CN202313115U - Universal wheel speed testing device for cleaning robot - Google Patents
Universal wheel speed testing device for cleaning robot Download PDFInfo
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- CN202313115U CN202313115U CN2011204733499U CN201120473349U CN202313115U CN 202313115 U CN202313115 U CN 202313115U CN 2011204733499 U CN2011204733499 U CN 2011204733499U CN 201120473349 U CN201120473349 U CN 201120473349U CN 202313115 U CN202313115 U CN 202313115U
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- universal wheel
- clean robot
- measuring device
- wheel speed
- speed measuring
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- 238000004140 cleaning Methods 0.000 title abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 7
- 230000006872 improvement Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 208000010877 cognitive disease Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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Abstract
The utility model discloses a universal wheel speed testing device for a cleaning robot. The universal wheel speed testing device comprises a universal wheel, a movable rod and a speed testing plate, wherein the movable rod is connected with the universal wheel through a connecting rod mechanism, and circularly moves in a reciprocating way along with the rotation of the universal wheel relative to the speed testing plate. Compared with the prior art, the universal wheel speed testing device has the advantages that: the rotation of the universal wheel can be converted accurately and reliably into the reciprocating circular movement of the movable rod which can be tested by using the testing plate by using the connection rod mechanism, so that the moving situation of cleaning robot can be more accurately monitored by using the speed testing plate, and the cleaning robot can be used for effectively and immediately identifying barriers and adopting avoiding measurements.
Description
Technical field
The utility model relates to a kind of clean robot, especially a kind of universal wheel speed measuring device of clean robot accurately and reliably.
Background technology
The floor cleaning of domestic environment always is dirty, a tired very cumbersome again job, and in rhythm of life more and more faster today, people bring into use clean robot to carry out floor cleaning in order to obtain a clean comfort living time saving and energy savingly.
Clean robot is a kind of household electrical appliances that do not need people to take action on one's own to accomplish automatically floor cleaning; It can discern barrier and avoiding obstacles effectively in the room automatically; Yet the huge difference with other room layout has not proposed very high requirement to the barrier recognition capability of clean robot.At present; The obstacle sensor that clean robot is on the market installed all also can't be accomplished the omnidirectional Recognition to barrier; When meeting sense blind area such as pit; Clean robot just may be stuck because of can't accurately discerning, and its inner controller is not received that the barrier induced signal can not made yet and dodged instruction, thereby causes cleaning to proceed.
In order to address this problem; The Chinese patent bulletin has provided a kind of universal wheel speed measuring device CN201932254 number; It confirms the situation of movement of clean robot through the motion state of surveying universal wheel; Concrete scheme is: through with the cam of universal wheel engagement the circular motion of universal wheel being converted into moving up and down of motion bar, utilize the situation that moves up and down of sniffer detected activity bar again, thereby the situation of movement of clean robot is judged.But; Prolongation along with service time; The tooth of universal wheel and cam can skid because of wearing and tearing relatively, and motion bar also can be difficult in time reset because of the spring between itself and the sniffer is aging, and this all will cause the rolling situation that motion bar can't the accurate response universal wheel; Cause the erroneous judgement of sniffer, the universal wheel speed measuring device is ineffective.
In view of this, necessary a kind of universal wheel of clean robot accurately and reliably speed measuring device is provided.
Summary of the invention
The purpose of the utility model is: overcome defective of the prior art, a kind of universal wheel speed measuring device of clean robot accurately and reliably is provided.
To achieve these goals; The utility model provides a kind of universal wheel speed measuring device of clean robot; It comprises universal wheel, motion bar and velocity measurement plate, and motion bar is connected with universal wheel through linkage, and relative velocity measurement plate is done the reciprocation cycle motion with the rotation of universal wheel.
A kind of improvement as the universal wheel speed measuring device of the utility model clean robot; Said linkage comprises movable rod and movable rotation-shaft; Universal wheel is provided with the biasing post that does not line up with its axle center; One end of movable rod is connected in universal wheel pivotly through biasing post, and the other end is connected in motion bar pivotly through movable rotation-shaft.
A kind of improvement as the universal wheel speed measuring device of the utility model clean robot; The bilateral symmetry of said universal wheel is provided with two biasing posts; The lower end of motion bar is provided with the axisymmetric cross bar in two ends, and linkage is two covers, is connected between the end of biasing post and cross bar.
As a kind of improvement of the universal wheel speed measuring device of the utility model clean robot, the rolling surface of said universal wheel is coated with the flexible glue that increases with ground friction.
A kind of improvement as the universal wheel speed measuring device of the utility model clean robot; Said velocity measurement plate is provided with infrared emission head and infrared receiving terminal; The space between infrared emission head and the infrared receiving terminal is aimed in the upper end of motion bar, and does the reciprocation cycle motion of inserting and withdraw from the space with the rotation of universal wheel.
A kind of improvement as the universal wheel speed measuring device of the utility model clean robot; Also comprise the universal wheel housing; Universal wheel is installed in the universal wheel housing pivotly; Linkage is contained in the universal wheel housing, and the top of universal wheel housing forms fairlead, and the upper end of motion bar passes from fairlead.
Compared with prior art; The linkage that the utility model uses can be more accurately and reliably be converted into the motion bar reciprocation cycle motion that velocity measurement plate can be surveyed with the rotation of universal wheel; Therefore velocity measurement plate can be monitored the situation of movement of clean robot more accurately, guarantees clean robot cognitive disorders thing and to take the measure of dodging more timely and effectively.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment, the universal wheel speed measuring device and the useful technique effect thereof of the utility model clean robot is elaborated.
Fig. 1 is the decomposing schematic representation of the universal wheel speed measuring device of the utility model clean robot.
Fig. 2 and Fig. 3 are the structural representation of different user modes of the universal wheel speed measuring device of the utility model clean robot.
Fig. 4 is the schematic rear view of the clean robot of the universal wheel speed measuring device of use the utility model clean robot.
The specific embodiment
More clear for the goal of the invention, technical scheme and the useful technique effect that make the utility model, below in conjunction with the accompanying drawing and the specific embodiment, the utility model is elaborated.Should be understood that the specific embodiment of describing in this specification only is in order to explain the utility model, is not in order to limit the utility model.
See also Fig. 1 to shown in Figure 3, the universal wheel speed measuring device of the utility model clean robot comprises universal wheel component and velocity measurement plate 10, and universal wheel component comprises universal wheel 20, passes through motion bar 30 and universal wheel housing that linkage is connected with universal wheel 20.
The bilateral symmetry of universal wheel 20 is provided with two biasing posts 22, and the axle center of biasing post 22 and universal wheel 20 does not line up but to have certain height poor, therefore can move in a circle around its axle center with the rotation of universal wheel 20.
The lower end of motion bar 30 is the axisymmetric cross bars 32 in two ends, and the end of cross bar 32 offers connecting hole.
Linkage is two covers; Every cover linkage all comprises a movable rod 40 and a movable rotation-shaft 42; The two ends of each movable rod 40 all offer connecting hole respectively; One end of movable rod 40 is connected in universal wheel 20 pivotly through biasing post 22, and the other end is connected in motion bar 30 pivotly through movable rotation-shaft 42.
The universal wheel housing comprises the upper casing 50 and lower casing 52 that is fastened and connected, and upper casing 50 tops form fairlead 500, and the upper end 34 of motion bar 30 passes from fairlead 500.Universal wheel 20 is installed between upper casing 50 and the lower casing 52 pivotly, and the rolling surface of universal wheel 20 stretches out from the opening that lower casing 52 bottoms are offered.The universal wheel housing is fixed in the bottom surface front end (as shown in Figure 4) of clean robot through fairlead 500.
To infrared receiving terminal 14 emission infrared rays, infrared ray passes 16 backs, space and is received by infrared receiving terminal 14 incessantly for cleaning machine man-hour, the infrared emission head 12 of velocity measurement plate 10.Clean robot is along with the barrel shift of two trailing wheels 60; Universal wheel 20 is as driven pulley; Roll along with moving of clean robot: because biasing post 22 is unjustified with the axle center of universal wheel 20; Therefore can move in a circle around its axle center with the rotation of universal wheel 20; And then drive motion bar 30 circulation of going up and down through linkage, the upper end 34 of motion bar 30 will the time and the space 16 of inserting velocity measurement plate 10 makes infrared ray can't pass through (as shown in Figure 3), the time and withdraw from space 16 and make infrared ray continue to pass through (as shown in Figure 2).That is to say that as long as the rolling of universal wheel 20 does not stop, the infrared ray that infrared receiving terminal 14 receives is state off and on.When clean robot runs into any type of barrier and when stopping to move; Universal wheel 20 will stop to roll; Motion bar 30 also is still in and blocks/do not block ultrared a certain position, therefore in certain hour (setting as required) as 10 seconds; Infrared receiving terminal 14 can be in always and not receive or receive ultrared state; The controller of clean robot will judge in view of the above that clean robot has run into obstacle, and then send diversion order and avoiding obstacles to two trailing wheels 60, thereby has effectively guaranteed clean robot recognition capability to barrier in the process of walking and work.
When clean robot moves, occur sliding and cause erroneous judgement for fear of universal wheel 20, guarantee that the rolling surface of universal wheel 20 has certain frictional force, as at the rolling surface covered by soft gum, or its rolling surface made lines etc.
Compared with prior art; The linkage that the utility model uses can be more accurately and reliably be converted into the reciprocation cycle motion of the motion bar 30 that velocity measurement plate 10 can survey with the rotation of universal wheel 20; Therefore velocity measurement plate 10 can be monitored the situation of movement of clean robot more accurately, guarantees clean robot cognitive disorders thing and to take the measure of dodging more timely and effectively.
According to the announcement and the instruction of above-mentioned specification, the utility model those skilled in the art can also carry out suitable change and modification to above-mentioned embodiment.Therefore, the specific embodiment that discloses and describe above the utility model is not limited to is in the protection domain of the claim that also should fall into the utility model to some modifications and the change of the utility model.In addition, although used some specific terms in this specification, these terms are explanation for ease just, the utility model is not constituted any restriction.
Claims (6)
1. the universal wheel speed measuring device of a clean robot comprises universal wheel, motion bar and velocity measurement plate, it is characterized in that: said motion bar is connected with universal wheel through linkage, and relative velocity measurement plate is done the reciprocation cycle motion with the rotation of universal wheel.
2. the universal wheel speed measuring device of clean robot according to claim 1; It is characterized in that: said linkage comprises movable rod and movable rotation-shaft; Universal wheel is provided with the biasing post that does not line up with its axle center; One end of movable rod is connected in universal wheel pivotly through biasing post, and the other end is connected in motion bar pivotly through movable rotation-shaft.
3. the universal wheel speed measuring device of clean robot according to claim 1; It is characterized in that: the bilateral symmetry of said universal wheel is provided with two biasing posts; The lower end of motion bar is provided with the axisymmetric cross bar in two ends, and linkage is two covers, is connected between the end of biasing post and cross bar.
4. according to the universal wheel speed measuring device of each described clean robot in the claim 1 to 3, it is characterized in that: the rolling surface of said universal wheel is coated with the flexible glue that increases with ground friction.
5. according to the universal wheel speed measuring device of each described clean robot in the claim 1 to 3; It is characterized in that: said velocity measurement plate is provided with infrared emission head and infrared receiving terminal; The space between infrared emission head and the infrared receiving terminal is aimed in the upper end of motion bar, and does the reciprocation cycle motion of inserting and withdraw from the space with the rotation of universal wheel.
6. according to the universal wheel speed measuring device of each described clean robot in the claim 1 to 3; It is characterized in that: also comprise the universal wheel housing; Universal wheel is installed in the universal wheel housing pivotly; Linkage is contained in the universal wheel housing, and the top of universal wheel housing forms fairlead, and the upper end of motion bar passes from fairlead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204733499U CN202313115U (en) | 2011-11-24 | 2011-11-24 | Universal wheel speed testing device for cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204733499U CN202313115U (en) | 2011-11-24 | 2011-11-24 | Universal wheel speed testing device for cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202313115U true CN202313115U (en) | 2012-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204733499U Expired - Fee Related CN202313115U (en) | 2011-11-24 | 2011-11-24 | Universal wheel speed testing device for cleaning robot |
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| CN (1) | CN202313115U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860108A (en) * | 2012-12-12 | 2014-06-18 | 金宝电子工业股份有限公司 | Motion device and self-propelled cleaner with same |
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
| WO2022237270A1 (en) * | 2021-05-10 | 2022-11-17 | 江苏美的清洁电器股份有限公司 | Floor brush assembly for vacuum cleaner, and vacuum cleaner |
-
2011
- 2011-11-24 CN CN2011204733499U patent/CN202313115U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103860108A (en) * | 2012-12-12 | 2014-06-18 | 金宝电子工业股份有限公司 | Motion device and self-propelled cleaner with same |
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
| WO2022237270A1 (en) * | 2021-05-10 | 2022-11-17 | 江苏美的清洁电器股份有限公司 | Floor brush assembly for vacuum cleaner, and vacuum cleaner |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: GUANGZHOU DKN ELECTRONIC TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: CHEN ZHENGANG Effective date: 20150701 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150701 Address after: Xiahe road Jianggao District Private Baiyun District of Guangzhou City, Guangdong Province, No. 6 510450 Patentee after: Guangzhou Dijia Electronic Technology Co. Ltd. Address before: Baiyun District of Guangzhou City, Guangdong province 510450 Xiahe Road No. 6 Guangzhou South China Special Motor Factory Patentee before: Chen Zhengang |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120711 Termination date: 20171124 |