A crawler-type walking mechanism of a sweeping robot structurally comprises crawler-type walking structures arranged on the two sides of the sweeping robot, a sensing system of the sweeping robot, a control system of the sweeping robot and a power supply system of the sweeping robot. The crawler-type walking structure on each side comprises a front edge auxiliary wheel, a middle loading wheel anda rear driving wheel which are sequentially installed in a wheel train supporting frame, and the three wheels form the walking mechanism through a crawler belt. The sensing system of the sweeping robot adopts an ultrasonic distance measuring sensor and six ultrasonic anti-falling sensors, the distance measuring sensor is installed in the middle of the front end, and the six anti-falling sensors are installed on the lower portions of the left side and the right side of the front end respectively. The defects of high cost and weak obstacle crossing ability are overcome, so that the stability, the economy, the flexibility and the universality of the sweeping robot are greatly improved. The crawler-type walking mechanism is an expanding technical innovation of the prior art, and has good popularization and use values.
一种扫地机器人履带式行走机构,其结构包括扫地机器人两侧设置的履带式行走结构、扫地机器人的感知系统、扫地机器人的控制系统以及扫地机器人的供电系统组成,每一侧履带式行走结构包括轮系支撑架中依次安装的前沿辅助轮,中间负重轮,后部驱动轮,通过履带将三轮组成行走机构;扫地机器人的感知系统采用一个超声波测距传感器和六个超声波防跌落传感器,其中测距传感器安装在前端中间部位,六个防跌落传感器分别安装在前端左右两侧位置下部;本发明克服了成本高、越障能力弱,使扫地机器人稳定性、经济性、灵活性、通用性得到大幅度的提升;是对现有技术一次扩展性的技术创新,具有很好的推广和使用价值。
Crawler-type walking mechanism of sweeping robot
一种扫地机器人履带式行走机构
2020-10-13
Patent
Elektronische Ressource
Chinesisch
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