CN217198437U

CN217198437U - Cleaning device's chassis and cleaning device

Info

Publication number: CN217198437U
Application number: CN202220432761.4U
Authority: CN
Inventors: 吕卿; 江虎骏; 宋嘉豪
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-08-16
Anticipated expiration: 2032-02-28

Abstract

The application provides a chassis of a cleaning device and the cleaning device, which belong to the technical field of environmental protection equipment, wherein the chassis comprises a steering wheel mechanism, two driving wheel mechanisms and a control system, the steering wheel mechanism comprises a first driver, a first transmission assembly, a first wheel and an encoder, the first driver is connected with the first wheel through the first transmission assembly so as to drive the first wheel to steer, and the encoder is used for acquiring the steering angle of the first wheel; the two driving wheel mechanisms are respectively installed on two sides of the advancing direction of the bottom plate and are arranged at intervals in the front and back direction of the steering wheel mechanism, the driving wheel mechanism comprises a second driver and a second wheel, the second driver is in transmission connection with the second wheel and drives the second wheel to rotate, and the control system is used for acquiring the steering angle of the first wheel through the encoder and regulating and controlling the rotating speed of the second wheel through the two second drivers. This application aims at solving the unable pivot of chassis among the prior art and turns to the big technical problem of radius.

Description

Cleaning device's chassis and cleaning device

Technical Field

The application belongs to the technical field of environmental protection equipment, and particularly relates to a chassis of a cleaning device and the cleaning device.

Background

The existing steering system of the cleaning device generally continues to use a steering structure of the traditional cleaning device, a user controls the steering angle of a front wheel through a steering wheel during steering, the rear wheel on one side is used as a steering center to steer and turn the cleaning device, and a single motor and a single axle structure are generally adopted for driving two rear wheels, so that during steering, the rotating speed of one wheel in the two rear wheels cannot be controlled simultaneously, the rotating speed of the other wheel is very high, the two rear wheels of the cleaning device after steering can deviate from the original positions, the steering radius of the steering structure is large, and in-situ steering of a driving wheel cannot be realized.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a cleaning device's vehicle chassis and cleaning device, aim at solving the unable pivot of vehicle chassis among the prior art and turn to the big technical problem of radius.

A first object of the present application is to provide a cleaning device's vehicle chassis, cleaning device includes the bottom plate, the vehicle chassis includes:

the steering wheel mechanism is used for being mounted at the front end of the advancing direction of the base plate and comprises a first driver, a first transmission assembly, a first wheel and an encoder, the first driver is connected with the first wheel through the first transmission assembly to drive the first wheel to steer, and the encoder is connected with the first transmission assembly to obtain the steering angle of the first wheel;

the two driving wheel mechanisms are respectively arranged on two sides of the advancing direction of the bottom plate and are arranged at intervals with the steering wheel mechanism in the front-back direction, each driving wheel mechanism comprises a second driver and a second wheel, the second driver is connected with the bottom plate, and the second driver is in transmission connection with the second wheel and is used for driving the second wheel to rotate; the two second wheels and the first wheel are arranged together to form a triangle; and

the control system is electrically connected with the first driver, the encoder and the two second drivers respectively;

the control system is used for acquiring the steering angle of the first wheel through the encoder and adjusting and controlling the rotating speed of the corresponding second wheel through the two second drivers respectively.

Further, be equipped with first connecting hole on the encoder, the encoder pass through first connecting hole with first transmission component is connected, just the axis of the output shaft of first driver with the central line collineation setting in first connecting hole.

Furthermore, the first transmission assembly comprises a transmission shaft, a connecting frame and a connecting shaft, the connecting shaft is connected to the center of the first wheel in a penetrating manner, and the transmission shaft is fixedly connected with the connecting shaft through the connecting frame; the transmission shaft is sleeved on the output shaft of the first driver, and the encoder is sleeved on the transmission shaft through the first connecting hole.

Further, be equipped with first connecting hole on the encoder, the encoder passes through first connecting hole with first transmission component is connected, the axis of the output shaft of first driver with the central line dislocation and the parallel arrangement of first connecting hole.

Furthermore, the vehicle chassis is further provided with a limiting structure connected to the bottom plate, and the limiting structure is used for limiting the steering angle of the steering wheel mechanism.

Further, the driving wheel mechanism further comprises a detection assembly electrically connected with the control system, and the detection assembly is connected with the second driver and used for detecting the rotating speed of the second wheel.

Further, the driving wheel mechanism further comprises a second transmission assembly, the second driver is in transmission connection with the second wheel through the second transmission assembly, and the second transmission assembly is a chain wheel assembly.

Further, the first driver and the second driver are arranged on one side of the bottom plate, and the first wheel and the second wheel are arranged on one side of the bottom plate, which faces away from the first driver.

Further, the two second drivers are arranged on the bottom plate in a staggered mode, and the axle lines of the two second wheels are arranged in a collinear mode.

Compared with the prior art, the beneficial effects of the application are that: compared with the prior art, the chassis of the vehicle is designed by using ackerman steering geometry, so that the relationship between the steering angle of the first wheel and the electronic differential speed between the two second wheels conforms to ackerman calculation, the steering angle of the first wheel is directly or indirectly acquired through the encoder and the first transmission assembly in the steering wheel mechanism, the control system is combined with the acquired steering angle of the first wheel to control the rotating speeds of the two second wheels to form a preset differential speed, the ackerman calculation is met, the chassis of the vehicle can realize in-situ steering at the midpoint position between the two second wheels, and the steering radius is smaller than that of the conventional cleaning device.

A second object of the present application is to provide a cleaning device, comprising a bottom plate and the chassis of any one of the above.

Compared with the prior art, the beneficial effects of the application are that: compared with the prior art, this cleaning device passes through the first transmission assembly in encoder and the steering wheel mechanism to obtain the angle of turning to of first wheel, control system combines to form between the rotational speed of two second wheels of the angle of turning to of the first wheel control of obtaining and predetermines the differential, thereby satisfy ackerman and solve, in order to realize this car chassis can realize the pivot in the mid point position between two second wheels and turn to, turn to the radius and compare in current cleaning device and turn to the radius littleer, can realize turning to in narrower and small space, range of application greatly increased.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application or the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a first structural schematic diagram of a chassis of a cleaning device provided in an embodiment of the present application;

FIG. 2 is a first cross-sectional view of the steering wheel mechanism of FIG. 1;

FIG. 3 is an exploded view of the steering wheel mechanism of FIG. 1;

FIG. 4 is a second cross-sectional view of the steering wheel mechanism of FIG. 1;

fig. 5 is an exploded view of the drive wheel mechanism of fig. 1.

Description of reference numerals: 1. a base plate; 2. a steering wheel mechanism; 21. a first driver; 22. an encoder; 221. a first connection hole; 23. a first transmission assembly; 231. a first gear assembly; 232. a second gear assembly; 233. a drive shaft; 234. a connecting frame; 235. a connecting shaft; 24. a shock absorbing assembly; 25. a first wheel; 3. a drive wheel mechanism; 31. a second driver; 32. a detection component; 33. a second wheel; 34. a second transmission assembly; 4. a limiting structure.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "upward," "vertical," "horizontal," "bottom," "inner," "outer," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present application.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1 and fig. 2, an embodiment of the present application provides a chassis of a cleaning device, where the cleaning device at least includes a bottom plate 1, and the chassis includes a steering wheel mechanism 2, a driving wheel mechanism 3, and a control system; the steering wheel mechanism 2 is used for being mounted at the front end of the advancing direction of the base plate 1, the steering wheel mechanism 2 comprises a first driver 21, a first transmission assembly 23, a first wheel 25 and an encoder 22, the first driver 21 is connected with the first wheel 25 through the first transmission assembly 23 to drive the first wheel 25 to steer, and the encoder 22 is connected with the first transmission assembly 23 to obtain the steering angle of the first wheel 25; the two driving wheel mechanisms 3 are respectively arranged at two sides of the advancing direction of the bottom plate 1 and are arranged at intervals with the steering wheel mechanism 2, the driving wheel mechanism 3 comprises a second driver 31 and a second wheel 33, the second driver 31 is connected with the bottom plate 1, and the second driver 31 is in transmission connection with the second wheel 33 and is used for driving the second wheel 33 to rotate; the two second wheels 33 and the first wheel 25 are arranged together to form a triangle; the control system is electrically connected with the first driver 21, the encoder 22 and the two second drivers 31 respectively; the control system is used for acquiring the steering angle of the first wheel 25 through the encoder 22 and adjusting and controlling the rotating speed of the corresponding second wheel 33 through the two second drivers 31 respectively.

Specifically, the base plate 1 is mounted on the body of the cleaning device, the first driver 21 and the second driver 31 in the steering wheel mechanism 2 can be mounted on the base plate 1, and the first driver 21 and the second driver 31 can adopt motors; the first transmission assembly 23 may be a transmission shaft or a gear transmission assembly connected to an output shaft of the motor, and the encoder 22 is connected to the first transmission assembly 23 to directly or indirectly obtain the steering angle of the first wheel 25.

The steering process of the vehicle chassis is that firstly, the control system controls the rotating speeds of the two second wheels 33 to be adjusted to a preset speed during steering through the two second drivers 31, the control system controls the steering angle of the first wheel 25 through the first driver 21 and feeds back the steering angle of the first wheel 25 through the encoder 22 in real time during steering, the control system controls the two second wheels 33 to form electronic differential speed through the two second drivers 31 according to the acquired steering angle of the first wheel 25, so that the steering angle of the first wheel 25 is matched with the rotating speeds of the two second wheels 33, the matching process is that the relation between the steering angle of the first wheel 25 and the rotating speeds of the two second wheels 33 (or the electronic differential speed between the two second wheels 33) is in accordance with Ackerman calculation, and further the steering center of the vehicle chassis is located at the midpoint of the connecting line of the two second wheels 33, to enable the chassis of the vehicle to effect pivot steering at a location midway between the two second wheels 33.

In the embodiment, the chassis of the vehicle is designed by using ackerman steering geometry, so that the relationship between the steering angle of the first wheel 25 and the electronic differential speed between the two second wheels 33 conforms to ackerman solution, the encoder 22 and the first transmission assembly 23 in the steering wheel mechanism 2 are used for directly or indirectly acquiring the steering angle of the first wheel 25, the control system controls the rotation speed of the two second wheels 33 to form a preset differential speed by combining the acquired steering angle of the first wheel 25, so that ackerman solution is satisfied, the chassis of the vehicle can realize in-situ steering at the midpoint position between the two second wheels 33, the steering radius is smaller than that of an existing cleaning device, steering can be realized in a narrower space, and the application range is greatly increased.

In one embodiment, referring to fig. 4, the encoder 22 is provided with a first connection hole 221, the encoder is connected with the first transmission assembly 23 through the first connection hole 221, and the axis of the output shaft of the first driver 21 is arranged in line with the center line of the first connection hole 221.

Specifically, referring to fig. 4, the first transmission assembly 23 includes a transmission shaft 233, a connecting frame 234 and a connecting shaft 235, the connecting shaft 235 is inserted into the center of the first wheel 25, the transmission shaft 233 is fixedly connected to two ends of the connecting shaft 235 through the connecting frame 234, specifically, the connecting frame 234 includes a connecting main plate and two connecting side plates vertically and fixedly connected to two sides of the connecting main plate, and the connecting side plates are fixedly connected to two ends of the connecting shaft; the transmission shaft 233 is sleeved on the output shaft of the first driver 21, the encoder 22 is provided with a first connection hole 221, and the encoder 22 is sleeved on the transmission shaft 233 through the first connection hole 221. Further, the transmission shaft 233 and the encoder 22 may be designed as an integrated connection shaft, and the upper end of the transmission shaft 233 may be connected to the output shaft of the first driver 21 through a coupling, so that the axis of the output shaft of the first driver 21, the center line of the first connection hole 221, and the center axis of the transmission shaft 233 are located on a straight line, and the three are coaxially disposed.

In this embodiment, due to the structural design of the first transmission assembly 23, the overall structure of the first transmission assembly 23 is more compact, and the coaxiality of the first driver 21, the encoder 22 and the transmission shaft 233 can be better achieved, so that the transmission is more stable and the stability is enhanced.

In one embodiment, referring to fig. 2 and 3, the encoder 22 is sleeved on the transmission shaft 233 through the first connection hole 221, and the axis of the output shaft of the first driver 21 is offset from and parallel to the center line of the first connection hole 221 of the encoder 22.

Specifically, the first transmission assembly 23 includes a first gear assembly 231, a second gear assembly 232, a transmission shaft 233, a connecting frame 234 and a connecting shaft 235, the connecting shaft 235 is penetrated in the center of the first wheel 25, and the transmission shaft 233 is fixedly connected with the end of the connecting shaft 235 through the connecting frame 234; an output shaft of the first driver 21 is connected with an output shaft of the first gear assembly 231, the first gear assembly 231 is meshed with the second gear assembly 232, and the output shaft of the first gear assembly 231 and the output shaft of the second gear assembly 232 are staggered and arranged in parallel; the output shaft of the second gear assembly 232 is fixedly connected to the transmission shaft 233, and the encoder 22 is sleeved on the output shaft of the second gear assembly 232 through the first connection hole 221, so that the axis of the output shaft of the first driver 21 and the center lines of the encoder 22 and the first connection hole 221 are staggered and arranged in parallel.

In this embodiment, the first transmission assembly 23 is engaged with the gear to transmit, and is respectively the first gear assembly 231 and the second gear assembly 232 by arranging two gear sets, and the output shaft of the first gear assembly 231 and the output shaft of the second gear assembly 232 are arranged in parallel, so that the encoder 22 is connected to the output shaft of the second gear assembly 232, which is beneficial to facilitating subsequent installation, disassembly and maintenance work, and improving the working efficiency.

In one embodiment, referring to fig. 3-5, the steering wheel mechanism 2 further includes a shock absorbing assembly 24 connected between the first wheel 25 and the connecting frame 234 for absorbing external impact force applied to the first wheel 25, so as to make the rotation process of the first wheel 25 smoother.

In the present embodiment, the damping assembly 24 employs two damping columns, two ends of each of the two damping columns are respectively fixedly connected to the connecting frame 234 and the connecting shaft 235, the two damping columns are disposed at intervals, and the first wheel 25 is disposed between the two damping columns.

In one embodiment, referring to fig. 3, the chassis further comprises a limit structure 4 connected to the bottom plate 1, wherein the limit structure 4 is used for limiting the steering angle of the steering wheel mechanism 2.

In the present embodiment, the limiting structure 4 is a limiting protrusion fixed on the bottom plate 1, and the limiting protrusion can limit the rotation angle of the transmission shaft 233, and further limit the steering angle range of the first wheel 25.

In one embodiment, referring to fig. 5, the driving wheel mechanism 3 further comprises a detecting assembly 32 electrically connected to the control system, the detecting assembly 32 is connected to the second driver 31 for detecting the rotation speed of the second wheel 33, and two detecting assemblies 32 are provided. The detection assembly 32 may also be mounted on the two second wheels 33 for acquiring the rotational speeds of the two second wheels 33, respectively.

In the present embodiment, the detecting component 32 is mounted on the second actuator 31, and the detecting component 32 may employ a speed sensor to obtain the rotation speed of the output shaft of the second actuator 31, further indirectly obtain the rotation speed of the second wheel 33, and transmit the rotation speed of the second wheel 33 to the control system.

In one embodiment, referring to fig. 5, the driving wheel mechanism 3 further includes a second transmission assembly 34, the second driver 31 is in transmission connection with the second wheel 33 through the second transmission assembly 34, and the second transmission assembly 34 is a sprocket assembly; the sprocket assembly includes a first sprocket mounted on the output shaft of the second driver 31, a second sprocket mounted on the output shaft of the second wheel 33, and a chain connected to the first and second sprockets.

In the present embodiment, the second transmission assembly 34 is connected between the second driver 31 and the second wheel 33, and the second transmission assembly 34 adopts a sprocket transmission, so that the transmission of the driving wheel mechanism 3 is more smooth.

In one embodiment, referring to fig. 1 and 5, the first driver 21 and the second driver 31 are disposed on one side of the base plate 1, the first wheel 25 and the second wheel 33 are disposed on one side of the base plate 1 facing away from the first driver 21, the first wheel 25 and the second wheel 33 are used for being placed on the ground during the cleaning operation, and the first driver 21 and the second driver 31 are installed on one side of the base plate 1 far away from the ground.

Further, two second drivers 31 dislocation set on bottom plate 1, the axletree line collineation of two second wheels 33 sets up, and two second drivers 31 are crisscross each other on bottom plate 1's horizontal, and dislocation set in vertical, forms the crisscross mounting means of dislocation to reduce two second drivers 31 occupation space on bottom plate 1's horizontal, and the structure is compacter, has shortened the distance between two second wheels 33, makes the vehicle bottom dish turn to more steadily.

A second objective of the present application is to provide a cleaning device, which includes a bottom plate 1 and the chassis, wherein the bottom plate 1 is installed on a body of the cleaning device, and the cleaning device may include an automatically controlled cleaning vehicle or a manually controlled cleaning vehicle.

In the embodiment, the chassis of the cleaning device is designed by using ackerman steering geometry, so that the relationship between the steering angle of the first wheel 25 and the electronic differential speed between the two second wheels 33 conforms to ackerman solution, the encoder 22 and the first transmission assembly 23 in the steering wheel mechanism 2 are used for directly or indirectly acquiring the steering angle of the first wheel 25, the control system controls the preset differential speed between the rotating speeds of the two second wheels 33 by combining the acquired steering angle of the first wheel 25, so that ackerman solution is satisfied, the chassis of the vehicle can realize in-situ steering at the midpoint position between the two second wheels 33, the steering radius is smaller than that of the conventional cleaning device, steering can be realized in a narrower space, and the application range is greatly increased.

The foregoing is considered as illustrative only of the preferred embodiments of the invention, and is presented only for the purpose of illustrating the principles of the invention and not in any way to limit its scope. Any modifications, equivalents and improvements made within the spirit and principles of the present application and other embodiments of the present application without the exercise of inventive faculty will occur to those skilled in the art and are intended to be included within the scope of the present application.

Claims

1. The utility model provides a cleaning device's vehicle bottom dish, cleaning device includes the bottom plate, its characterized in that, the vehicle bottom dish includes:

2. The chassis for a cleaning device as claimed in claim 1, wherein the encoder is provided with a first connecting hole, the encoder is connected to the first transmission assembly through the first connecting hole, and an axis of the output shaft of the first driver is arranged in line with a center line of the first connecting hole.

3. The chassis of the cleaning device as claimed in claim 2, wherein the first transmission assembly comprises a transmission shaft, a connecting frame and a connecting shaft, the connecting shaft is connected to the center of the first wheel in a penetrating manner, and the transmission shaft is fixedly connected with the connecting shaft through the connecting frame; the transmission shaft is sleeved on the output shaft of the first driver, and the encoder is sleeved on the transmission shaft through the first connecting hole.

4. The chassis of claim 1, wherein the encoder is provided with a first connecting hole, the encoder is connected with the first transmission assembly through the first connecting hole, and an axis of an output shaft of the first driver is offset from and parallel to a center line of the first connecting hole.

5. The chassis of the cleaning device as claimed in any one of claims 1 to 4, further comprising a limit structure connected to the base plate, the limit structure being adapted to limit the steering angle of the steering wheel mechanism.

6. The chassis for a cleaning device of any one of claims 1-4, wherein said drive wheel mechanism further comprises a sensing assembly electrically connected to said control system, said sensing assembly being connected to said second drive and adapted to sense the rotational speed of said second wheel.

7. The chassis for a cleaning device of any one of claims 1-4, wherein said drive wheel mechanism further comprises a second transmission assembly, said second drive is drivingly connected to said second wheel through said second transmission assembly, and said second transmission assembly is a sprocket assembly.

8. The chassis for a cleaning device of any one of claims 1-4, wherein the first drive and the second drive are disposed on a side of the base plate, and the first wheel and the second wheel are disposed on a side of the base plate facing away from the first drive.

9. The chassis for a cleaning device according to claim 8, wherein two of said second drivers are disposed on said base plate in a staggered manner, and the axle lines of two of said second wheels are disposed in a collinear manner.

10. A cleaning device comprising a chassis according to any one of claims 1 to 9 and a base plate.