CN210697513U

CN210697513U - Traveling device and cleaning robot

Info

Publication number: CN210697513U
Application number: CN201920962761.3U
Authority: CN
Inventors: 刘建平
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-06-09
Anticipated expiration: 2029-06-25

Abstract

The utility model relates to a running gear and cleaning machines people, running gear include the walking driver, connect the transmission assembly and the connection of walking driver transmission assembly's omniwheel, the omniwheel include main round and movable mounting in the first pair wheelset and the vice wheelset of second of week portion of main round, first pair wheelset sets up with the vice wheelset interval of second, the direction of rotation of first pair wheelset and the vice wheelset of second with the direction of rotation of main round is different, the walking driver is used for passing through the transmission assembly drive the main round is rotatory and then drive the omniwheel is followed the direction of rotation motion of main round. The utility model discloses running gear can switch a plurality of directions, and does not occupy the switching space, and the walking is unobstructed, is applicable to the telecontrol equipment that needs transverse motion and turn to at narrow corner like cleaning machines people etc..

Description

Traveling device and cleaning robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to running gear and cleaning machines people.

Background

The cleaning robot is a special robot for human service, and is mainly used for cleaning in family hygiene and the like. The ground cleaning robot can clean dust on the flat ground, but the steps of the building stairs are clean, and the traditional cleaning robot is difficult to move transversely on the steps and turn at the corners of narrow stairways, so that the cleaning effect of the cleaning robot at the stairs is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need to provide a walking device, which can realize the switching of multiple moving directions, and the main wheel does not need to rotate the moving direction during the switching process, and can move transversely and turn at the corner of a narrow space.

The utility model provides a walking device, including the walking driver, connect the transmission assembly of walking driver and connect transmission assembly's omniwheel, the omniwheel includes main wheel and movable mounting in first auxiliary wheel group and the second auxiliary wheel group of week portion of main wheel, first auxiliary wheel group sets up with the interval of the second auxiliary wheel group, the direction of rotation of first auxiliary wheel group and the second auxiliary wheel group is different with the direction of rotation of main wheel, the walking driver is used for driving the main wheel rotation through transmission assembly and then drives the omniwheel along the direction of rotation motion of main wheel.

When the walking device walks, the walking driver drives the transmission assembly to further drive the main wheel to rotate, and the first auxiliary wheel set and the second auxiliary wheel set are driven parts and are driven to walk by the motion assembly of the motion equipment after being applied to the motion equipment such as a robot; the rotation direction of the main wheel is different from that of the first auxiliary wheel set and the second auxiliary wheel set, so that the omnidirectional wheel can move towards multiple directions, and when the main wheel rotates, the first auxiliary wheel set and the second auxiliary wheel set do not rotate and move towards the rotation direction of the main wheel; when the first auxiliary wheel set and the second auxiliary wheel set rotate, the main wheel does not rotate and moves towards the rotating direction of the first auxiliary wheel set and the second auxiliary wheel set, the switching of a plurality of movement directions can be realized without the twisting direction of the omnidirectional wheel, and the space occupied by equipment for rotating and switching the movement directions is reduced, so that the walking device of the utility model can steer at the narrow space corner; for example, assuming that the moving direction of the main wheel is horizontal, the moving direction of the first and second auxiliary wheel sets is other directions different from the horizontal direction, the bottommost portions of the first and second auxiliary wheel sets abut against the ground, the walking driver is started, the main wheel is driven to rotate through the transmission assembly, the first and second auxiliary wheel sets perform circular motion with the axis of the main wheel as the center of a circle along with the rotation of the main wheel, and then the omnidirectional wheel moves horizontally, when the moving direction is switched, the main wheel stops rotating, the first and second auxiliary wheel sets abutting against the ground rotate and drive the main wheel to move, and then the omnidirectional wheel moves towards the rotating direction of the first and second auxiliary wheel sets; the utility model discloses running gear can switch a plurality of directions, and does not occupy the switching space, and the walking is unobstructed, is applicable to the sports equipment that needs transverse motion and turn to at narrow corner like cleaning machines people etc..

In one embodiment, the first auxiliary wheel set comprises a plurality of first auxiliary wheels arranged at intervals, and the first auxiliary wheels are movably arranged on the periphery of the main wheel; the second auxiliary wheel set comprises a plurality of second auxiliary wheels which are arranged at intervals, and the second auxiliary wheels are movably arranged on the periphery of the main wheel; the first auxiliary wheel and the second auxiliary wheel are driven wheels, and the rotating directions of the first auxiliary wheel and the second auxiliary wheel are different from the rotating direction of the main wheel.

In one embodiment, the periphery of the main wheel is provided with a plurality of movable grooves, each movable groove is internally provided with a secondary wheel rotating shaft, each first secondary wheel is arranged in one movable groove through the secondary wheel rotating shaft, and each second secondary wheel is arranged in one movable groove through the secondary wheel rotating shaft.

In one embodiment, the transmission assembly comprises two traveling synchronous wheels, a traveling synchronous belt and a transmission shaft, the traveling synchronous belt is connected with the two traveling synchronous wheels, one traveling synchronous wheel is connected with the traveling driver, the other traveling synchronous wheel is connected with the transmission shaft, and the transmission shaft is connected with the main wheel.

The utility model also provides a cleaning robot, include:

the running gear of any one of the above;

the walking device is arranged on the chassis;

the climbing device is arranged on the chassis; and

and the cleaning device is arranged on the chassis.

In one embodiment, the chassis comprises a base plate, the walking device is arranged on the base plate, and the omnidirectional wheels are positioned below the base plate; the climbing device comprises a first supporting leg and a second supporting leg, the first supporting leg and the second supporting leg are installed on the chassis and are arranged in a front-back mode, and the first supporting leg and the second supporting leg can move or climb relative to the ground.

In one embodiment, the first leg comprises a first lifting assembly, a first connecting plate and a first moving assembly, the first lifting assembly is mounted on the base plate, and the part, far away from the base plate, of the first lifting assembly is connected with the first connecting plate; the second supporting leg comprises a second lifting assembly, a second connecting plate and a second moving assembly, the second lifting assembly is arranged on the base plate, and the part, far away from the base plate, of the second lifting assembly is connected with the second connecting plate; the first lifting assembly is used for driving the first support leg to climb relative to the ground, and the first moving assembly is used for driving the first support leg to move relative to the ground; the second lifting assembly is used for driving the second supporting leg to climb relative to the ground, and the second motion assembly is used for driving the second supporting leg to move relative to the ground; the first lifting assembly and the second lifting assembly can lift the chassis relative to the ground.

In one embodiment, the first support leg further comprises a first guide assembly, the first guide assembly is mounted on the chassis, and two sides of the first guide assembly are respectively connected with the first moving assembly and the first connecting plate; the second supporting leg further comprises a second guide assembly, the second guide assembly is installed on the chassis, and two sides of the second guide assembly are respectively connected with the second moving assembly and the second connecting plate.

In one embodiment, the number of running gears is at least two.

In one embodiment, the chassis comprises a base plate and a plurality of universal wheels mounted at the bottom of the base plate.

Drawings

FIG. 1 is a schematic view of a cleaning robot according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a first leg of the cleaning robot of FIG. 1;

FIG. 3 is a schematic view of a second leg of the cleaning robot of FIG. 1;

FIG. 4 is a schematic view of a chassis and a traveling device in the cleaning robot of FIG. 1;

FIG. 5 is a schematic view of the walking device of FIG. 4;

FIG. 6 is an exploded view of the universal wheel of the walking device of FIG. 5;

FIG. 7 is a schematic view of a sweeping device in the cleaning robot of FIG. 1;

fig. 8-16 are schematic views of climbing and walking of the cleaning robot of fig. 1.

Description of reference numerals:

10-chassis, 11-base plate, 12-universal wheel; 20-a climbing device; 30-a walking device, 31-a walking driver, 32-a transmission component, 324-a walking synchronous wheel, 325-a walking synchronous belt, 33-an omnidirectional wheel, 34-a main wheel, 35-a first auxiliary wheel, 36-a second auxiliary wheel, 37-a movable groove and 38-an auxiliary wheel rotating shaft; 40-cleaning device, 41-electric brush roller, 42-dust hood, 43-collecting box, 44-dust-collecting fan; 50-a first support leg, 51-a first lifting assembly, 512-a first stepping motor, 513-a first screw rod, 52-a first connecting plate, 55-a first moving assembly, 551-a first bearing seat, 552-a first servo motor, 553-a first moving synchronous wheel, 554-a first moving synchronous belt, 550-a first moving rotating shaft, 556-a first moving wheel, 56-a first guide assembly, 561-a first guide rod, 562-a first guide sleeve; 60-a second leg, 61-a second lifting assembly, 612-a second stepping motor, 613-a second screw rod, 62-a second connecting plate, 65-a second moving assembly, 651-a second bearing seat, 652-a second servo motor, 653-a second moving synchronous wheel, 654-a second moving synchronous belt, 655-a second moving rotating shaft, 656-a second moving wheel, 66-a second guide assembly, 661-a second guide rod, 662-a second guide sleeve; 70-a distance sensor; 100-cleaning robot.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully below. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 to 7, in order to implement the present invention, the cleaning robot 100 can climb the step, and smoothly walk on the step and turn at the corner of the narrow corridor, thereby saving the turning space of the cleaning robot 100 and improving the cleaning effect. The cleaning robot 100 includes a chassis 10, and a climbing device 20, a traveling device 30, and a sweeping device 40 mounted on the chassis 10.

As shown in fig. 1 and 4, the chassis 10 includes a base plate 11, and the climbing device 20, the traveling device 30, and the cleaning device 40 are mounted on the base plate 11.

In one embodiment, the chassis 10 further includes a plurality of universal wheels 12, and the plurality of universal wheels 12 are mounted at the bottom of the base plate 11 and respectively disposed at two sides of the base plate 11 for cooperating with the running gear 30.

Referring to fig. 2 and 3, the climbing device 20 includes a first leg 50 and a second leg 60, the first leg 50 and the second leg 60 are both mounted on the chassis 10 and are disposed in front and back directions, which are equivalent to two legs of the cleaning robot 100, the first leg 50 and the second leg 60 can move or climb relative to the ground, and the step climbing is realized by the cooperation of the first leg 50 and the second leg 60.

The walking method of the cleaning robot 100 includes the steps of:

assuming that the cleaning robot 100 is located at a first step and intends to climb to a second step, the first leg 50 and the second leg 60 raise the chassis 10 relative to the first step;

the bottom end of the first leg 50 is raised relative to the chassis 10;

the second leg 60 moves towards the second step to reach the preset position, and the first leg 50 is lapped on the second step;

the bottom end of the second leg 60 is raised relative to the chassis 10, the first leg 50 moves towards the required direction to reach the preset position, and the second leg 60 is arranged on the second step to complete climbing once.

In one embodiment, the first leg 50 includes a first lifting assembly 51, a first connecting plate 52 and a first moving assembly 55, the first lifting assembly 51 is mounted on the base plate 11, and a portion of the first lifting assembly 51 away from the base plate 11 is connected to the first connecting plate 52. The second leg 60 includes a second lifting assembly 61, a second connecting plate 62 and a second moving assembly 65, the second lifting assembly 61 is mounted on the base plate 11, and a portion of the second lifting assembly 61 away from the base plate 11 is connected to the second connecting plate 62. The first lifting assembly 51 is used for driving the first leg 50 to climb the ground surface, and the first moving assembly 55 is used for driving the first leg 50 to move relative to the ground surface. The second lifting assembly 61 is used for driving the second leg 60 to climb relative to the ground, and the second moving assembly 65 is used for driving the second leg 60 to move relative to the ground; the first and

second lift assemblies

51 and 61 are capable of raising the chassis 10 relative to the ground.

The first lifting assembly 51 and the second lifting assembly 61 can simultaneously drive the chassis 10 to ascend relative to the first connecting plate 52 and the second connecting plate 62, and the positions of the first connecting plate 52 and the second connecting plate 62 are unchanged, which is equivalent to driving the chassis 10 to ascend relative to the ground, so that the effect of elevating the chassis 10 is achieved, and the chassis 10 can ascend by one step; after the chassis 10 rises, first lifting unit 51 moves, improve first motion subassembly 55, lift up first landing leg 50 in other words, make first landing leg 50 can rise a step, cleaning robot 100 walks certain distance to the front, and drive second motion subassembly 65 walking, second lifting unit 61 moves, improve second motion subassembly 65, lift up second landing leg 60, second landing leg 60 also rises a step, cleaning robot 100 continues to walk to the front, accomplish the climbing of a step.

In one embodiment, the first lifting assembly 51 includes a first stepping motor 512 and a first lead screw 513, the first stepping motor 512 is mounted on the base plate 11, and two ends of the first lead screw 513 are respectively connected to the first moving assembly 55 and the first connecting plate 52. The first stepping motor 512 operates to lift or lower itself along the first lead screw 513, and when the first stepping motor rises, the chassis 10 is driven to lift, and when the first stepping motor falls, the first lead screw 513 moves in a direction away from the ground, so that the first moving assembly 55 is further improved. The second lifting assembly 61 includes a second stepping motor 612 and a second screw rod 613, the second stepping motor 612 is mounted on the base plate 11, and two ends of the second screw rod 613 are respectively connected to the second moving assembly 65 and the second connecting plate 62. The second stepping motor 612 operates to raise or lower itself along the second lead screw 613, and is simultaneously started with the first stepping motor 512 when raising, so as to raise the chassis 10 together, and moves the second lead screw 613 in a direction away from the ground when lowering, thereby raising the second moving assembly 65. The ascending and descending distances are more accurate, easy to control and easy to guide by the matching use of the stepping motor and the screw rod.

In one embodiment, a hollow shaft threaded sleeve structure is adopted at a connection part of the first stepping motor 512 and the first lead screw 513, and the first lead screw 513 moves up or down relative to the first stepping motor 512 by rotating a rotor of the first stepping motor 512 to drive the hollow shaft threaded sleeve to rotate. Similarly, the connection between the second stepping motor 612 and the second lead screw 613 adopts a hollow shaft threaded sleeve structure, so that the second lead screw 613 can move up or down relative to the second stepping motor 612.

In one embodiment, the first moving assembly 55 includes a first bearing base 551, a first servo motor 552, two first moving synchronization wheels 553, a first moving synchronization belt 554, a first moving rotation shaft 550 and a first moving wheel 556, an end of the first guide rod 53 away from the first connection plate 52 is connected to the first bearing base 551, the first servo motor 552 and the first moving rotation shaft are mounted on the first bearing base 551, the first moving synchronization belt 554 is connected to the two first moving synchronization wheels 553, wherein one first moving synchronization wheel 553 is connected to the first servo motor 552, the other first moving synchronization wheel 553 is connected to the first moving rotation shaft 550, and the first moving wheel 556 is connected to the first moving rotation shaft 550.

The second motion assembly 65 includes a second bearing seat 651, a second servo motor 652, two second motion synchronizing wheels 653, a second motion synchronizing belt 654, a second motion rotating shaft 650, and a second motion wheel 656, wherein one end of the second guide rod 63 away from the second connecting plate 62 is connected to the second bearing seat 651, the second servo motor 652 and the second motion rotating shaft 650 are mounted on the second bearing seat 651, the second motion synchronizing belt 654 is connected to the second motion synchronizing wheel 653, one of the second motion synchronizing wheels 653 is connected to the second servo motor 652, the other of the second motion synchronizing wheels 653 is connected to the second motion rotating shaft 650, and the second motion wheel 656 is connected to the second motion rotating shaft 650. In a preferred embodiment, the number of the first motion wheel 556 and the second motion wheel 656 is plural, and the first leg 50 and the second leg 60 stand more stably.

In one embodiment, the first leg 50 further comprises a first guiding assembly 56, the first guiding assembly 56 is mounted on the chassis 10, and two sides of the first guiding assembly 56 are respectively connected to the first moving assembly 55 and the first connecting plate 52.

In one embodiment, the first guiding assembly 56 includes a first guiding rod 561 and a first guiding sleeve 562 sleeved on the first guiding rod 561, and two ends of the first guiding rod 561 are respectively connected to the first lifting assembly 51 and the first moving assembly 55.

In one embodiment, the second leg 60 further comprises a second guiding assembly 66, the second guiding assembly 66 is mounted on the chassis 10, and two sides of the second guiding assembly 66 are respectively connected to the second moving assembly 65 and the second connecting plate 62. In one embodiment, the second guiding assembly 66 includes a second guiding rod 661 and a second guiding sleeve 662 sleeved on the second guiding rod 661, the second lifting assembly 61 and the second guiding sleeve 662 are mounted on the base plate 11, a portion of the second lifting assembly 61 away from the base plate 11 is connected to the second connecting plate 62, and two ends of the second guiding rod 661 are respectively connected to the second lifting assembly 61 and the second moving assembly 65.

When the chassis 10 is lifted, the first guide sleeve 562 lifts along the first guide rod 561 along with the chassis 10, the second guide sleeve 662 lifts along the second guide rod 661 along with the chassis 10, and the cooperation between the first guide sleeve 562 and the first guide rod 561, and between the second guide sleeve 662 and the second guide rod 661 mainly guides and supports the lifting of the chassis 10. The first and second guide bars 561 and 661 respectively allow the first and

second connection plates

52 and 62 to have a fixed height, determine the movement distance limit of the chassis 10, and thus approximately estimate the step height that the cleaning robot 100 can climb.

In one embodiment, the first leg 50 and the second leg 60 are disposed in a central symmetry, that is, the first lead screw 513 and the second lead screw 613 are respectively disposed on two sides of the chassis 10 along the distribution direction of the first leg 50 and the second leg 60, so that when the chassis 10 is raised, the chassis 10 is stressed in a balanced manner, and the problem of tilting is not caused.

As shown in fig. 4 and 5, the walking device 30 includes a walking driver 31, a transmission assembly 32 connected to the walking driver 31, and an omnidirectional wheel 33 connected to the transmission assembly 32, the omnidirectional wheel 33 includes a main wheel 34, and a first auxiliary wheel set and a second auxiliary wheel set movably mounted on the periphery of the main wheel 34, the rotation directions of the first auxiliary wheel set and the second auxiliary wheel set are different from the rotation direction of the main wheel 34, and the walking driver 31 is configured to drive the main wheel 34 to rotate through the transmission assembly 32, so as to drive the omnidirectional wheel 33 to move along the rotation direction of the main wheel 34.

The walking driver 31 drives the transmission assembly 32 to further drive the main wheel 34 to rotate, and the first auxiliary wheel set and the second auxiliary wheel set are driven parts and are driven to walk by the motion assembly of the motion equipment after being applied to the motion equipment such as a robot. Since the rotation direction of the main wheel 34 is different from the rotation direction of the first and second sub-wheel sets, the omni wheel 33 can move in a plurality of directions, and when the main wheel 34 rotates, the first and second sub-wheel sets do not rotate and move in the rotation direction of the main wheel. When first auxiliary wheel group and second auxiliary wheel group are rotatory, the main round 34 irrotation, toward the rotatory direction motion of first auxiliary wheel group and second auxiliary wheel group, need not omni wheel 33 and twist reverse the switching that the direction can realize a plurality of directions of motion, has subtracted the equipment and has turned round the required space that occupies of switching direction of motion, makes the utility model discloses a running gear can turn to in constrictive space corner. For example, if the moving direction of the main wheel 34 is horizontal, the moving direction of the first and second auxiliary wheel sets is different from other horizontal directions, the bottom of the first and second auxiliary wheel sets abuts against the ground, the walking driver 31 is started, the main wheel 34 is driven to rotate through the transmission component 32, the first and second auxiliary wheel sets perform circular motion with the axis of the main wheel 34 as the center along with the rotation of the main wheel 34, and then the omni wheel 33 moves horizontally, when the moving direction is switched, the main wheel 34 stops rotating, the first and second auxiliary wheel sets abutting against the ground rotate, and drive the main wheel 34 to move, and then the omni wheel 33 moves in the direction of the rotation of the first and second auxiliary wheel sets. The utility model discloses running gear 30 can switch a plurality of directions, and does not occupy the switching space, and the walking is unobstructed.

In one embodiment, the first auxiliary wheel set includes a plurality of first auxiliary wheels 35 arranged at intervals, the first auxiliary wheels 35 are movably mounted on the periphery of the main wheel 34, the first auxiliary wheels 35 have a first working surface, a part of the first working surface protrudes out of the main wheel 34, the main wheel 34 has a central rotation axis, all the first auxiliary wheels 35 protrude out of the first working surface of the main wheel 34 to form a first top circle, the central rotation axis of the first top circle coincides with the central rotation axis of the main wheel 34, and the rotation direction of the plurality of first auxiliary wheels 35 is different from the rotation direction of the main wheel 34.

In one embodiment, the second secondary wheel set includes a plurality of second secondary wheels 36 arranged at intervals, the second secondary wheels 36 are movably mounted on the periphery of the main wheel 34, the second secondary wheels 36 are arranged at intervals with the first secondary wheels 35, the second secondary wheels 36 have second working surfaces, a part of the second working surfaces protrudes out of the main wheel 34, all the second working surfaces of the part of the second secondary wheels 36 protruding out of the main wheel 34 form a second tip circle, the rotation central axis of the second tip circle coincides with the rotation central axis of the main wheel 34, and the rotation direction of the second secondary wheels 36 is different from the rotation direction of the main wheel 34.

The first sub-wheel 35 and the second sub-wheel 36 are driven wheels, and the rotation direction of the first sub-wheel 35 and the rotation direction of the second sub-wheel 36 are different from the rotation direction of the main wheel 34. Typically, the first and second

secondary wheels

35, 36 are rotated by the first and/or

second legs

50, 60, i.e. the movement of the first and/or

second legs

50, 60 drives the rotation of the first and second

secondary wheels

35, 36.

In one embodiment, the first and second auxiliary wheel sets are spaced apart from each other and parallel to each other, so that the moving directions of the first and second auxiliary wheels 351 and 352 at the bottom are parallel to each other, and the steering is smoother.

In one embodiment, the first and second

secondary wheels

35, 36 are drum-shaped structures, and the radius of curvature of the drum-shaped structure of the first secondary wheel 35 is equal to the radius of curvature of the drum-shaped structure of the second secondary wheel 36.

In one embodiment, the main wheel 34 has a plurality of movable slots 37 around its periphery, each movable slot 37 has a secondary wheel axle 38, each first secondary wheel 35 is mounted in one movable slot 37 via the secondary wheel axle 38, and each second secondary wheel 36 is mounted in one movable slot 37 via the secondary wheel axle 38.

In one embodiment, the transmission assembly 32 includes two traveling synchronization wheels 324, a traveling synchronization belt 325 and a transmission shaft, the traveling synchronization belt 325 is connected to the two traveling synchronization wheels 324, wherein one traveling synchronization wheel 324 is connected to the traveling driver 31, the other traveling synchronization wheel 324 is connected to the transmission shaft, and the transmission shaft is connected to the main wheel 34.

In one embodiment, one cleaning robot 100 includes at least two walking devices 30, and all the walking devices 30 are arranged in parallel.

As shown in fig. 1, cleaning device 40 is attached to substrate 11. Preferably, the number of the cleaning devices 40 is two or more, and the cleaning devices can clean simultaneously, thereby increasing the effective cleaning area and improving the working efficiency.

In one embodiment, as shown in fig. 6, the sweeping device 40 includes a motor-driven brush roller 41, a dust hood 42, a collecting box 43, and a dust suction fan 44, wherein the dust hood 42 is mounted on the base plate 11, the motor-driven brush roller 41 is mounted in the dust hood 42, the dust hood 42 is provided with a dust suction port, and the dust hood 42 is communicated with the dust suction fan 44 and the collecting box 43 through the dust suction port. The electric brush roller 41 sweeps the floor to raise or loosen the dust or other garbage items, and the dust suction fan 44 operates to generate a negative pressure to suck the dust or other garbage items into the collection box 43 through the dust suction port.

In one embodiment, the cleaning robot 100 further includes a distance sensor 70, the distance sensor 70 is mounted on the chassis 10, and the distance sensor 70 may be an ultrasonic sensor mainly used for sensing the distance of the cleaning robot 100 from an obstacle or a step to be cleaned to respond accordingly, such as turning or climbing the step.

The step of the cleaning robot 100 climbing the step is:

as shown in fig. 8 to 16, schematic diagrams of steps 1 to 9 are shown in sequence;

step 1: assuming that the cleaning robot 100 is at the first step and intends to climb to the second step, the first leg 50 is located close to the second step, and the second leg 60 is located far from the second step, the cleaning robot 100 is started;

step 2: the first lifting assembly 51 and the second lifting assembly 61 act, the first stepping motor 512 moves along the first lead screw 513 toward the first connecting plate 52, and the second stepping motor 612 moves along the second lead screw 613 toward the second connecting plate 62, and simultaneously lifts the chassis 10 to a height higher than that of the second step;

and step 3: the first servo motor 552 and/or the second servo motor 652 are/is started to drive the first motion wheel 556 and/or the second motion wheel 656 to move, so as to drive the cleaning robot 100 to move towards the direction close to the second step, the part of the chassis 10 close to the front position is lapped on the second step, the distance sensor 70 senses the distance between the first supporting leg 50 and the second step, and when the distance reaches a preset distance, the first servo motor 552 and/or the second servo motor 652 stops;

and 4, step 4: the first stepping motor 512 is operated to move the first lead screw 513 relative to the first stepping motor 512, so as to raise the first moving assembly 55, which is equivalent to raising the first leg 50;

and 5: the second moving assembly 65 moves to the direction of the second step, so that the first leg 50 is overlapped to the second step, most of the chassis 10 is positioned on the second step, the distance sensor 70 senses the distance between the second leg 60 and the second step, and when the distance reaches a preset distance, the second moving assembly 65 stops moving;

step 6: the second stepping motor 612 is operated to move the second lead screw 613 relative to the second stepping motor 612, so as to raise the second moving assembly 65, which is equivalent to raising the second leg 60;

and 7: the first moving assembly 55 moves to the forward direction, so that the second supporting leg 60 is lapped on a second step, and the cleaning robot 100 finishes climbing one step;

and 8: the walking driver 31 acts to make the omnidirectional wheel 33 move transversely along the second step and drive the universal wheel 12 of the chassis 10 to move transversely to clean the second step transversely;

and step 9: when the second step is swept transversely, the walking driver 31 is stopped when the second step is steered at the corner, the first moving assembly 55 and/or the second moving assembly 65 drives the omnidirectional wheel 33 to move towards the rotating direction of the first auxiliary wheel 35 and the second auxiliary wheel 36, the steering at the corner is finished, and when the steps are continuously climbed, the first supporting leg 50 is kept in front, and the climbing sequence of the second supporting leg 60 at the rear is kept.

Climbing of multiple steps may cycle the operations of steps 2 through 9 described above.

The utility model discloses external power source can be connected to cleaning robot 100 when using, perhaps cleaning robot 100 is inside to be equipped with the electric power storage battery, and wherein, inside electric power storage battery of establishing can be at the motion of great within range, does not receive the length restriction of power connecting wire.

The utility model discloses cleaning robot 100 can realize the switching of a plurality of directions of motion, and cleaning robot need not to turn round with the conversion direction of motion among the switching process, has saved the motion space, can transverse motion and turn to at constrictive space corner, and the climbing step is orderly smooth and easy, can effectively clean stair department.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a walking device, its characterized in that includes the walking driver, connects the transmission components and the connection of walking driver transmission components's omniwheel, the omniwheel include main wheel and movable mounting in the first auxiliary wheel group and the second auxiliary wheel group of week portion of main wheel, first auxiliary wheel group sets up with the interval of the second auxiliary wheel group, the direction of rotation of first auxiliary wheel group and second auxiliary wheel group with the direction of rotation of main wheel is different, the walking driver is used for passing through the transmission components drive the main wheel is rotatory and then drives the omniwheel is followed the direction of rotation motion of main wheel.

2. The walking device of claim 1, wherein the first secondary wheel set comprises a plurality of first secondary wheels arranged at intervals, and the first secondary wheels are movably mounted on the periphery of the main wheel; the second auxiliary wheel set comprises a plurality of second auxiliary wheels which are arranged at intervals, and the second auxiliary wheels are movably arranged on the periphery of the main wheel; the first auxiliary wheel and the second auxiliary wheel are driven wheels, and the rotating directions of the first auxiliary wheel and the second auxiliary wheel are different from the rotating direction of the main wheel.

3. The walking device of claim 2, wherein the periphery of the main wheel is provided with a plurality of movable grooves, each movable groove is provided with a secondary wheel rotating shaft, each first secondary wheel is installed in one movable groove through the secondary wheel rotating shaft, and each second secondary wheel is installed in one movable groove through the secondary wheel rotating shaft.

4. The walking device according to any one of claims 1 to 3, wherein the transmission assembly comprises two walking synchronous wheels, a walking synchronous belt and a transmission shaft, the walking synchronous belt is connected with the two walking synchronous wheels, one walking synchronous wheel is connected with the walking driver, the other walking synchronous wheel is connected with the transmission shaft, and the transmission shaft is connected with the main wheel.

5. A cleaning robot, characterized in that the cleaning robot comprises:

the walking device of any one of claims 1 to 4;

the running gear is arranged on the chassis;

a climbing device mounted to the chassis; and

a cleaning device mounted to the chassis.

6. The cleaning robot of claim 5, wherein the chassis includes a base plate on which the running gear is mounted, the omni-wheel being located below the base plate; the climbing device comprises a first supporting leg and a second supporting leg, the first supporting leg and the second supporting leg are arranged on the chassis and arranged in a front-back mode, and the first supporting leg and the second supporting leg can move or climb relative to the ground.

7. The cleaning robot of claim 6, wherein the first leg includes a first lifting assembly, a first connecting plate, and a first motion assembly, the first lifting assembly being mounted to the base plate, a portion of the first lifting assembly remote from the base plate being connected to the first connecting plate; the second supporting leg comprises a second lifting assembly, a second connecting plate and a second moving assembly, the second lifting assembly is mounted on the base plate, and the part, far away from the base plate, of the second lifting assembly is connected with the second connecting plate.

8. The cleaning robot as claimed in claim 7, wherein the first leg further includes a first guide member mounted to the chassis, and both sides of the first guide member are connected to the first moving member and the first connection plate, respectively; the second supporting leg further comprises a second guide assembly, the second guide assembly is mounted on the chassis, and two sides of the second guide assembly are respectively connected with the second moving assembly and the second connecting plate.

9. The cleaning robot according to claim 5, wherein the number of the traveling devices is at least two.

10. The cleaning robot of claim 5, wherein the chassis includes a base plate and a plurality of universal wheels mounted to a bottom of the base plate.