CN216907883U - Chassis and cleaning equipment - Google Patents
Chassis and cleaning equipment Download PDFInfo
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- CN216907883U CN216907883U CN202123443541.6U CN202123443541U CN216907883U CN 216907883 U CN216907883 U CN 216907883U CN 202123443541 U CN202123443541 U CN 202123443541U CN 216907883 U CN216907883 U CN 216907883U
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- front wheel
- steering
- main transmission
- chassis
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Abstract
The utility model discloses a chassis and a cleaning device, wherein the chassis comprises: a base plate; the front wheel device comprises a front wheel frame rotationally arranged on the bottom plate, a front wheel arranged at the lower part of the front wheel frame and a driven transmission piece arranged at the upper part of the front wheel frame; the manual steering device comprises a steering wheel, a transmission rod mechanism and a first main transmission piece, the transmission rod mechanism is in transmission connection with the first main transmission piece and the steering wheel, and the first main transmission piece is in transmission connection with the driven transmission piece; the electric power steering device comprises a steering motor and a second main transmission piece arranged on an output shaft of the steering motor, and the second main transmission piece is in transmission connection with the driven transmission piece. According to the utility model, through the arrangement of the manual steering device and the electric steering device, a user can manually control the steering of the front wheel device, the steering resistance hand feeling during manual steering control is kept, the manual driving experience is more comfortable, the front wheel device is automatically controlled to steer, and the unmanned driving is further realized, so that the practicability is high.
Description
Technical Field
The utility model relates to the technical field of cleaning equipment, in particular to a chassis and cleaning equipment.
Background
Along with the continuous improvement of the living standard of people, people have higher and higher requirements on the quality of life, especially in high-end communities and high-end office buildings, the labor cost rises year by year in recent years, the cost of cleaning the property of a ground depot rises year by year, and in order to improve the cleaning quality and improve the technological sense of high-end places, the floor cleaning robots are applied more and more. Wherein the driverless drive steering section is a core component of the scrubber robot.
The existing floor washing machine robots are driven by people, mostly adopt a three-wheel front driving structure, need to manually rotate a steering wheel to control steering, and are difficult to realize unmanned driving.
SUMMERY OF THE UTILITY MODEL
Based on the above, the primary object of the present invention is to provide a chassis having two modes of automatic driving and manual driving, and having good hand feeling in manual driving.
Another object of the present invention is to provide a cleaning apparatus using the above-mentioned chassis.
A chassis, comprising:
a base plate;
the front wheel device comprises a front wheel frame rotatably arranged on the bottom plate, a front wheel arranged at the lower part of the front wheel frame and a driven transmission part arranged at the upper part of the front wheel frame;
the manual steering device comprises a steering wheel, a transmission rod mechanism and a first main transmission piece, the transmission rod mechanism is in transmission connection with the first main transmission piece and the steering wheel, and the first main transmission piece is in transmission connection with the driven transmission piece;
the electric power steering device comprises a steering motor and a second main transmission piece arranged on an output shaft of the steering motor, and the second main transmission piece is in transmission connection with the driven transmission piece.
According to the utility model, through the arrangement of the manual steering device and the electric steering device, a user can manually control the steering of the front wheel device, the steering resistance hand feeling during manual steering control is kept, the experience is more comfortable during manual driving, the front wheel device can be automatically controlled to steer, and further unmanned driving can be realized, and the practicability is high.
Preferably, the first main transmission member and the second main transmission member are gears, the slave transmission member is a slewing bearing, meshing teeth are arranged on the periphery of the slewing bearing, an inner ring of the slewing bearing is fixed to the lower portion of the bottom plate, an outer ring of the slewing bearing is fixed to the upper portion of the front wheel frame, the first main transmission member is meshed with the second main transmission member, and the second main transmission member is meshed with the slave transmission member.
Preferably, the diameter of the first main transmission part is a, the diameter of the second main transmission part is b, and the diameter of the driven transmission part is c, wherein c > b > a.
Preferably, the chassis further comprises:
the encoder is arranged in the steering motor and is connected with an output shaft of the steering motor;
the induction device comprises an induction block and an induction switch, the induction block is arranged on the front wheel carrier, and the induction switch is arranged at the lower part of the bottom plate and is used for inducing the induction block;
and the control device is electrically connected with the encoder, the inductive switch and the steering motor.
Preferably, the induction blocks are arranged on the left side and the right side of the front wheel frame, and the induction switches are arranged on the lower portion of the bottom plate and in the position right in front of or right behind the front wheel device.
Preferably, the chassis further comprises a limiting device for limiting the left-right steering angle of the front wheel device.
Preferably, the limiting device comprises a lower limiting column and an upper limiting column, the lower limiting column is arranged on the left side and the right side of the upper portion of the front wheel frame, the upper limiting column is arranged on the lower portion of the bottom plate and is located right in front of or right behind the front wheel device, and after the front wheel device rotates leftwards and rightwards for a preset angle, the lower limiting column is correspondingly abutted against the two sides of the upper limiting column so as to limit the front wheel device to rotate continuously.
Preferably, the transmission rod mechanism comprises a transmission rod and a bearing seat, the bearing seat is fixed on the upper portion of the bottom plate, the upper end of the transmission rod is connected with the steering wheel, the lower portion of the transmission rod is rotatably connected with the bearing seat, the lower end of the transmission rod penetrates through the lower portion of the bottom plate, and the lower end of the transmission rod is connected with the first main transmission part.
Preferably, the front wheel device further comprises a front wheel driving motor, and the front wheel driving motor is arranged on the front wheel and drives the front wheel to move.
The utility model also relates to a cleaning device comprising: the chassis is described above.
According to the cleaning equipment, the chassis is adopted, so that the functions of automatic steering and automatic traveling of the cleaning equipment can be realized, the unmanned driving of the cleaning equipment is realized, the manual driving function is kept, and the experience degree is better.
For a better understanding and practice, the utility model is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of a base pan of the present invention;
FIG. 2 is another perspective view of the chassis of the present invention;
FIG. 3 is a side view of the chassis of the present invention;
figure 4 is a side view of the cleaning apparatus of the present invention.
Reference numerals: 1. a base plate; 2. a front wheel device; 21. a front wheel carrier; 22. a front wheel; 23. a slave drive member; 24. a front wheel drive motor; 3. a manual steering device; 31. a steering wheel; 32. a transmission rod; 33. a bearing seat; 34. a first main transmission member; 4. an electric power steering device; 41. a steering motor; 42. a second main transmission member; 5. an induction device; 51. an induction block; 52. an inductive switch; 6. a restriction device; 61. a lower restraint post; 62. and an upper limiting column.
Detailed Description
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like, referred to or may be referred to in this specification, are defined relative to their configuration, and are relative concepts. Therefore, it may be changed according to different positions and different use states. Therefore, these and other directional terms should not be construed as limiting terms.
The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of implementations consistent with certain aspects of the present disclosure.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1 to 3, the present invention relates to a chassis including:
a base plate 1;
a front wheel device 2, wherein the front wheel device 2 comprises a front wheel frame 21 rotatably arranged on the bottom plate 1, a front wheel 22 arranged at the lower part of the front wheel frame 21, and a driven transmission piece 23 arranged at the upper part of the front wheel frame 21;
the manual steering device 3 comprises a steering wheel 31, a transmission rod mechanism and a first main transmission piece 34, wherein the transmission rod mechanism is in transmission connection with the first main transmission piece 34 and the steering wheel 31, and the first main transmission piece 34 is in transmission connection with the slave transmission piece 23;
the electric power steering device 4, the electric power steering device 4 includes a steering motor 41 and a second main transmission member 42 installed on the output shaft of the steering motor 41, the second main transmission member 42 is connected with the driven transmission member 23 in a transmission way.
According to the utility model, through the arrangement of the manual steering device 3 and the electric steering device 4, a user can manually control the steering of the front wheel device 2, the steering resistance hand feeling during manual steering control is kept, the experience is more comfortable during manual driving, the steering of the front wheel device 2 can be automatically controlled, and further unmanned driving can be realized, and the practicability is high.
In this embodiment, the first main transmission element 34 and the second main transmission element 42 are both gears, the slave transmission element 23 is a rotary support, the periphery of the rotary support is provided with meshing teeth, the inner ring of the rotary support is fixed on the lower part of the bottom plate 1 through screws, the outer ring of the rotary support is fixed on the upper part of the front wheel frame 21 through screws, the first main transmission element 34 is meshed with the second main transmission element 42, and the second main transmission element 42 is meshed with the slave transmission element 23.
The first main transmission member 34 and the second main transmission member 42 are both gears, so that the occupied area of the lower part of the bottom plate 1 can be reduced, and the arrangement of parts such as a water tank of the cleaning equipment is convenient, and meanwhile, the first main transmission member 34 is meshed with the second main transmission member 42, so that when a user rotates the steering wheel 31, the steering of the steering wheel 31 is the same as the steering of the front wheel device 2, and the smooth steering of manual driving is ensured.
Preferably, the diameter of the first main transmission element 34 is a, the diameter of the second main transmission element 42 is b, and the diameter of the driven transmission element 23 is c, where c > b > a, so that the torque can be increased to allow the user to turn the steering wheel 31.
In this embodiment, the chassis further includes:
the encoder is arranged in the steering motor 41 and is connected with an output shaft of the steering motor 41;
the induction device 5, the induction device 5 includes induction block 51 and induction switch 52, the induction block 51 is set on the front wheel frame 21, the induction switch 52 is set on the bottom of the bottom plate 1, in order to induce the induction block 51;
and the control device is electrically connected with the encoder, the inductive switch 52 and the steering motor 41.
Through the arrangement of the encoder and the sensing device 5, the angle information can be calibrated after the sensing switch 52 identifies the sensing block 51, and then the angle information of the front wheel device 2 at other positions is accurately calculated, so that the steering accuracy of the front wheel device 2 is ensured; therefore, the chassis realizes the function of accurate steering and ensures the smooth progress of the unmanned technology.
Preferably, the left and right sides of the front wheel frame 21 are both provided with sensing blocks 51, and the lower part of the bottom plate 1 and the position right in front of or right behind the front wheel device 2 are provided with sensing switches 52, so as to play a role of feeding back angle information in the automatic driving mode, and play a role of automatic limiting, so as to stop continuing to rotate after the front wheel device 2 turns left or right to a preset position, thereby ensuring that the chassis normally runs.
The chassis further comprises limiting means 6 for limiting the left-right steering angle of the front wheel arrangement 2 in the manual driving mode.
Specifically, the limiting device 6 includes a lower limiting column 61 and an upper limiting column 62, the lower limiting column 61 is disposed on both left and right sides of the upper portion of the front wheel frame 21, the upper limiting column 62 is disposed on the lower portion of the bottom plate 1 and in front of or behind the front wheel device 2, and after the front wheel device 2 rotates to the left and right by a preset angle, the lower limiting column 61 is correspondingly abutted against both sides of the upper limiting column 62 to limit the front wheel device 2 from continuing to rotate, thereby ensuring normal steering during manual driving.
In this embodiment, the driving rod mechanism includes a driving rod 32 and a bearing seat 33, the bearing seat 33 is fixed on the upper portion of the bottom plate 1, the steering wheel 31 is connected to the upper end of the driving rod 32, the lower portion of the driving rod 32 is rotatably connected to the bearing seat 33, and the lower end of the driving rod 32 penetrates to the lower portion of the bottom plate 1, and the lower end thereof is connected to a first main transmission member 34.
Through the arrangement of the bearing seat 33, the transmission rod 32 can be vertically and stably connected to the upper part of the bottom plate 1, so as to ensure the smoothness of manual steering of a user.
In this embodiment, the front wheel device 2 further includes a front wheel driving motor, the front wheel driving motor is disposed on the front wheel 22 and drives the front wheel 22 to move, and the front wheel driving motor is electrically connected to the control device.
Through locating front wheel device 2 with front wheel driving motor to realize front wheel device 2's the automatic function of marcing, make the automatic drive on the chassis of this application and automatic turn to integrate in front wheel 22, can be convenient for form general module, or serialization product, the practicality is high.
As shown in connection with fig. 4, the utility model also relates to a cleaning device comprising: the chassis is described above.
According to the cleaning equipment, the chassis is adopted, so that the functions of automatic steering and automatic traveling of the cleaning equipment can be realized, the unmanned driving of the cleaning equipment is realized, the manual driving function is kept, and the experience degree is better.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A chassis, comprising:
a base plate;
the front wheel device comprises a front wheel frame rotatably arranged on the bottom plate, a front wheel arranged at the lower part of the front wheel frame and a driven transmission part arranged at the upper part of the front wheel frame;
the manual steering device comprises a steering wheel, a transmission rod mechanism and a first main transmission piece, the transmission rod mechanism is in transmission connection with the first main transmission piece and the steering wheel, and the first main transmission piece is in transmission connection with the auxiliary transmission piece;
the electric power steering device comprises a steering motor and a second main transmission piece arranged on an output shaft of the steering motor, and the second main transmission piece is in transmission connection with the driven transmission piece.
2. The chassis according to claim 1, wherein the first and second main transmission members are gears, the driven transmission member is a rotary support, the periphery of the rotary support is provided with engaging teeth, an inner ring of the rotary support is fixed to a lower portion of the base plate, an outer ring of the rotary support is fixed to an upper portion of the front wheel frame, the first main transmission member is engaged with the second main transmission member, and the second main transmission member is engaged with the driven transmission member.
3. An undercarriage according to claim 2 wherein the diameter of the first primary drive member is a, the diameter of the second primary drive member is b and the diameter of the secondary drive member is c, wherein c > b > a.
4. The chassis of claim 1, further comprising:
the encoder is arranged in the steering motor and is connected with an output shaft of the steering motor;
the induction device comprises an induction block and an induction switch, the induction block is arranged on the front wheel carrier, and the induction switch is arranged at the lower part of the bottom plate and is used for inducing the induction block;
and the control device is electrically connected with the encoder, the inductive switch and the steering motor.
5. The chassis of claim 4, wherein the induction blocks are arranged on the left side and the right side of the front wheel frame, and the induction switch is arranged on the lower portion of the bottom plate and in the position right in front of or right behind the front wheel device.
6. The chassis according to any of claims 1 to 5, further comprising limiting means for limiting the left-right steering angle of the front wheel means.
7. The chassis of claim 6, wherein the limiting device comprises a lower limiting post and an upper limiting post, the lower limiting post is disposed on both sides of the upper portion of the front wheel frame, the upper limiting post is disposed on the lower portion of the bottom plate and is located right in front of or right behind the front wheel device, and after the front wheel device rotates leftwards and rightwards by a preset angle, the lower limiting post is correspondingly abutted against both sides of the upper limiting post to limit the front wheel device to rotate continuously.
8. The chassis according to any one of claims 1 to 5, wherein the driving rod mechanism comprises a driving rod and a bearing seat, the bearing seat is fixed on the upper part of the bottom plate, the upper end of the driving rod is connected with the steering wheel, the lower part of the driving rod is rotatably connected with the bearing seat, the lower end of the driving rod penetrates through the lower part of the bottom plate, and the lower end of the driving rod is connected with the first main transmission member.
9. The chassis of any of claims 1-5, wherein the front wheel assembly further comprises a front wheel drive motor, the front wheel drive motor being disposed on the front wheel and driving the front wheel to travel.
10. A cleaning apparatus, comprising: the chassis of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123443541.6U CN216907883U (en) | 2021-12-31 | 2021-12-31 | Chassis and cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123443541.6U CN216907883U (en) | 2021-12-31 | 2021-12-31 | Chassis and cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216907883U true CN216907883U (en) | 2022-07-08 |
Family
ID=82257347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123443541.6U Active CN216907883U (en) | 2021-12-31 | 2021-12-31 | Chassis and cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216907883U (en) |
-
2021
- 2021-12-31 CN CN202123443541.6U patent/CN216907883U/en active Active
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