive assembly (40) drives the side wheel (20) through the first transmission assembly (11). A second drive assembly (50) is disposed inside the housing (10) and drives the swing arm assembly (30) through the second transmission assembly (12). A support rod (60) is disposed on the same side as the swing arm assembly (30) and cooperates with the swing arm assembly (30).

2. The integrated lifting and obstacle-crossing actuator according to claim 1, characterized in that: The first transmission assembly (11) includes an output shaft (111), a first driven gear (112) for driving the output shaft (111), a first gear set (113) meshing with the first driven gear (112), and a first driving gear (114) meshing with the first gear set (113).

3. The integrated lifting and obstacle-crossing actuator according to claim 2, characterized in that: The second transmission assembly (12) includes a second driven gear (121) for driving the output shaft (111), a second gear set (122) meshing with the second driven gear (121), and a second driving gear (123) meshing with the second gear set (122).

4. The integrated lifting and obstacle-crossing actuator according to claim 3, characterized in that: The swing arm assembly (30) includes A swing arm (31) is rotatably mounted on the output shaft (111) and connected to the second driven gear (121) via a spline, wherein the swing arm (31) has a first support (312) and a second support (314). An arm (32) is connected to the swing arm (31) via a pivot (33), and a torsion spring (34) is sleeved on the pivot (33) between the arm (32) and the swing arm (31). A pulley (35) is rotatably mounted on the end of the support arm (32) relative to the swing arm (31).

5. The integrated lifting and obstacle-crossing actuator according to claim 4, characterized in that: The swing arm (31) extends away from the support arm (32) and has a first mounting rod (311). The free end of the first mounting rod (311) is provided with a first support column (312). The lower part of the swing arm (31) is inclined towards the support arm (32) and has a second mounting rod (313). The free end of the second mounting rod (313) is provided with a second support column (314).

6. The integrated lifting and obstacle-crossing actuator according to claim 5, characterized in that: The support rod (60) is rotatably mounted on the housing (10) and includes a first support rod (61) and a second support rod (62). The first support rod (61) cooperates with the first support column (312), and the second support rod (62) cooperates with the second support column (314). A roller (63) is rotatably mounted on the free end of the second support rod (62).

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