WO2021023048A1 - 一种清洁机器人底盘结构以及清洁机器人 - Google Patents
一种清洁机器人底盘结构以及清洁机器人 Download PDFInfo
- Publication number
- WO2021023048A1 WO2021023048A1 PCT/CN2020/104952 CN2020104952W WO2021023048A1 WO 2021023048 A1 WO2021023048 A1 WO 2021023048A1 CN 2020104952 W CN2020104952 W CN 2020104952W WO 2021023048 A1 WO2021023048 A1 WO 2021023048A1
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- Prior art keywords
- cleaning
- cleaning robot
- gear
- chassis structure
- driving
- Prior art date
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Definitions
- This application relates to the technical field of cleaning robots, and specifically to a cleaning robot chassis structure and a cleaning robot.
- the present application provides a cleaning robot chassis structure and a cleaning robot.
- the cleaning robot chassis structure and the cleaning robot can ensure the cleaning effect and the ability to overcome obstacles.
- a cleaning robot chassis structure including a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjusting bracket, and a driving device;
- the driving wheel is arranged on the chassis body;
- the adjusting bracket is installed on the chassis body, one end of the adjusting bracket is connected to the cleaning device, and the other end of the adjusting bracket is connected to the driven wheel;
- the driving device drives the adjusting bracket
- the adjusting bracket rotates, so that the chassis structure of the cleaning robot can be switched between the obstacle crossing mode and the cleaning mode;
- the obstacle crossing mode is the state where the cleaning device is lifted and the driven wheel is grounded
- the cleaning mode is a state where the cleaning device is grounded and the driven wheel is raised.
- the chassis structure of the cleaning robot provided by the present application can ensure the ability to overcome obstacles while ensuring the cleaning effect. To this end, in the above solution, a cleaning robot chassis structure is provided.
- the cleaning robot chassis structure includes obstacle crossing mode and cleaning mode.
- the chassis body is supported on the ground by the driving wheel and the driven wheel and can walk.
- the cleaning device is lifted, that is, away from the ground, the chassis body is driven by the driving wheel and the driven wheel. It can overcome small obstacles such as wires or steps to avoid jamming and ensure the smooth walking of the chassis body.
- the driven wheel is lifted and the cleaning device is grounded, so that the cleaning device can bear part of the gravity of the chassis structure of the cleaning robot to be pressed against the ground, ensuring the cleaning effect.
- a first chamber and a second chamber are opened on the bottom surface of the chassis body
- the cleaning device When the cleaning robot chassis structure is in the obstacle-crossing mode, the cleaning device is lifted and accommodated in the first chamber;
- the driven wheel is lifted and accommodated in the second chamber.
- the first chamber is opened on the bottom surface of the chassis body, so that when the cleaning robot chassis structure is in the obstacle crossing mode, the cleaning device is stored in the first chamber to improve the obstacle crossing ability.
- the second chamber By opening the second chamber on the bottom surface of the chassis body, when the cleaning robot chassis structure is in the cleaning mode, the driven wheel is accommodated in the second chamber, so that the cleaning device can be close to the ground to ensure the cleaning effect.
- the driving device includes a first motor, a driving gear, and a driven gear
- the driving gear is fixed to the output shaft of the motor
- the driven gear is fixed to the adjusting bracket
- the rotation axis of the driven gear coincides with the rotation axis of the adjusting bracket.
- the cleaning device has a rolling brush structure, and the rolling brush structure is rotatably connected to one end of the adjusting bracket.
- the cleaning device includes a backplane and a mop, and the mop is provided on the bottom surface of the backplane.
- the top surface of the back plate is hinged to one end of the adjusting bracket.
- the chassis structure of the cleaning robot further includes a swing arm and an adjustment device
- a rotating shaft is formed at one end of the swing arm, the rotating shaft is rotatably connected to the chassis body, and the other end of the swing arm is connected with the driving wheel;
- the adjusting device drives the swing arm to rotate the swing arm relative to the chassis body to change the distance between the chassis body and the ground.
- the adjustment device can drive the swing arm to rotate around the rotating shaft, that is, the other end of the swing arm will make an arc movement with the rotating shaft as the center of rotation, that is, the position of the driving wheel relative to the chassis body can be adjusted, thereby adjusting the chassis The distance between the body and the ground.
- the chassis body In the cleaning mode, the chassis body can be adjusted to the closest position through the adjusting device, so that the cleaning device can be cleaned close to the ground.
- the chassis body In the obstacle crossing mode, the chassis body can be adjusted to be too high so that the chassis body can stay away from the ground to ensure the obstacle crossing ability.
- the adjusting device includes a second motor, a first gear, and a second gear, the first gear is fixed on the output shaft of the second motor, and the second gear is fixed on the rotation shaft of the swing arm , The first gear meshes with the second gear.
- the cleaning robot chassis structure further includes an elastic member, one end of the elastic member is fixed to the chassis body, and the other end of the elastic member is fixed to the swing arm.
- the elastic member is arranged between the chassis body and the swing arm to play the role of elastic compression, ensuring the stable setting of the swing arm relative to the chassis body, that is, ensuring that the driving wheel can be placed between the driving wheel and the ground. It has enough friction to ensure the normal operation of the driving wheel.
- the cleaning device is located between the driving wheel and the driven wheel.
- a cleaning robot In a second aspect, a cleaning robot is provided, and the cleaning robot has the chassis structure of any one of the cleaning robots in the first aspect.
- FIG. 1 is a perspective view of a chassis structure of a cleaning robot in an embodiment of the application
- FIG. 2 is a perspective view of the cleaning device, the driven wheel, the adjusting bracket and the driving device in the embodiment of the application;
- FIG. 3 is a bottom view of the chassis structure of the cleaning robot in the embodiment of the application.
- FIG. 4 is a side view of the chassis structure of the cleaning robot in the embodiment of the application.
- FIG. 5 is a schematic diagram of the structure of the adjusting device and the swing arm in the embodiment of the application;
- Fig. 6 is a schematic structural diagram of another cleaning device in an embodiment of the application.
- Icon 10-Cleaning robot chassis structure; 10A-rotation axis; 11-chassis body; 12-cleaning device; 13-driving wheel; 14-driven wheel; 15-adjusting bracket; 16-driving device; 17-swing arm; 18 -Adjusting device; 19-Elastic element; 91-First chamber; 92-Second chamber; 120-Back plate; 121-Mop; 150-Wing rod; 160-First motor; 161-Drive gear; 162- Driven gear; 170-rotation shaft; 180-second motor; 181-first gear; 182-second gear.
- connection may also be a detachable connection or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be a communication between two components.
- connection may also be a detachable connection or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be a communication between two components.
- This embodiment provides a cleaning robot chassis structure 10, and a cleaning robot (such as a sweeping, mopping or scrubbing robot, etc.) having the cleaning robot chassis 10 can ensure the cleaning effect and the ability to overcome obstacles.
- a cleaning robot such as a sweeping, mopping or scrubbing robot, etc.
- the cleaning robot chassis structure 10 includes a chassis body 11, a cleaning device 12, a driving wheel 13, a driven wheel 14, an adjusting bracket 15 and a driving device 16.
- Figure 1 shows a three-dimensional schematic view of the cleaning robot chassis structure
- Figure 2 shows a three-dimensional schematic view of the cleaning device 12, the driven wheel 14, the adjustment bracket 15, and the driving device 16
- Figure 3 is A bottom view of the cleaning robot chassis structure 10 in the embodiment
- FIG. 4 is a side view of the cleaning robot chassis structure 10 in this embodiment.
- the driving wheel 13 is arranged on the chassis body 11.
- the adjusting bracket 15 is installed on the chassis body 11, one end of the adjusting bracket 15 is connected to the cleaning device 12, and the other end of the adjusting bracket 15 is connected to the driven wheel 14.
- the driving device 16 drives the adjusting bracket 15.
- the adjusting bracket 15 rotates, so that the cleaning robot chassis structure 10 can switch between the obstacle crossing mode and the cleaning mode.
- the obstacle crossing mode is a state where the cleaning device 12 is lifted and the driven wheel 14 is grounded;
- the cleaning mode is a state where the cleaning device 12 is grounded and the driven wheel 14 is raised.
- a cleaning robot chassis structure 10 is provided.
- the cleaning robot chassis structure 10 includes an obstacle crossing mode and a cleaning mode. Driven by a motor, it can switch between the obstacle crossing mode and the cleaning mode. Switch down to ensure the cleaning effect and the ability to overcome obstacles.
- the chassis body 11 When in the obstacle crossing mode, the chassis body 11 is supported on the ground by the driving wheels 13 and the driven wheels 14 and can walk. At this time, because the cleaning device 12 is lifted, that is, away from the ground, the chassis body 11 is on the driving wheels 13 Driven by the driven wheel 14, it can overcome small obstacles such as wires or steps, avoid jamming, and ensure the smooth running of the chassis body 11.
- the driven wheel 14 When in the cleaning mode, the driven wheel 14 is raised and the cleaning device 12 is grounded, so that the cleaning device 12 can bear part of the gravity of the cleaning robot chassis structure 10 to be pressed against the ground, ensuring the cleaning effect.
- the cleaning device 12 is located between the driving wheel 13 and the driven wheel 14, and the center of gravity of the chassis body 11 is located between the driving wheel 13 and the adjusting bracket 15, so that in the cleaning mode, the chassis Most of the weight of the body 11 can act on the cleaning device 12, thereby ensuring the cleaning effect of the cleaning device 12.
- FIG. 1, FIG. 3, and FIG. 4 are combined.
- the bottom surface of the chassis body 11 is provided with a first chamber 91 and a second chamber 92.
- the cleaning device 12 is lifted and accommodated in the first chamber 91.
- the driven wheel 14 is lifted and accommodated in the second chamber 92.
- the cleaning device 12 is stored in the first chamber 91 to improve the obstacle crossing ability.
- the driven wheel 14 is stored in the second chamber 92, so that the cleaning device 12 can be close to the ground to ensure cleanliness effect.
- the adjusting bracket 15 is built in between the first chamber 91 and the second chamber 92, and the adjusting bracket 15 is hinged to the inside of the chassis body 11 and rotates around an axis.
- the axis of rotation is indicated by the axis of rotation 10A in FIGS. 2 and 4.
- the driving device 16 includes a first motor 160, a driving gear 161, and a driven gear 162.
- the driving gear 161 is fixed to the output shaft of the motor, and the driven gear 162 is fixed to the adjusting bracket 15, and the driving gear 161 meshes with the driven gear 162.
- the rotation axis of the driven gear 162 coincides with the rotation axis of the adjusting bracket 15.
- the first motor 160 is located inside the chassis body 11.
- the first motor 160 drives the driven gear 162 fixed on the adjusting bracket 15 through the driving gear 161, because the rotation axis of the driven gear 162 coincides with the rotation axis 10A of the adjusting bracket 15 , So that when the driven gear 162 rotates (ie, the forward or reverse rotation of the first motor 160 drives the forward or reverse rotation of the driven gear 162), the adjustment bracket 15 can follow the rotation, thereby switching the cleaning robot chassis structure 10 working modes (ie, obstacle crossing mode and cleaning mode).
- the transmission structure between the first motor 160 and the adjustment bracket 15 is a gear structure transmission.
- the transmission can also be carried out by a belt transmission structure, for example: the first motor 160 A pulley is fixed, the adjustment bracket 15 is also fixed with a pulley, and the rotation axis of the pulley on the adjustment bracket 15 coincides with the rotation axis of the adjustment bracket 15, the pulley on the first motor 160 passes through the belt and the adjustment bracket 15
- the wheels are matched, so that the first motor 160 can drive the adjusting bracket 15 to rotate through the belt transmission structure, thereby switching the working mode of the cleaning robot chassis structure 10.
- the cleaning robot chassis structure 10 further includes a swing arm 17 and an adjustment device 18. Please refer to FIG. 1 and FIG. 5.
- FIG. 5 shows the specific structure of the adjusting device 18 and the swing arm 17 in this embodiment.
- a rotating shaft 170 is formed at one end of the swing arm 17, the rotating shaft 170 is rotatably connected to the chassis body 11, and the other end of the swing arm 17 is connected to the driving wheel 13.
- the adjustment device 18 drives the swing arm 17 to rotate the swing arm 17 relative to the chassis body 11 to change the distance between the chassis body 11 and the ground.
- the adjusting device 18 can drive the swing arm 17 to rotate around the rotating shaft 170, that is, the other end of the swing arm 17 will move in an arc with the rotating shaft 170 as the center of rotation, that is, the position of the driving wheel 13 relative to the chassis body 11 can be adjusted , Thereby adjusting the distance between the chassis body 11 and the ground.
- the chassis body 11 In the cleaning mode, the chassis body 11 can be adjusted to the closest position by the adjusting device 18, so that the cleaning device 12 can be cleaned close to the ground.
- the chassis body 11 In the obstacle crossing mode, the chassis body 11 can be too high through the adjusting device 18 so that the chassis body 11 can be far away from the ground to ensure the obstacle crossing ability.
- the driving wheel 13 may be a direct drive structure of an in-wheel motor. It has a built-in motor and a shell as a wheel. It is installed on the swing arm 17 through a fixed non-rotating axle, so that the driving wheel 13 can make the cleaning robot chassis structure 10 walk. At the same time, a battery can be placed in the chassis body 11, which is the driving wheel 13. The work, the regulating device 18 and the driving device 16 need to be powered by energy-using organizations. It should be noted that, in other specific embodiments, a motor may also be provided on the swing arm 17 to drive the driving wheel 13 to rotate through a transmission mechanism.
- the swing arm 17 and the adjusting device 18 may not be provided.
- the adjusting device 18 includes a second motor 180, a first gear 181, and a second gear 182.
- the first gear 181 is fixed to the output shaft of the second motor 180.
- the second gear 182 is fixed on the rotating shaft 170 of the swing arm 17, and the first gear 181 meshes with the second gear 182.
- the second motor 180 is located inside the chassis body 11, and the second motor 180 drives the second gear 182 fixed on the rotating shaft 170 on the swing arm 17 through the first gear 181, so that when the second gear 182 rotates (ie, the first The forward or reverse rotation of the second motor 180 drives the forward or reverse rotation of the second gear 182, which can make the swing arm 17 follow the rotation, thereby changing the ground clearance of the cleaning robot chassis structure 10 (ie, the bottom surface of the chassis body 11 and The distance between the ground).
- the transmission structure between the second motor 180 and the swing arm 17 is a gear structure transmission.
- the transmission can also be carried out by a belt transmission structure, for example: the second motor 180 A pulley is fixed.
- the rotating shaft 170 of the swing arm 17 is also fixed with a pulley.
- the pulley on the second motor 180 cooperates with the pulley of the swing arm 17 through a belt, so that the second motor 180 can drive the pendulum through the belt transmission structure.
- One end of the arm 17 rotates, thereby changing the ground clearance of the cleaning robot chassis structure 10.
- the cleaning robot chassis structure 10 further includes an elastic member 19, one end of the elastic member 19 is fixed to the chassis body 11, and the other end of the elastic member 19 is fixed to the swing arm 17.
- the cleaning device 12 in this embodiment is of a roller brush structure.
- the cleaning robot chassis structure 10 provided in this embodiment can have the function of cleaning the ground.
- the roller brush structure is rotatably connected to one end of the adjusting bracket 15.
- two side wing rods 150 extend from one end of the adjusting bracket 15, and the two side wing rods 150 are rotatably connected with both ends of the rolling brush structure.
- the cleaning device 12 may further include a back plate 120 and a mop 121, and the mop 121 is added with water to moisten, so that the cleaning robot chassis structure 10 provided in this embodiment can have the function of mopping the ground.
- FIG. 6, shows the specific structure of another cleaning device 12.
- the mop 121 is arranged on the bottom surface of the back plate 120, and the top surface of the back plate 120 is hinged to one end of the adjusting bracket 15. Wherein, to ensure that the mop 121 can be pressed against the ground, the end of the adjusting bracket 15 connected to the back plate 120 is inclined to the end connected to the driven wheel 14.
- the mop 121 can adapt to slightly undulating ground.
- the hinged structure when the back plate 120 and the mop 121 are stored in the obstacle crossing mode, It is ensured to be parallel to the ground as much as possible, thereby reducing the occupation of the internal space of the chassis body 11 and reducing the probability of contact with obstacles on the ground.
- this embodiment also provides a cleaning robot.
- the cleaning robot has the cleaning robot chassis structure 10 provided above. Due to the cleaning robot chassis structure 10, the cleaning robot can ensure the cleaning effect and the ability to overcome obstacles. .
- the ground clearance can be adjusted and the cleaning device 12 can be close to the ground, which can effectively increase the cleaning range, such as low bed bottoms or The bottom of the sofa, etc., at the same time, because the ground clearance can be adjusted. Therefore, it has a good escape ability and can pass most obstacles on the ground, such as wires, steps, etc.
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Abstract
Description
Claims (11)
- 一种清洁机器人底盘结构,其特征在于,包括底盘本体、清扫装置、主动轮、从动轮、调节支架以及驱动装置;所述主动轮设置于所述底盘本体;所述调节支架安装于所述底盘本体,所述调节支架的一端连接所述清扫装置,所述调节支架的另一端连接所述从动轮;所述驱动装置驱动所述调节支架;其中,在所述驱动装置的驱动下,所述调节支架发生转动,使得所述清洁机器人底盘结构能在越障模式和清扫模式之间切换;所述越障模式为所述清扫装置被抬升且所述从动轮接地的状态;所述清扫模式为所述清扫装置接地且所述从动轮被抬升的状态。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述底盘本体的底面开设有第一腔室和第二腔室;当所述清洁机器人底盘结构处于所述越障模式时,所述清扫装置被抬升且容纳于所述第一腔室;当所述清洁机器人底盘结构处于所述清扫模式时,所述从动轮被抬升且容纳于所述第二腔室。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述驱动装置包括第一电机、主动齿轮和从动齿轮,所述主动齿轮固定于所述电机的输出轴,所述从动齿轮固定于所述调节支架,所述主动齿轮与所述从动齿轮啮合;所述从动齿轮的转动轴线与所述调节支架的转动轴线重合。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述清扫装置为滚刷结构,所述滚刷结构可转动地连接于所述调节支架的一端。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述清扫装置包括背板和拖布,所述拖布设置于所述背板的底面。
- 根据权利要求5所述的清洁机器人底盘结构,其特征在于,所述背板的顶面与所述调节支架的一端铰接。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述清洁机器人底盘结构还包括摆臂以及调节装置;所述摆臂的一端形成有转轴,所述转轴可转动地连接于所述底盘本体,所述摆臂的另一端与所述主动轮连接;所述调节装置驱动所述摆臂使得所述摆臂相对于所述底盘本体转动,以改变所述底盘本体与地面之间的距离。
- 根据权利要求7所述的清洁机器人底盘结构,其特征在于,所述调节装置包括第二电机、第一齿轮和第二齿轮,所述第一齿轮固定于所述第二电机的输出轴,所述第二齿轮固定于所述摆臂的转轴上,所述第一齿轮与所述第二齿轮啮合。
- 根据权利要求7所述的清洁机器人底盘结构,其特征在于,所述清洁机器人底盘结构还包括弹性件,所述弹性件的一端固定于所述底盘本体,所述弹性件的另一端固定于所述摆臂。
- 根据权利要求1所述的清洁机器人底盘结构,其特征在于,所述清扫装置位于所述主动轮和所述从动轮之间。
- 一种清洁机器人,其特征在于,包括:所述清洁机器人具有权利要求1-10任意一项所述的清洁机器人底盘结构。
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