Obstacle crossing mechanism of cleaning robot

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of sweeping machine technology, and in particular to an obstacle-crossing mechanism for a cleaning robot. Background Technology

[0002] With the increasing popularity of intelligent cleaning robots, users have placed higher demands on the robots' environmental adaptability, especially in complex home scenarios where there may be obstacles such as thresholds, wires, and carpet edges on the floor.

[0003] Existing cleaning robots typically employ separation mechanisms such as friction wheels, mechanical clutches, or gears. When an obstacle is detected, the drive motor transmits power to the obstacle-crossing mechanism via the clutch, causing the robot to raise its chassis to overcome the obstacle. After overcoming the obstacle, the clutch disengages, the obstacle-crossing mechanism resets, and the cleaning robot resumes its normal walking mode. While this type of cleaning robot has some obstacle-crossing capability, it still has shortcomings: 1. The clutch structure relies on friction transmission or mechanical engagement, which is prone to jamming during frequent obstacle crossings or foreign object intrusion, causing the cleaning robot to malfunction; 2. Limited by the power transmission efficiency of the clutch mechanism, the obstacle-crossing height is usually insufficient, typically less than 15mm, making it difficult to handle higher thresholds.

[0004] Therefore, there is an urgent need for a cleaning robot obstacle-crossing mechanism that can effectively solve the problems of getting stuck and slipping, while stably crossing common household obstacles, such as thresholds or steps with a height of ≥40mm, to meet users' needs for fully automated cleaning. Utility Model Content

[0005] The purpose of this invention is to provide a mechanism for a cleaning robot to overcome obstacles, in order to solve the technical problems in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A cleaning robot obstacle-crossing mechanism, including

[0008] A housing, wherein a first transmission assembly and a second transmission assembly are disposed within the housing;

[0009] One side wheel, the side wheel is disposed on one side of the housing;

[0010] A swing arm assembly is provided on the other side of the housing and is used to support the machine body to overcome obstacles;

[0011] A first drive assembly drives the side wheel via the first transmission assembly;

[0012] A second drive assembly is disposed within the housing and drives the swing arm assembly via the second transmission assembly;

[0013] A cam assembly is disposed on the same side as the swing arm assembly and cooperates with the swing arm assembly.

[0014] 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.

[0015] 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.

[0016] As a further embodiment of this invention, the swing arm assembly includes...

[0017] A swing arm, which is rotatably mounted on the output shaft and connected to the second driven gear via a spline, wherein the swing arm has a support column;

[0018] 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;

[0019] A pulley is rotatably mounted on the end of the support arm relative to the swing arm.

[0020] As a further embodiment of this utility model, the swing arm extends upward to a mounting rod, and the free end of the mounting rod is provided with the support column, which is connected to the cam assembly.

[0021] As a further embodiment of this utility model, the cam assembly is rotatably mounted on the housing, including a cam and a grooved wheel. The grooved wheel is fixed to the end face of the cam facing the housing and moves in conjunction with it. The grooved wheel has at least one notch that mates with the support column.

[0022] As a further embodiment of this utility model, a shaped block extends from the middle of the cam toward the housing, and the grooved wheel is sleeved on the shaped block.

[0023] As a further embodiment of this utility model, the irregularly shaped block is square in shape.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. By replacing the traditional clutch-type friction transmission with a second drive assembly and a cam assembly, the problems of jamming or slippage are effectively solved;

[0026] 2. By adjusting the length of the swing arm, the obstacle clearance height can be increased to over 40mm, adapting to most household thresholds and meeting users' needs for fully automated cleaning. Attached Figure Description

[0027] Appendix Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0028] 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;

[0029] 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;

[0030] 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;

[0031] Appendix Figure 5 This is a schematic diagram of the swing arm assembly according to an embodiment of the present utility model;

[0032] Appendix Figure 6 This is an exploded structural diagram of the swing arm assembly according to an embodiment of the present utility model;

[0033] Appendix Figure 7 This is a schematic diagram of the structure of the second driving component in an embodiment of the present invention;

[0034] Appendix Figure 8 This is an exploded structural diagram of the cam assembly according to an embodiment of the present invention.

[0035] The labels in the diagram are as follows:

[0036] 10-Box body, 20-Side wheel, 30-Swing arm assembly, 40-First drive assembly, 50-Second drive assembly, 60-Cam assembly;

[0037] 11-First transmission assembly, 12-Second transmission assembly;

[0038] 111-Output shaft, 112-First driven gear, 113-First gear set, 114-First driving gear;

[0039] 121 - Second driven gear, 122 - Second gear set, 123 - Second driving gear;

[0040] 31-Swing arm, 32-Support arm, 33-Rotating shaft, 34-Torsion spring, 35-Pulley;

[0041] 51-Motor body, 52-Encoder, 53-Planetary gear reducer;

[0042] 311-Lever;

[0043] 61-Cam, 62-Gate wheel;

[0044] 611 - Irregular Block;

[0045] 621 - Notch / groove. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings:

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Example:

[0051] Please see Figure 1 This application discloses an obstacle-crossing mechanism for a cleaning robot, 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.

[0052] A side wheel 20 is provided on one side of the housing 10;

[0053] A swing arm assembly 30 is provided on the other side of the housing 10 and is used to support the machine body to overcome obstacles;

[0054] 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.

[0055] 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.

[0056] A cam assembly 60 is disposed on the same side as the swing arm assembly 30 and cooperates with the swing arm assembly 30. Through the above structural design, the second drive assembly 50 and the cam assembly 60 replace the traditional clutch-type friction transmission, effectively solving the problem of jamming or slippage. By adjusting the length of the swing arm assembly at the design end, the obstacle crossing height can be increased to more than 40mm, adapting to most home thresholds and meeting users' needs for fully automated cleaning.

[0057] 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 obstacle-crossing mechanisms 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. During obstacle crossing, when the laser radar on the intelligent sweeping robot detects an obstacle ahead, the first drive assembly 40 stops working. 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 cam assembly 60 to rotate clockwise. The robot body consists of two side wheels 20, two swing arm assemblies 30, and two cam assemblies. With the support of cam assembly 60, the second drive assembly 50 stops working; the first drive assembly 40 works again to drive the side wheel 20 to rotate until the swing arm assembly 30 stops at the bottom of the obstacle; at this time, the second drive assembly 50 works again to drive the swing arm assembly 30 to rotate, and with the end of the swing arm assembly 30 as the fulcrum, the entire robot vacuum cleaner is driven to climb over the obstacle; after climbing over the obstacle, the swing arm assembly 30 disengages from the cam assembly 60, and the swing arm assembly 30 continues to rotate, while the cam assembly 60 remains stationary; after crossing the obstacle, the second drive assembly 50 drives the swing arm assembly 30 to rotate clockwise in reverse until the swing arm assembly 30 is engaged with the cam assembly 60 again in the initial state.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] Specifically, please see Figure 5 and Figure 6 The swing arm assembly 30 includes

[0063] 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. An 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 arm 32 and the swing arm 31. When the torsion spring 34 is in its natural state, the swing arm 31 and the arm 32 are on the same horizontal line. In specific implementation, the rotating shaft passes sequentially through the swing arm, the torsion spring, and the arm and is connected to a screw, thereby connecting the swing arm and the arm together. A washer is also provided on the side of the arm near the screw. The swing arm 31 has a lever 311.

[0064] A pulley 35 is rotatably mounted on the end of the support arm 32 relative to the swing arm 31.

[0065] Specifically, please see Figure 1 The cam assembly 60 is rotatably mounted on the housing 10 and includes a cam 61 and a grooved wheel 62. The grooved wheel 62 is fixed to the end face of the cam 61 facing the housing 30 and is linked with it. The grooved wheel 62 has four notches 621 that cooperate with the support column 312.

[0066] Through the above structural design, when the laser radar on the intelligent sweeping robot detects an obstacle ahead, the first drive assembly 40 stops working; the second drive assembly 50 drives the swing arm 31 to rotate via the second transmission assembly 12, the swing arm 31 drives the support arm 32 to rotate, the support column 312 on the swing arm 31 pushes the grooved wheel 62 to rotate, the grooved wheel 62 drives the cam 61 to rotate clockwise, 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 cams 61, and the second drive assembly 50 stops working; the first drive assembly 40 works again to drive the side wheels 20 to rotate, straight The two pulleys 35 stop at the bottom of the obstacle; at this time, the second drive assembly 50 works 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 climbing over the obstacle, the support column 312 disengages from the notch 621 of the grooved wheel 62, the swing arm 31 continues to rotate, and at this time the cam 61 and the grooved wheel 62 remain stationary; after passing over the obstacle, the second drive assembly 50 drives the swing arm 31 to rotate clockwise until the support column 312 slides into the notch 621 of the grooved wheel 62, driving the cam 61 and the grooved wheel 62 to rotate counterclockwise until the machine body returns to the horizontal position.

[0067] Specifically, please see Figure 8 A shaped block 611 extends from the middle of the cam 61 toward the housing 30. The shaped block 611 is square in shape. The grooved wheel 62 is sleeved on the shaped block 611. Through the above structural design, the grooved wheel 61 and the cam 61 are linked together.

[0068] 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 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 sleeve 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 consists of two side wheels 20 and two sliding... Wheel 35 and two cams 61 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.

[0069] 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.

[0070] 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. A cleaning robot obstacle-crossing mechanism, 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 cam assembly (60) is disposed on the same side as the swing arm assembly (30) and cooperates with the swing arm assembly (30).

2. The obstacle-crossing mechanism for the cleaning robot 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 obstacle-crossing mechanism for the cleaning robot 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 obstacle-crossing mechanism for the cleaning robot 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 support (312). 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 obstacle-crossing mechanism for the cleaning robot according to claim 4, characterized in that: The swing arm (31) extends upward to a mounting rod (311), and the free end of the mounting rod (311) is provided with the support column (312), which is connected to the cam assembly (60).

6. The obstacle-crossing mechanism for the cleaning robot according to claim 5, characterized in that: The cam assembly (60) is rotatably mounted on the housing (10) and includes a cam (61) and a grooved wheel (62). The grooved wheel (62) is fixed to the end face of the cam (61) facing the housing (10) and is linked with it. The grooved wheel (62) has at least one notch (621) that cooperates with the support column (312).

7. The obstacle-crossing mechanism for the cleaning robot according to claim 6, characterized in that: A shaped block (611) extends from the middle of the cam (61) toward the housing (10), and the grooved wheel (62) is fitted onto the shaped block (611).

8. The obstacle-crossing mechanism for the cleaning robot according to claim 7, characterized in that: The irregular block (611) is square in shape.

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