阅读说明：本技术 一种驱动轮组件及具有该驱动轮组件的智能机器人 (Driving wheel assembly and intelligent robot with same ) 是由 李孟钦 刘旭野 王利鹏 郑卓斌 王立磊 于 2019-03-22 设计创作，主要内容包括：本发明公开了一种智能机器人,其特征在于,所述智能机器人包括：第一轮组、第二轮组、轮组切换机构；所述轮组切换机构用来升降切换第一轮组和第二轮组。本发明具有以下有益效果：提供使用横向和纵向两个方向运动的两组驱动轮系统,将各自的轮组的两对轮子进行刚性连接对机器进行直行驱动,使用轮组切换机构实现转弯的新型驱动方式,来满足不同功能型智能机器人的不同要求。(The invention discloses an intelligent robot, which is characterized by comprising: the device comprises a first wheel set, a second wheel set and a wheel set switching mechanism; the wheel set switching mechanism is used for switching the first wheel set and the second wheel set in a lifting mode. The invention has the following beneficial effects: the utility model provides a use two sets of driving wheel systems of horizontal and vertical two directions motions, carry out rigid connection with two pairs of wheels of respective wheelset and carry out the craspedodrome drive to the machine, use the novel drive mode that wheelset switching mechanism realized the turn, satisfy different functional type intelligent robot's different requirements.)

1. A drive wheel assembly for an intelligent robot, the drive wheel assembly comprising: the device comprises a first wheel set (1), a second wheel set (2) and a wheel set switching mechanism (3);

the first wheel set (1) comprises at least two first wheels (13), a first rotating shaft (14) and a first shaft sleeve (15), wherein the first wheels (13) are arranged on the first rotating shaft (14), and the first rotating shaft (14) is rotatably arranged on the first shaft sleeve (15);

the second wheel set (2) comprises at least two second wheels (23), a second rotating shaft (24) and a second shaft sleeve (25), wherein the second wheels (23) are arranged on the second rotating shaft (24), and the second rotating shaft (24) is rotatably arranged on the second shaft sleeve (25);

the driving set switching mechanism (3) is used for switching the first wheel set (1) and the second wheel set (2) in a lifting mode and comprises a lifting power device (31) and a lifting mechanism (32), the lifting mechanism (32) is connected with the first shaft sleeve (15) and the second shaft sleeve (25) respectively, the lifting power device (31) controls the lifting mechanism (32), when the first wheel set (1) ascends, the second wheel set (2) descends, and when the second wheel set (2) descends, the first wheel set (1) ascends.

2. Drive wheel assembly according to claim 1, characterized in that the first axis of rotation (15) and the second axis of rotation (25) are spatially vertical and the second axis of rotation (24) is closer to the ground than the first axis of rotation (14), the first wheel (13) having a larger diameter than the second wheel (23).

3. The drive wheel assembly as set forth in claim 2, wherein the elevating mechanism (32) includes: a first rack (321), a second rack (322), a gear (323);

the first rack (321) is arranged on the side of the first rotating shaft (14) and is vertical to the first rotating shaft, the second rack (322) is arranged on the side of the second rotating shaft (24) and is vertical to the second rotating shaft, the second rack (25) is fixed to the second rotating shaft, the first rack (321) is parallel to the second rack (322), the tooth tips (324) of the first rack (321) are opposite to the tooth tips (324) of the second rack (322), and the gear (323) is rotatably arranged between the first rack (321) and the second rack (322) and is meshed with the first rack (321) and the second rack (322).

4. The drive wheel assembly as set forth in claim 2, characterized in that the lifting frame (32) comprises: a first cam (325), a second cam (326), the number of the lifting power devices (31) is two;

the two lifting power devices (31) respectively drive a first cam (325) and a second cam (326), the first cam (325) is connected with the first shaft sleeve (15), and the second cam (326) is connected with the second shaft sleeve (25).

5. The drive wheel assembly according to claim 2, characterized in that the first wheel set (1) further comprises a first power means (12), and that a first microswitch (16) is provided inside the first wheel (13), the first microswitch (16) controlling the first power means (12);

the second wheel set (2) further comprises a second power device (22), a second microswitch is arranged on the inner side of the second wheel (23), and the second microswitch controls the second power device (22).

6. Drive wheel assembly according to claim 5, characterized in that said first wheel assembly (1) further comprises first elastic means (17), said first elastic means (17) being located inside any first wheel (13); the second wheel set (2) further comprises a second elastic device, which is located inside any one of the second wheels (23).

7. An intelligent robot characterized by comprising the drive wheel assembly of any one of claims 1 to 6.

8. An intelligent robot according to claim 7, characterized in that the intelligent robot (100) has auxiliary wheels (7) at the bottom.

9. The intelligent robot according to claim 8, wherein the intelligent robot (100) has a first accommodating structure (11) at the bottom for the first wheel (13) to extend and retract; a second containing structure (21) which can control the first wheel (23) to extend and retract.

10. A smart robot according to claim 9, characterized in that said smart robot (100) further comprises a visual sensing means (5).

Technical Field

The invention belongs to the field of intelligent robots, and particularly relates to a driving mode of an intelligent robot.

Background

Because the requirements of people on life convenience are continuously improved, intelligent robots are more and more popular with users in the world, and various types and functional intelligent robots such as sweeping robots, mowing robots and water and medicine spraying robots are also owned.

Most of the wheel-driven robots on the market can be classified into two-wheel drive or four-wheel drive. The two-wheel driven robot has relatively poor ground gripping capability and relatively poor obstacle crossing capability; if the driving wheel groups are in rigid connection, namely two wheels of the driving wheel groups are connected by using one wheel shaft, the speed and the steering directions of the two driving wheels are always the same, when reversing and turning are needed to be realized, a steering wheel group or a device needs to be arranged, the structure of the steering wheel group or the device is relatively complex, and the technical cost is also high; if the two wheels of the driving wheel set are driven independently, although the independent steering wheel set or device can be reduced by using the differential speed of the wheels to turn, the rigid connection is relatively complex, and the cost is correspondingly high. The four-wheel drive robot and the two-wheel drive robot have the same principle, and although the obstacle crossing capability is relatively good, the technical cost is still high, and meanwhile, the energy consumption is large.

The invention content is as follows:

in order to solve the technical problems in the background art, the technical scheme provided by the invention is as follows:

a drive wheel assembly for an intelligent robot comprising: the device comprises a first wheel set, a second wheel set and a wheel set switching mechanism;

the first wheel set comprises at least two first wheels, a first rotating shaft and a first shaft sleeve, wherein the first wheels are arranged on the first rotating shaft, and the first rotating shaft is rotatably arranged on the first shaft sleeve;

the second wheel set comprises at least two second wheels, a second rotating shaft and a second shaft sleeve, wherein the second wheels are installed on the second rotating shaft, and the second rotating shaft is rotatably installed on the second shaft sleeve;

the driving set switching mechanism is used for switching the first wheel set and the second wheel set in a lifting mode and comprises a lifting power device and a lifting mechanism, the lifting mechanism is connected with the first shaft sleeve and the second shaft sleeve respectively, the lifting power device controls the lifting mechanism, when the first wheel set ascends, the second wheel set descends, and when the second wheel set descends, the first wheel set ascends.

Further, in order to achieve the above switching function, in an optimized solution of this embodiment, the first rotation axis and the second rotation axis are vertical in space, and the second rotation axis is closer to the ground than the first rotation axis, and the diameter of the first wheel is larger than that of the second wheel.

Further, in order to implement the above switching function, in an optimized solution of this embodiment, the lifting mechanism includes: the gear comprises a first rack, a second rack and a gear;

the first rack is arranged on the side of the first rotating shaft, is vertical to the first rotating shaft and is fixed with the first shaft sleeve, the second rack is arranged on the side of the second rotating shaft, is vertical to the second rotating shaft and is fixed with the second shaft sleeve, the first rack and the second rack are parallel, the tooth tips of the first rack and the second rack are opposite, and the gear is rotatably arranged between the first rack and the second rack and is meshed with the first rack and the second rack.

Further, in order to implement the above switching function, in an optimized solution of this embodiment, the lifting framework includes: the lifting power device comprises a first cam and a second cam, wherein the number of the lifting power devices is two;

the two lifting power devices respectively drive a first cam and a second cam, the first cam is connected with the first shaft sleeve, and the second cam is connected with the second shaft sleeve.

Further, in order to avoid wasting energy when the first wheel or the second wheel rotates without contacting the ground, in an optimized scheme of the embodiment, the first wheel set further comprises a first power device, a first microswitch is arranged inside the first wheel, and the first microswitch controls the first power device;

the second wheel set further comprises a second power device, a second microswitch is arranged on the inner side of the second wheel, and the second microswitch controls the second power device.

Further, in order to make the switching between the first wheel set and the second wheel set more stable, in an optimized solution of this embodiment, the first wheel set further includes a first elastic device, and the first elastic device is located inside any one of the first wheels; the second wheel set further comprises a second elastic device, and the second elastic device is located on the inner side of any second wheel.

The invention also provides an intelligent robot which is characterized by comprising the driving wheel assembly.

Further, in order to ensure that the intelligent robot can operate smoothly, in an optimized scheme of the embodiment, an auxiliary wheel is arranged at the bottom of the intelligent robot.

Further, in order to ensure that the first wheel and the second wheel can function, in an optimized scheme of the embodiment, a first accommodating structure for the first wheel to extend and retract is arranged at the bottom of the intelligent robot; and the second accommodating structure can control the first wheel to stretch.

Further, in order to make the intelligent robot better avoid the obstacle, in an optimized solution of the embodiment, the intelligent robot further includes a visual sensing device.

The invention has the beneficial effects that: the utility model provides a use two sets of driving wheel systems of horizontal and vertical two directions motions, carry out rigid connection with two pairs of wheels of respective wheelset and carry out the craspedodrome drive to the machine, use the novel drive mode that wheelset switching mechanism realized the turn, satisfy different functional type intelligent robot's different requirements.

Description of the drawings:

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is an assembly view of a switching device for a driving wheel according to the present invention;

FIG. 2 is an enlarged schematic view of the lifting mechanism according to the first embodiment of the present invention;

FIG. 3 is an enlarged view of the switching mechanism of the wheel set of the present invention;

FIG. 4 is an enlarged view of the microswitch and elastic device assembly when the wheel set lands;

FIG. 5 is an enlarged view of the microswitch and resilient means assembly of the present invention when the wheel set is off the ground;

FIG. 6 is a circuit diagram of the micro switch for controlling the power on and off of the wheel set according to the present invention;

FIG. 7 is an enlarged view of a switching mechanism of a driving group according to a second embodiment of the present invention;

FIG. 8 is a bottom view of the intelligent robot of the present invention;

FIG. 9 is a top schematic view of the intelligent robot of the present invention;

FIG. 10 is a circuit diagram of the present invention for controlling the switching of the wheel sets.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. For convenience of explanation, the present embodiment uses directional terms such as left, right, inner, and outer, but this does not limit the scope of the present invention.

In a first embodiment exemplified in the present application, a drive wheel assembly as shown in fig. 1 to 6 is proposed.

As shown in fig. 1 and 4, the first wheel set 1 includes two first wheels 13, a first rotation shaft 14, and a first power device 12, the first wheels 13 are fixed on the first rotation shaft 14 and can rotate along with the rotation of the first rotation shaft 14, and the first power device 12 provides rotation power to the first rotation shaft 14.

As shown in fig. 1, the second wheel set 2 includes two second wheels 23, a second rotation shaft 24, and a second power device 22, the second wheels 23 are fixed on the second rotation shaft 24 and can rotate along with the rotation of the second rotation shaft 24, and the second power device 22 provides a rotation power to the second rotation shaft 24.

As shown in fig. 1, the wheel set switching mechanism 3 includes a lifting power device 31 and a lifting mechanism 32, as shown in fig. 2 and 3, the lifting mechanism 32 may be composed of a first rack 321, a second rack 322, and a gear 323, the first rack 321 and the second rack 322 are parallel, a tooth tip 324 of the first rack 321 is opposite to a tooth tip 324 of the second rack 322, the gear 323 is rotatably installed between the first rack 321 and the second rack 322 and is engaged with each other, the lifting power device 31 supplies power to the gear 323 to drive the gear 323 to move clockwise or counterclockwise.

The first wheel set 1 further includes a first sleeve 15, in this embodiment, the first sleeve 15 is of an outer and inner circular structure, the first rotating shaft 14 is rotatably mounted in the first sleeve 15, and the first sleeve 15 has a surface fixed to the first rack 321, and similarly, the second wheel set 2 further includes a second sleeve 25, which is also of an outer and inner circular structure, the second rotating shaft 24 is rotatably mounted in the second sleeve 25, and the second rotating shaft 25 has a surface fixed to the second rack 322.

When the gear 323 moves clockwise under the driving of the lifting power device 31, the gear 323 and the first rack 321 are in transmission to enable the first rack 321 to move upwards, so that the first rotating shaft 14 is upwards, and the first wheel 13 is upwards; meanwhile, the gear 323 and the second rack 322 are driven to move the second rack 322 downward, so that the second rotating shaft 24 is downward, and the second wheel 23 is downward, thereby completing the switching from the first wheel set 1 to the second wheel set 2. Similarly, when the gear 323 moves counterclockwise under the driving of the lifting power device 31, the switching from the second wheel set 2 to the first wheel set 1 is completed.

As shown in fig. 4 and 5, the first wheel set 1 further includes a first microswitch 16, the first microswitch 16 is located inside any first wheel 13, and the first microswitch 16 controls the first power device 12; similarly, (not shown) the second wheel set also comprises a second microswitch located inside any second wheel 23, which controls the second power means 22.

As shown in fig. 4 and 5, in order to make the whole switching process more smooth and reduce vibrations, the first wheel set 1 further comprises a first elastic means 17, the first elastic means 17 being located inside any first wheel 13, and likewise (not shown) the second wheel set 2 comprises a second elastic means, the second elastic means being located inside any second wheel 23.

As shown in fig. 4, when the first wheel 13 is switched to the working state, in the process of descending the ground, when the first wheel contacts the ground, the first microswitch 16 is triggered, the first elastic device 17 is stretched, the first power device 12 is powered on, the first rotating shaft 14 starts to rotate and drives the first wheel 13 to rotate, and the machine is driven to run; as shown in fig. 5, when the first wheel 13 is switched to the standby state, during the ascending process, since the first wheel is separated from the ground, the micro switch 16 is not triggered any more, the first elastic device 17 is squeezed, the first power device 12 is powered off, the first rotating shaft 14 stops rotating, and thus the first wheel 13 also stops rotating, so that the waste of electric energy can be effectively prevented. The operation and standby state switching of the second wheel 23 is the same as the first wheel 13, and will not be described herein. The micro switch can also be replaced by sensors such as infrared distance measurement and optical coupling.

As shown in fig. 6, a circuit diagram for switching two wheel sets is shown, after the operation switch 62 is closed, the power supply 63 supplies power to the whole machine, the controller 64 controls the switching of the two wheel sets, the resistor 61 is the resistance of the whole machine, the first power device 12 is controlled by the first microswitch 16, the second power device 22 is controlled by the second microswitch 26, when the machine is in normal straight line operation, one set of wheels contacts with the ground, and the other set of wheels is far away from the ground. The micro switch corresponding to the wheel group close to the ground is closed, and the wheel is in a running or runnable state. The micro switch corresponding to the wheel set far away from the ground is not closed, the circuit of the wheel set is disconnected, and the wheel is in a non-operational state.

In the second embodiment illustrated in the present application, as shown in fig. 7, the wheel set switching mechanism may further include two lifting power devices 31, the two lifting power devices 31 respectively control a first cam 325 and a second cam 326, the first cam 325 is connected to the first shaft sleeve 15, the lifting power device 31 drives the first cam 325 to perform a lifting motion, the first shaft sleeve 15 also performs a lifting motion, meanwhile, the second shaft sleeve 25 also performs a lifting motion along with the second cam 326 driven by the lifting power device 31, and a moving direction of the second shaft sleeve 25 is opposite to a moving direction of the first shaft sleeve 15, so as to realize switching between the first wheel set 1 and the second wheel set 2.

In the third embodiment listed in this application, as shown in fig. 8 and 9, in addition to all the features of the first embodiment, a smart robot 100 further includes 4 auxiliary wheels 7, a special function device 6, a first accommodating structure 11, and a second accommodating structure 21 at the bottom of the smart robot 100, and a visual sensing device 5 at the top of the smart robot 100.

The first receiving structure 11 at the bottom of the intelligent robot 100 is for the first wheel 13 to extend and contract, and similarly, the second receiving structure 21 is for the second wheel to extend and contract, and the receiving structure may be, but is not limited to, a through hole structure as shown in the figure.

Because the intelligent robot 100 is only driven by the first wheel set 1 or the second wheel set 2 alone, at most only one pair of wheels touch the ground when the robot is moving straight, in order to ensure that the robot can run stably, at least one auxiliary wheel 7 is added to the bottom of the robot to ensure the stable straight movement of the robot, and the auxiliary wheel 7 can be a universal wheel.

As shown in fig. 10, in the initial state, only one of the first wheel set 1 and the second wheel set 2 is in contact with the ground, 60 is a wheel set resistor, 67 is a first protection resistor, and 69 is a second protection resistor, when the wheel set switching mechanism 3 is operated, the breakpoint switch 68 is turned off, and at this time, the wheel set circuit in operation is turned off (the other one is also turned off before), the machine wheel set stops operating, the first control switch 65 is turned on, the lifting power device 31 operates, and the lifting mechanism 32 lifts. If the vision sensing device 5 detects a unidirectional obstacle, the intelligent robot 100 directly switches the wheel set, after the switching is completed, namely after the corresponding wheel falls to the ground, the breakpoint switch 68 is closed, the power supply of the wheel set is restored, and the machine wheel set continues to operate. If the vision sensing device 5 detects a multi-directional obstacle, the breakpoint switch 68 is turned off, the wheel set circuit is turned off, the machine wheel set stops operating, the two wheel sets simultaneously contact the ground, the second control switch 66 is turned on when the vision sensing device 5 detects that the two wheel sets contact the ground, the wheel set circuit is turned on, the wheel sets rotate, the first control switch 65 is turned off, the lifting power device 31 stops operating until the machine is out of trouble, the second control switch 66 is turned off, the first control switch 65 is turned on, and the wheel set switching mechanism 3 continues operating.

Compared with the prior art, the intelligent cleaning equipment provided by the embodiment of the invention can realize the installation and the disassembly of the cleaning component positioned at the bottom of the machine main body under the condition that the main body of the machine is not moved; avoid the user to need to spend great strength to go the upset machine and just can accomplish to dismantle and install the part that is located the machine bottom, also reduced the panel and scraped colored risk, avoid causing because of the upset and attached to the rubbish on the cleaning element and shake off, satisfy the user demand that the user makes things convenient for save time.

Those of ordinary skill in the art will understand that: the invention is not to be considered as limited to the specific embodiments thereof, but is to be understood as being modified in all respects, all changes and equivalents that come within the spirit and scope of the invention.