CN111938507A - Obstacle-crossing floor-sweeping robot - Google Patents
Obstacle-crossing floor-sweeping robot Download PDFInfo
- Publication number
- CN111938507A CN111938507A CN201910401248.1A CN201910401248A CN111938507A CN 111938507 A CN111938507 A CN 111938507A CN 201910401248 A CN201910401248 A CN 201910401248A CN 111938507 A CN111938507 A CN 111938507A
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- CN
- China
- Prior art keywords
- obstacle
- foot
- wheel
- floor
- assembly
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The invention discloses an obstacle-crossing floor-sweeping robot, which comprises: a sweeper body; the driving part is provided with a wheel type assembly and a foot type assembly, the wheel type assembly and the foot type assembly are respectively and fixedly connected to the bottom of the sweeper body, and the wheel type assembly and the foot type assembly are selected to drive the sweeper body. The obstacle-crossing floor-sweeping robot has two walking modes, one mode is that the roller drives the floor-sweeping machine body to move, the other mode is that the gait walking drives the floor-sweeping machine body to move, and the obstacle-crossing floor-sweeping robot is applicable to wading, climbing stairs, uneven and other complex pavements.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to an obstacle-crossing sweeping robot.
Background
In the prior art, the floor sweeping robot has low adaptability to the ground. A common sweeping robot can only sweep on a flat ground, and some sweeping robots can climb stairs. However, they cannot accommodate uneven road surfaces, wading, and other complex road surfaces.
Based on this, the structure of the sweeping robot needs to be optimally designed by those skilled in the art, so that the sweeping robot can be suitable for wading, stairs, uneven and other complex road surfaces.
Disclosure of Invention
The invention provides an obstacle-crossing floor-sweeping robot which is suitable for wading, climbing stairs, uneven and other complex pavements.
One embodiment of the present invention provides an obstacle-crossing floor-sweeping robot, including:
a sweeper body;
the driving part is provided with a wheel type assembly and a foot type assembly, the wheel type assembly and the foot type assembly are respectively and fixedly connected to the bottom of the sweeper body, and the wheel type assembly and the foot type assembly are selected to drive the sweeper body.
Optionally, the wheel assembly comprises:
the wheel type driving motor is arranged on the sweeper body;
the rotating wheel is connected to an output shaft of the wheel type driving motor, and the wheel type driving motor drives the rotating wheel to rotate.
Optionally, the obstacle-crossing sweeping robot is provided with four sets of wheel assemblies, and the four sets of wheel assemblies are uniformly distributed by taking the center of the sweeper body as a symmetrical center.
Optionally, the foot assembly comprises:
the first foot type driving motor is arranged on the sweeper body;
one end of the first supporting leg is connected to an output shaft of the first foot type driving motor;
a second leg;
the output shaft of the second foot type driving motor is connected with the other end of the first supporting leg and the driving end of the second supporting leg;
the first foot type driving motor drives the first leg to rotate, the first leg drives the second foot type driving motor to rotate so as to drive the second leg to rotate, and the first leg and the second leg swing to form gait movement displacement.
Optionally, the obstacle-crossing sweeping robot is provided with four foot type assemblies, and the four foot type assemblies are uniformly distributed by taking the center of the sweeper body as a symmetrical center.
Optionally, the foot assembly corresponds to a position of the wheel assembly.
Optionally, the sweeper body is provided with a storage groove, and the foot type assembly can be contained in the storage groove.
Optionally, the wheel assembly is mounted in the receiving groove and extends out of the notch of the receiving groove.
Therefore, based on the above embodiments, the obstacle-crossing and floor-sweeping robot provided by the invention comprises a floor-sweeping machine body and a driving part, wherein the driving part is provided with a wheel type assembly and a foot type assembly, the wheel type assembly and the foot type assembly are respectively and fixedly connected to the bottom of the floor-sweeping machine body, and the wheel type assembly and the foot type assembly are selected to drive the floor-sweeping machine body, that is, when the obstacle-crossing and floor-sweeping robot works on a flat ground, the wheel type assembly drives the floor-sweeping machine body to run, and when the obstacle-crossing and floor-sweeping robot needs to wade in water, climb stairs and other complex ground works, the foot type assembly drives the floor-sweeping machine body to run, so as to perform gait motion displacement, span obstacles with a larger length, and wade in water, stairs and the like. Compared with the prior art, the obstacle-crossing sweeping robot has two walking modes, one mode is that the roller drives the sweeper body to move, the other mode is that the gait walking drives the sweeper body to move, and when one drives the sweeper body to move, the other mode is in a stop state, so that the two modes can run independently. By the arrangement, the performance of the obstacle-crossing sweeping robot is improved, and the application ground scene of the obstacle-crossing sweeping robot is effectively enlarged.
Drawings
Fig. 1 is a schematic structural diagram of a wheel type running state of an obstacle-crossing and floor-sweeping robot in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a foot-type operation state of the obstacle-crossing floor-sweeping robot in the embodiment of the invention;
fig. 3 is a schematic structural diagram of a wheel assembly of the obstacle-crossing floor-sweeping robot according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of a foot type component of the obstacle-crossing sweeping robot in the embodiment of the invention;
fig. 5 is a schematic view illustrating a retracted state of a foot type component in a driving part of the obstacle crossing and sweeping robot according to the embodiment of the invention;
fig. 6 is a schematic view of a driving portion of the obstacle-crossing sweeping robot in an expanded state of a foot type assembly according to the embodiment of the present invention;
fig. 7 a-7 e are schematic views illustrating foot-type operation of the obstacle-crossing sweeping robot in the embodiment of the invention.
Reference numerals:
10 obstacle-crossing sweeping robot;
11, a sweeper body;
111 a receiving groove;
12 a driving part;
a 121 wheel assembly;
1211 wheel-type drive motor;
1212 a running wheel;
a 122-foot assembly;
1221 a first foot drive motor;
1222 a first leg;
1223 a second leg;
1224 second foot drive motor;
122a first footed element;
122b a second footed element;
122c a third foot assembly;
122d fourth footer assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
In order to explain the structure and the working principle of the obstacle-crossing sweeping robot in detail. The present solution is described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a wheel type operation state of an obstacle-crossing and sweeping robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a foot-type operation state of the obstacle-crossing floor-sweeping robot in the embodiment of the invention; fig. 3 is a schematic structural diagram of a wheel assembly of the obstacle-crossing floor-sweeping robot according to the embodiment of the invention; fig. 4 is a schematic structural diagram of a foot type component of the obstacle-crossing sweeping robot in the embodiment of the invention; fig. 5 is a schematic view illustrating a retracted state of a foot type component in a driving part of the obstacle crossing and sweeping robot according to the embodiment of the invention; fig. 6 is a schematic view of a driving portion of the obstacle crossing and sweeping robot showing a deployed state of a foot type assembly in the driving portion according to the embodiment of the invention.
In an embodiment, as shown in fig. 1 and fig. 2, the obstacle crossing and sweeping robot 10 provided by the present invention includes a sweeper body 11 and a driving part 12, wherein the driving part 12 has a wheel assembly 121 and a foot assembly 122, the wheel assembly 121 and the foot assembly 122 are respectively and fixedly connected to the bottom of the sweeper body 11, and the wheel assembly 121 and the foot assembly 122 alternatively drive the sweeper body 11, that is, when the obstacle crossing and sweeping robot 10 operates on a flat ground, the wheel assembly 121 drives the sweeper body 11 to operate, and when the obstacle crossing and sweeping robot 10 needs to wade in water, climb stairs and other complex ground operations, the foot assembly 122 drives the sweeper body 11 to operate, so as to perform gait motion displacement, and thus can span obstacles with a larger length, and also wade in water, walk, climb stairs and the like. Compared with the prior art, the obstacle-crossing sweeping robot 10 has two walking modes, one mode is that the roller drives the sweeper body 11 to move, the other mode is that the gait walking drives the sweeper body 11 to move, and when one drives the sweeper body 11 to move, the other mode is in a stop state, so that the two modes can run independently. Due to the arrangement, the performance of the obstacle-crossing floor-sweeping robot 10 is improved, and the application ground scene of the obstacle-crossing floor-sweeping robot 10 is effectively enlarged.
As shown in fig. 3, the wheel assembly 121 includes a wheel driving motor 1211 and a rotary wheel 1212, the wheel driving motor 1211 is mounted on the sweeper body 11, the rotary wheel 1212 is connected to an output shaft of the wheel driving motor 1211, and the wheel driving motor 1211 drives the rotary wheel 1212 to rotate. As shown in fig. 1, a receiving groove 111 is formed at the bottom of the sweeper body 11, and the wheel assembly 121 is mounted in the receiving groove 111 and extends out of the opening of the receiving groove 111; that is, the wheel driving motor 1211 of the wheel assembly 121 is fixed inside the receiving groove 111, and the wheel surface of the rolling wheel extends out of the notch of the receiving groove 111, so that the sweeper body 11 can be supported on the ground, and the wheel driving motor 1211 is driven to rotate to drive the sweeper body 11 to move.
Further, the obstacle-crossing sweeping robot 10 is provided with four sets of wheel assemblies 121, and the four sets of wheel assemblies 121 are uniformly distributed with the center of the sweeping machine body 11 as a symmetrical center. So set up, can provide even holding power for the quick-witted body 11 of sweeping the floor, ensure the steady motion of quick-witted body 11 of sweeping the floor.
As shown in fig. 4, the foot assembly 122 includes a first foot drive motor 1221, a second foot drive motor 1224, a first leg 1222, and a second leg 1223. The first foot type driving motor 1221 is installed on the sweeper body 11, and can also be connected with the wheel type driving motor 1211 of the wheel type assembly 121, one end of the first leg 1222 is connected to the output shaft of the first foot type driving motor 1221, the other end is connected to the output shaft of the second foot type driving motor 1224, and the driving end of the second leg 1223 is connected to the output shaft of the second foot type driving motor 1224. So set up, first sufficient driving motor 1221 drives first landing leg 1222 and rotates, first landing leg 1222 drives second sufficient driving motor 1224 and rotates to drive second landing leg 1223 and rotate, that is to say, first landing leg 1222 can swing quick-witted body 11 relatively sweeping the floor under the output shaft drive of first sufficient driving motor 1221, and then makes the output shaft of the second driving motor that the other end is connected rotate, in order to drive second landing leg 1223 and swing quick-witted body 11 relatively sweeping the floor. The first leg 1222 and the second leg 1223 swing to create a gait motion displacement.
Further, the obstacle-crossing sweeping robot 10 is provided with four sets of foot-type assemblies 122, and the four sets of foot-type assemblies 122 are uniformly distributed with the center of the sweeping machine body 11 as a symmetrical center.
As shown in fig. 1 and 5, when the obstacle-crossing sweeping robot 10 works on a flat ground, the first leg 1222 and the second leg 1223 of the foot assembly 122 are folded under the control system of the obstacle-crossing sweeping robot 10 and retracted into the receiving groove 111. When the obstacle-crossing and floor-sweeping robot 10 encounters a large obstacle or is trapped by the rolling wheels, the walking mode of the foot type assembly 122 is needed to realize obstacle crossing or trap, at the moment, the control system of the obstacle-crossing and floor-sweeping robot 10 controls the first foot type driving motor 1221 and the second foot type driving motor 1224 in the foot type assembly 122 to rotate, the first foot type driving motor 1221 drives the first supporting leg 1222 to rotate and generate gait swing, so that the second supporting leg 1223 is driven to rotate by the second foot type driving motor 1224 and generate gait swing, and therefore obstacle crossing is realized by the gait swing of the first supporting leg 1222 and the second supporting leg 1223.
The first foot type driving motor 1221 of the foot type assembly 122 is fixed in the receiving slot 111, and the first leg 1222, the second leg 1223 and the second foot type driving motor 1224 connecting the first leg 1222 and the second leg 1223 can be folded and retracted into the receiving slot 111, so as to avoid affecting the rotational walking of the rotating wheel 1212.
The sweeper body 11 is further provided with a sensor, for example, the sensor may include a laser radar, a camera, a hall sensor, etc., and the sensor feeds back information to the obstacle-crossing sweeping robot 10 to determine whether the obstacle-crossing sweeping robot 10 touches an obstacle or whether the rotating wheel 1212 is trapped, and if the control system receives the information, the foot type assembly 122 is driven to operate.
The following describes the process of the obstacle crossing robot 10 walking with the foot assembly 122 in conjunction with fig. 7 a-7 e.
As shown in fig. 7a, the four foot assemblies 122 are in the initial state after extending out of the receiving groove 111, first, the control system controls the first foot assembly 122a to perform gait swing, second, the control system controls the second foot assembly 122b to perform gait swing, and third, the control system controls the third foot assembly 122c to perform gait swing, at this time, the sweeper body 11 moves forward one step, the fourth foot assembly 122d performs gait swing, and finally, the fourth foot assembly 122d is dynamically recovered to the initial state from the gait swing. Thereby completing a complete walk.
Through the technical scheme, the obstacle-crossing and floor-sweeping robot 10 forms gait walking through the four groups of foot type assemblies 122, and the lengths of the first support leg 1222 and the second support leg 1223 can be set according to the height of a crossed obstacle, so that the applicable scene of the obstacle-crossing and floor-sweeping robot 10 is met.
Compared with the prior art, the obstacle-crossing sweeping robot 10 provided by the invention has two walking modes, wherein one walking mode is that the roller drives the sweeper body 11 to move, the other walking mode is that the walking mode drives the sweeper body 11 to move, and when one drives the sweeper body 11 to move, the other walking mode is in a stop state, so that the two walking modes run independently. Due to the arrangement, the performance of the obstacle-crossing floor-sweeping robot 10 is improved, and the application ground scene of the obstacle-crossing floor-sweeping robot 10 is effectively enlarged.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides an obstacle-surmounting robot of sweeping floor which characterized in that, obstacle-surmounting robot of sweeping floor includes:
a sweeper body;
the driving part is provided with a wheel type assembly and a foot type assembly, the wheel type assembly and the foot type assembly are respectively and fixedly connected to the bottom of the sweeper body, and the wheel type assembly and the foot type assembly are selected to drive the sweeper body.
2. The obstacle-surmounting sweeping robot of claim 1, wherein said wheel assembly comprises:
the wheel type driving motor is arranged on the sweeper body;
the rotating wheel is connected to an output shaft of the wheel type driving motor, and the wheel type driving motor drives the rotating wheel to rotate.
3. The obstacle-crossing and floor-sweeping robot according to claim 1 or 2, wherein four sets of wheel assemblies are arranged, and are uniformly distributed by taking the center of the sweeper body as a symmetrical center.
4. The obstacle-surmounting sweeping robot of claim 1, wherein said foot assembly comprises:
the first foot type driving motor is arranged on the sweeper body;
one end of the first supporting leg is connected to an output shaft of the first foot type driving motor;
a second leg;
the output shaft of the second foot type driving motor is connected with the other end of the first supporting leg and the driving end of the second supporting leg;
the first foot type driving motor drives the first leg to rotate, the first leg drives the second foot type driving motor to rotate so as to drive the second leg to rotate, and the first leg and the second leg swing to form gait movement displacement.
5. The obstacle-crossing floor-sweeping robot according to claim 1 or 4, wherein the obstacle-crossing floor-sweeping robot is provided with four groups of foot-type assemblies, and the four groups of foot-type assemblies are uniformly distributed by taking the center of the floor-sweeping machine body as a symmetrical center.
6. The obstacle crossing sweeping robot of claim 5 wherein said foot assembly corresponds to a position of said wheel assembly.
7. The obstacle-crossing floor-sweeping robot according to claim 1, wherein the floor-sweeping machine body is provided with a storage groove, and the foot type assembly can be accommodated in the storage groove.
8. An obstacle-surmounting and floor-sweeping robot according to claim 7, wherein the wheel assembly is mounted in the receiving groove and extends out of the notch of the receiving groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401248.1A CN111938507A (en) | 2019-05-15 | 2019-05-15 | Obstacle-crossing floor-sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401248.1A CN111938507A (en) | 2019-05-15 | 2019-05-15 | Obstacle-crossing floor-sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111938507A true CN111938507A (en) | 2020-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910401248.1A Pending CN111938507A (en) | 2019-05-15 | 2019-05-15 | Obstacle-crossing floor-sweeping robot |
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| Country | Link |
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| CN (1) | CN111938507A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112754358A (en) * | 2020-12-31 | 2021-05-07 | 科沃斯商用机器人有限公司 | Base system of self-moving equipment and self-moving equipment |
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| CN104773225A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Wheel-foot combined cleaning robot |
| CN106073640A (en) * | 2016-06-18 | 2016-11-09 | 上海大学 | Become the Household floor-sweeping machine device people of born of the same parents' principle |
| CN106892011A (en) * | 2017-04-18 | 2017-06-27 | 山东大学 | The walking combined mobile robot of crawler belt leg |
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2019
- 2019-05-15 CN CN201910401248.1A patent/CN111938507A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2695188Y (en) * | 2003-12-04 | 2005-04-27 | 北京航空航天大学 | Leg-wheel changed structure type detecting robot |
| CN101219683A (en) * | 2008-01-25 | 2008-07-16 | 清华大学 | Dual-purpose mobile robot of wheel and foot |
| US8370990B2 (en) * | 2010-09-16 | 2013-02-12 | National Kaohsiung First University Of Science | Structural improvement for robotic cleaner |
| CN104527835A (en) * | 2015-01-15 | 2015-04-22 | 天津智达机器人有限公司 | Robot capable of being switched between wheel mode and leg mode |
| CN104773225A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Wheel-foot combined cleaning robot |
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| CN112754358A (en) * | 2020-12-31 | 2021-05-07 | 科沃斯商用机器人有限公司 | Base system of self-moving equipment and self-moving equipment |
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| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201117 |
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| RJ01 | Rejection of invention patent application after publication |