CN204260679U - A kind of robot for cleaning floor - Google Patents
A kind of robot for cleaning floor Download PDFInfo
- Publication number
- CN204260679U CN204260679U CN201420698803.4U CN201420698803U CN204260679U CN 204260679 U CN204260679 U CN 204260679U CN 201420698803 U CN201420698803 U CN 201420698803U CN 204260679 U CN204260679 U CN 204260679U
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- Prior art keywords
- installing plate
- robot
- wheel
- encapsulating housing
- robot body
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Abstract
The utility model relates to a kind of robot for cleaning floor, comprise robot body, robot body has a bottom, bottom is provided with at least two wheel structure module, each wheel structure module comprises installing plate, encapsulating housing, motor, train of reduction gears, wheel, encapsulating housing is by first of mutual split, 2 half housings are formed, first of mutual split, 2 half housings form the first reception room and the second reception room, motor is accommodated in the first reception room, train of reduction gears is accommodated in the second reception room, the output shaft of motor is in transmission connection by train of reduction gears mutually with wheel, installing plate has an outside wall surface and an internal face, installing plate and encapsulating housing are rotated by rotating shaft and are connected, a spring is provided with between the internal face of installing plate and the outside wall surface of encapsulating housing.This wheel structure module can not only realize the oscilaltion of wheel to adapt to uneven ground, and wheel structure module structure is simple, and dismounting is all convenient with maintenance, and manufacturing cost and maintenance cost are all lower.
Description
Technical field
The utility model relates to a kind of robot for cleaning floor.
Background technology
Robot for cleaning floor has another name called sweeper, it can be clean by reservation timing, the work of the cleannes in effective maintenance man make you originally every day becomes weekly, its progressively accept by increasing people, become the requisite clean helper of each family.
Common robot for cleaning floor is generally made up of dust extractor, driver module, cleaning module.Driver module generally comprises a pair by motor-driven movable pulley.These movable pulleys are when designing for the ease of follow-up installation and maintenance, and wheel is all assembled in bottom robot body with wheel structure module structure.
Disclose the wheel assembly of a kind of mobile robot in Chinese patent 201280033820.X, being provided with in this robot can relative to the wheel assembly of robot body's lifting.This wheel assembly is as shown in description in this section of patent and accompanying drawing, wheel assembly comprises gear-box, the driven wheel that its inner accommodation is driven by drive motor and the driven gear by described driving gear drives, configure centered by the turning cylinder that can arrange by its side, relative to robot body forwards and rear rotate, and there is the first fixed part; Wheel, it is incorporated into the rotating shaft of described driven gear, with described driven gear integral-rotation, and rises relative to described robot body when described gear-box rotates or declines; And pull component, described first fixed part is fixed in its one end, the other end is fixed on the second fixed part that position is fixed relative to described robot body, and pull described first fixed part to described second fixed part direction, rotate to the described direction declined relative to described robot body of taking turns to make described gear-box.
Although above-mentioned wheel assembly can realize the lifting of left and right wheels to adapt to uneven ground, at that time due to its complex structure, manufacture and assembly cost all very high.
Utility model content
For the technical deficiency of above-mentioned existence, the purpose of this utility model is to provide that a kind of wheel structure module structure is simple, the robot for cleaning floor of low cost of manufacture.
To achieve these goals, the utility model adopts following technical scheme: a kind of robot for cleaning floor, comprise robot body, described robot body has a bottom, described bottom is provided with at least two wheel structure module, wheel structure module described in each comprises the installing plate for fixing with the bottom of described robot body, encapsulating housing, motor, train of reduction gears, wheel, described encapsulating housing is made up of the first half housings of mutual split and the second half housings, described the first half housings and the second half housings are the housing of integrated injection molding, the first half housings of mutual split and the second half housings form the first reception room and the second reception room, described motor is accommodated in the first described reception room, described train of reduction gears is accommodated in the second described reception room, the output shaft of described motor is in transmission connection by described train of reduction gears mutually with described wheel, described installing plate has the outside wall surface internal face relative with outside wall surface with, described installing plate and described encapsulating housing are rotated by a rotating shaft and arrange, a spring is provided with between the internal face of described installing plate and the outside wall surface of described encapsulating housing.
In technique scheme, preferably, the internal face of described installing plate is provided with the first axle bed, the first described axle bed is provided with the first axis hole, the outside wall surface of described encapsulating housing is provided with the second axle bed, the second described axle bed is provided with the second axis hole, described rotating shaft through described the first axis hole with the second axis hole.
In technique scheme, preferably, the first described axle bed and described installing plate integrated injection molding.
In technique scheme, preferably, the second described axle bed and described encapsulating housing integrated injection molding.
In technique scheme, preferably, described spring is torsion spring or extension spring or stage clip.
In technique scheme, preferably, described installing plate is flat.
In technique scheme, preferably, the bottom of described robot body has a base plate, described base plate is provided with pair of openings, wheel structure module described in a pair is arranged on described opening part, described encapsulating housing, motor, train of reduction gears and part wheel are positioned at the inside of described robot body, and the wheel described in part is through described opening, and described installing plate is filled in the oral area place of described opening.
To achieve the above object, the utility model adopts following technical scheme: this wheel structure module can not only realize the oscilaltion of wheel to adapt to uneven ground, and wheel structure module structure is simple, dismounting is all convenient with maintenance, and manufacturing cost and maintenance cost are all lower.
Accompanying drawing explanation
Accompanying drawing 1 is the robot body schematic perspective view (elevational schematic view) of embodiment one;
Accompanying drawing 2 is the schematic perspective view of the wheel structure module of embodiment one;
Accompanying drawing 3 is that the part of the wheel structure module of embodiment one disassembles schematic diagram;
Accompanying drawing 4 is the complete schematic diagram of disassembling of the wheel structure module of embodiment one;
Accompanying drawing 5 is the schematic side view of the spring of embodiment one robot body when being in compressive state;
Accompanying drawing 6 is the schematic perspective view of the spring of embodiment one wheel structure module when being in compressive state;
Accompanying drawing 7 is that the spring of embodiment one is in the schematic side view flicking state device on opportunity human body;
Accompanying drawing 8 is that the spring of embodiment one is in the schematic side view flicking state hour wheel submodule;
Accompanying drawing 9 is the schematic perspective view of the wheel structure module of embodiment two;
Accompanying drawing 10 is the schematic side view of the wheel structure module of embodiment three;
Wherein: 1, robot body; 10, side brush unit; 11, base plate; 12, suction port; 13, wheel structure module; 14, front truckle mould; 15, installing plate; 16, encapsulating housing; 17, motor; 18, wheel; 19, the first half housings; 20, the second half housings; 21, the first reception room; 22, the second reception room; 23, train of reduction gears; 24, outside wall surface; 25, internal face; 26, the first axle; 27, the first axis hole; 28, the second axle bed; 29, the second axis hole; 30, rotating shaft; 31, spring; 32, opening.
Detailed description of the invention
Below in conjunction with embodiment shown in the drawings, the utility model is described in detail below:
embodiment one:
Robot for cleaning floor is a kind of clean robot for floor suction, it is not when needing user to control in real time, advance in region to be cleaned simultaneously by sucking from the ground of cleaning area the device that impurity (such as, dust) comes automated cleaning region to be cleaned.
Robot for cleaning floor as shown in Figure 1, comprise robot body 1, the bottom of robot body 1 has a base plate 11, robot body 1 is provided with cleaning module, driver module, rechargeable battery cell (not shown) and control unit (not shown).
Cleaning module comprises the suction port 12 be arranged on base plate 11, for the clean close region of wall and an offside brush unit 10 of corner regions.Cleaning module also comprises the dust sucting motor and dust-collecting box that are arranged on robot body 1 inside, and dust sucting motor is drawn in the dust-collecting box of robot body 1 inside for making the dust being introduced in suction port.Base plate 11 is provided with pair of openings 32, driver module comprises and is arranged on one wheel pairs module 13 in opening 32 place of base plate 11 and a front truckle module 14.
As shown in Figure 2,3, 4, wheel structure module 13 comprises installing plate 15, encapsulating housing 16, motor 17, train of reduction gears 23, the wheel 18 for fixing with base plate 11.Encapsulating housing 16 is made up of the first half housings 19 of mutual split and the second half housings 20, the first half housings 19 and the second half housings 20 are the housing of integrated injection molding, the first half housings 19 after mutual split and the second half housing 20 inside form the first reception room 21 and the second reception room 22, motor 17 is accommodated in the first reception room 21, train of reduction gears 23 is accommodated in the second reception room 22, and the output shaft of motor 17 is in transmission connection by train of reduction gears 23 mutually with wheel 18.The first half housings 19 and the second half housings 20 are screwed in one overall.
Installing plate 15 is in flat, and it has an outside wall surface 24 internal face 25 relative with outside wall surface 24 with.The internal face 25 of installing plate 15 is provided with the first axle bed 26, first axle bed 26 and installing plate 15 integrated injection molding, first axle bed 26 is provided with the first axis hole 27, the outside wall surface of encapsulating housing 16 is provided with the second axle bed 28, second axle bed 28 and encapsulating housing 16 integrated injection molding, second axle bed 28 is provided with the second axis hole 29, rotating shaft 30 is through the first axis hole 27 and the second axis hole 29, installing plate 15 and encapsulating housing 16 are rotated by rotating shaft 30 and are connected, a spring 31 is provided with between the internal face 25 of installing plate 15 and the outside wall surface of encapsulating housing 16, in this example, spring 31 is a torsion spring, the main part of torsion spring is enclosed within rotating shaft 30, an end is against on the internal face of installation portion 15, another end is against in the outside wall surface of encapsulating housing 16.
When being installed to opening 32 place on base plate 11 when one wheel pairs module 13, utilize some screws that installing plate 15 is fixed on the bottom of robot body 1, after installation, encapsulating housing 16, motor 17, train of reduction gears 23 and part wheel 18 are positioned at the inside of robot body 1, part wheel 18 is through opening 32, and installing plate 15 is just in time filled in the oral area place of opening 32.
As shown in Figure 5,6, this is the situation of robot body 1 when smooth to be cleaned mobile, robot body 1 forces spring 31 to compress owing to itself there being gravity, spring 31 is in impaction state, robot body 1 reaches the chassis height of setting in this condition, and robot body 1 can movement stably on to be cleaned under the drive of wheel 18.As shown in Figure 7,8, this for robot body 1 run into rough to be cleaned mobile time situation, now spring 31 is in the state of flicking, spring 31 pushes up pinch roller 18 and sinks, wheel still keeps in touch with ground and keeps certain earth-grasping force under spring force, thus makes robot body 1 can cross bank on male and fomale(M&F).
embodiment two:
As shown in Figure 9, the difference of this embodiment and embodiment one is: what spring 31 ' adopted is stage clip structure, spring 31 ' is arranged between encapsulating housing 16 ' and installing plate 15 ', and an end of spring 31 ' is against in the outside wall surface of encapsulating housing 16 ', and the other end is against on installing plate 15 '.
embodiment three:
As shown in Figure 10, the difference of this embodiment and embodiment one is: spring 31 " what adopt is extension spring structure; spring 31 " be arranged on encapsulating housing 16 " and installing plate 15 " between, encapsulating housing 16 " on be provided with the first hook portion 33 ", installing plate 15 " on be provided with the second hook portion 34 ", spring 31 " end be hooked in the first hook portion 33 " outside wall surface on, the other end is against the second hook portion 34 " on.
Above-described embodiment, only for technical conceive of the present utility model and feature are described, its object is to person skilled in the art can be understood content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalences done according to the utility model spirit change or modify, and all should be encompassed within protection domain of the present utility model.
Claims (7)
1. a robot for cleaning floor, comprise robot body, described robot body has a bottom, described bottom is provided with at least two wheel structure module, wheel structure module described in each comprises the installing plate for fixing with the bottom of described robot body, encapsulating housing, motor, train of reduction gears, wheel, described encapsulating housing is made up of the first half housings of mutual split and the second half housings, described the first half housings and the second half housings are the housing of integrated injection molding, the first half housings of mutual split and the second half housings form the first reception room and the second reception room, described motor is accommodated in the first described reception room, described train of reduction gears is accommodated in the second described reception room, the output shaft of described motor is in transmission connection by described train of reduction gears mutually with described wheel, it is characterized in that: described installing plate has the outside wall surface internal face relative with outside wall surface with, described installing plate and described encapsulating housing are rotated by a rotating shaft and arrange, a spring is provided with between the internal face of described installing plate and the outside wall surface of described encapsulating housing.
2. robot for cleaning floor according to claim 1, it is characterized in that: the internal face of described installing plate is provided with the first axle bed, the first described axle bed is provided with the first axis hole, the outside wall surface of described encapsulating housing is provided with the second axle bed, the second described axle bed is provided with the second axis hole, described rotating shaft through described the first axis hole with the second axis hole.
3. robot for cleaning floor according to claim 2, is characterized in that: the first described axle bed and described installing plate integrated injection molding.
4. robot for cleaning floor according to claim 2, is characterized in that: the second described axle bed and described encapsulating housing integrated injection molding.
5. robot for cleaning floor according to claim 1, is characterized in that: described spring is torsion spring or extension spring or stage clip.
6. robot for cleaning floor according to claim 1, is characterized in that: described installing plate is flat.
7. robot for cleaning floor according to claim 1, it is characterized in that: the bottom of described robot body has a base plate, described base plate is provided with pair of openings, wheel structure module described in a pair is arranged on described opening part, described encapsulating housing, motor, train of reduction gears and part wheel are positioned at the inside of described robot body, wheel described in part is through described opening, and described installing plate is filled in the oral area place of described opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420698803.4U CN204260679U (en) | 2014-11-19 | 2014-11-19 | A kind of robot for cleaning floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420698803.4U CN204260679U (en) | 2014-11-19 | 2014-11-19 | A kind of robot for cleaning floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204260679U true CN204260679U (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420698803.4U Expired - Fee Related CN204260679U (en) | 2014-11-19 | 2014-11-19 | A kind of robot for cleaning floor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204260679U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN106580187A (en) * | 2015-10-16 | 2017-04-26 | 日立空调·家用电器株式会社 | Autonomous traveling type vacuum cleaner |
| CN106618392A (en) * | 2016-12-16 | 2017-05-10 | 云翊智能科技（东莞）有限公司 | Cleaning robot and cleaning robot system |
| CN107253205A (en) * | 2017-08-03 | 2017-10-17 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN108784537A (en) * | 2018-06-27 | 2018-11-13 | 杨扬 | The dust-collecting robot of adjustable chassis height and its method for establishing grating map |
| CN108784519A (en) * | 2018-06-27 | 2018-11-13 | 杨扬 | Walking dust catcher certainly with visual interface and its method for establishing grating map |
| WO2019041754A1 (en) * | 2017-09-01 | 2019-03-07 | 广东宝乐机器人股份有限公司 | Mobile mechanism and mobile robot having same, and mobile method |
| CN113490445A (en) * | 2018-12-28 | 2021-10-08 | 尚科宁家运营有限公司 | Wheel assembly for robot cleaner and robot cleaner having the same |
| CN114468875A (en) * | 2016-12-16 | 2022-05-13 | 云鲸智能科技（东莞）有限公司 | Cleaning robot and cleaning robot system |
| US11633079B2 (en) | 2016-12-16 | 2023-04-25 | Yunjing Intelligence Technology (Dongguan) Co., Ltd. | Base station and cleaning robot system |
-
2014
- 2014-11-19 CN CN201420698803.4U patent/CN204260679U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580187B (en) * | 2015-10-16 | 2019-03-29 | 日立空调·家用电器株式会社 | Autonomous traveling type dust catcher |
| CN106580187A (en) * | 2015-10-16 | 2017-04-26 | 日立空调·家用电器株式会社 | Autonomous traveling type vacuum cleaner |
| CN106364270A (en) * | 2016-09-14 | 2017-02-01 | 哈工大机器人集团上海有限公司 | Two-wheel differential motion robot chassis |
| CN114468875A (en) * | 2016-12-16 | 2022-05-13 | 云鲸智能科技（东莞）有限公司 | Cleaning robot and cleaning robot system |
| CN109662658A (en) * | 2016-12-16 | 2019-04-23 | 云鲸智能科技（东莞）有限公司 | A kind of clean robot |
| CN109662658B (en) * | 2016-12-16 | 2024-03-22 | 云鲸智能科技（东莞）有限公司 | Cleaning robot |
| US11812907B2 (en) | 2016-12-16 | 2023-11-14 | Yunjing Intelligence Technology (Dongguan) Co., Ltd. | Base station and cleaning robot system |
| CN106618392B (en) * | 2016-12-16 | 2019-02-26 | 云鲸智能科技（东莞）有限公司 | Clean robot and cleaning robot system |
| US11633079B2 (en) | 2016-12-16 | 2023-04-25 | Yunjing Intelligence Technology (Dongguan) Co., Ltd. | Base station and cleaning robot system |
| CN106618392A (en) * | 2016-12-16 | 2017-05-10 | 云翊智能科技（东莞）有限公司 | Cleaning robot and cleaning robot system |
| WO2018108144A1 (en) * | 2016-12-16 | 2018-06-21 | 云翊智能科技（东莞）有限公司 | Cleaning robot and cleaning robot system |
| CN107253205A (en) * | 2017-08-03 | 2017-10-17 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN107253205B (en) * | 2017-08-03 | 2023-06-20 | 深圳银星智能集团股份有限公司 | Mobile robot |
| US11376908B2 (en) | 2017-09-01 | 2022-07-05 | Guangzhou Coayu Robot Co., Ltd. | Mobile mechanism and mobile robot having same, and mobile method |
| WO2019041754A1 (en) * | 2017-09-01 | 2019-03-07 | 广东宝乐机器人股份有限公司 | Mobile mechanism and mobile robot having same, and mobile method |
| CN108784519A (en) * | 2018-06-27 | 2018-11-13 | 杨扬 | Walking dust catcher certainly with visual interface and its method for establishing grating map |
| CN108784537A (en) * | 2018-06-27 | 2018-11-13 | 杨扬 | The dust-collecting robot of adjustable chassis height and its method for establishing grating map |
| CN113490445A (en) * | 2018-12-28 | 2021-10-08 | 尚科宁家运营有限公司 | Wheel assembly for robot cleaner and robot cleaner having the same |
| US11596286B2 (en) | 2018-12-28 | 2023-03-07 | Sharkninja Operating Llc | Wheel assembly for robotic cleaner and robotic cleaner having the same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: DONGGUAN DIQI INTELLIGENCE CO., LTD. Free format text: FORMER NAME: DONGGUAN WANJIN ELECTRONIC TECHNOLOGY CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: 523936 Guangdong Province, Dongguan city Humen town Shajiao community Taicheng Road West No. 1 Patentee after: Strange intelligent limited company is formed in Dongguan Address before: 523936 Guangdong Province, Dongguan city Humen town Taicheng Road, Shajiao community building Patentee before: Dongguan Wanjin Electronic Technology Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20201119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |