CN105686765A - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN105686765A CN105686765A CN201610114750.0A CN201610114750A CN105686765A CN 105686765 A CN105686765 A CN 105686765A CN 201610114750 A CN201610114750 A CN 201610114750A CN 105686765 A CN105686765 A CN 105686765A
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- Prior art keywords
- gear
- roller
- transmission component
- sweeping robot
- motor
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Classifications
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a floor sweeping robot. The floor sweeping robot comprises a body. The body is provided with multiple independent walking devices. Each walking device comprises a shell and a driving wheel assembly, wherein at least part of the driving wheel assembly is arranged in the shell. The driving wheel assemblies of the walking devices can be replaced with one another. Each driving wheel assembly comprises a drive assembly, a roller, a motor and an encoder, wherein the roller is rotationally connected with the drive assembly around the horizontal axis. The motors are used for driving the rollers to rotate, and the motors are connected with the drive assemblies in a relatively fixed mode and are in drive connection with the rollers through the drive assemblies. The encoders are connected with the motors to control the motors to change speed. According to the floor sweeping robot, the drive wheel assemblies replaced with one another are arranged, the universality of the drive wheel assemblies can be improved, the parts of the drive wheel assemblies are shared and standardized, and therefore the production efficiency and the assembly efficiency of the floor sweeping robot are improved, and the production cost is reduced.
Description
Technical field
The present invention relates to cleaning appliance technical field, especially relate to a kind of sweeping robot。
Background technology
In correlation technique, the walking movement of sweeping robot is to be rotated by the motor driving rolls in drive wheel assemblies to realize。Drive wheel assemblies yet with the sweeping robot left and right sides is generally symmetrical, this results in the structure difference of the parts in the drive wheel assemblies of the left and right sides, thus not only increasing the die cost of part, also reduce production efficiency and the efficiency of assembling of sweeping robot。
Summary of the invention
It is contemplated that at least solve one of technical problem of existence in prior art。For this, the invention reside in a kind of sweeping robot of proposition, described sweeping robot simple in construction, it is possible to achieve the sharing of drive wheel assemblies and standardization。
Sweeping robot according to the present invention, including body, described body is provided with separate multiple running gears, each described running gear all includes shell and the drive wheel assemblies being located at least partially in described shell, and the drive wheel assemblies of multiple described running gear is mutually replaceable, each described drive wheel assemblies all includes: transmission component；Roller, described roller is rotatably connected with described transmission component around horizontal axis, and the relative position of described roller and described transmission component is fixed；For the motor driving described roller to rotate, described motor is connected with described transmission component and is in transmission connection by described transmission component and described roller with being relatively fixed；Encoder, described encoder is connected to control described electrical motor gearshift with described motor, wherein, the open at its lower end of described shell, and described roller stretches out the lower end of described shell。
Sweeping robot according to the present invention, by arranging multiple drive wheel assemblies that can mutually replace, it is possible to improve the versatility of drive wheel assemblies, make parts sharing and the standardization of drive wheel assemblies, thus improving production efficiency and the efficiency of assembling of sweeping robot, reduce production cost。
In some embodiments of the invention, described running gear includes two be symmetrically arranged, and the described roller of two described running gears is respectively adjacent to left margin and the edge, the right of described body。
In some embodiments of the invention, described transmission component is in the elongate in shape extended along the longitudinal direction, described motor is fixedly connected on the rear end of described transmission component, and described roller is rotatably connected to the front end of described transmission component, described transmission component is all protruded along, upper edge and lower edge in the front of described roller。
In some embodiments of the invention, described transmission component width dimensions along the vertical direction is gradually reduced from front to back。
In some embodiments of the invention, the front end of described transmission component is formed with the wheel disc answered with described pair of rollers, and described roller is positioned opposite with described wheel disc。
In some embodiments of the invention, the axis of described motor is parallel with the axis of described roller, and described motor and described roller are positioned at the same side of described transmission component。
Further, described transmission component is about the plane symmetry of the axis through the axis of described motor and described roller。
In some embodiments of the invention, the outer surface of described transmission component is provided with catch, and described catch is between described motor and described roller。
In some embodiments of the invention, described drive wheel assemblies is provided with installation portion, and described installation portion is two groups of the plane symmetry about the axis through the axis of described motor and described roller, and installation portion described in least one set is connected with described shell。
In some embodiments of the invention, described transmission component includes housing and driving gear set, described driving gear set is located in described housing, described motor is connected with described housing with being relatively fixed, and described roller is connected with described housing and relative position is fixed, described driving gear set is connected to transmit power with the motor shaft of described motor and described roller respectively。
Further, described driving gear set includes: input gear, and described input gear is coaxially affixed with the motor shaft of described motor；Output gear, described output gear is coaxially affixed with described roller；Idler gear, described idler gear includes coaxial and relatively-stationary first gear and the second gear, the reference diameter of described first gear is more than the reference diameter of described second gear, described first gear and described input gear are in transmission connection, and described second gear is in transmission connection with described output gear。
Further, described idler gear includes multiple, described input gear is positioned at the upstream of multiple described idler gear and described output gear is positioned at the downstream of multiple described idler gear, multiple described idler gears are from upstream to downstream and are sequentially connected with, first gear of each described idler gear engages with the second gear of input gear or the idler gear being positioned at upstream, and the second gear of each described idler gear engages with the first gear of output gear or the idler gear being positioned at downstream。
In some embodiments of the invention, described input gear, described output gear, described first gear and described second gear are helical gear。
In some embodiments of the invention, described input gear, described output gear, described idler gear is integrated injection mo(u)lding at least partially。
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention。
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the running gear of sweeping robot according to embodiments of the present invention；
Fig. 2 is the explosive view of the running gear shown in Fig. 1；
Fig. 3 is the schematic diagram of the shell shown in Fig. 1；
Fig. 4 is the explosive view of the shell shown in Fig. 3；
Fig. 5 is the schematic diagram of the drive wheel assemblies shown in Fig. 2；
Fig. 6 is the schematic diagram of another angle of the drive wheel assemblies shown in Fig. 5；
Fig. 7 is the schematic diagram of another angle of the drive wheel assemblies shown in Fig. 5；
Fig. 8 is the explosive view of the drive wheel assemblies shown in Fig. 7；
Fig. 9 is the sectional view of the drive wheel assemblies shown in Fig. 7；
Figure 10 is the schematic diagram of the transmission component shown in Fig. 5；
Figure 11 is the schematic diagram of the driving gear set shown in Figure 10。
Accompanying drawing labelling:
Running gear 1000,
Shell 200,
Drive wheel assemblies 100,
Transmission component 1,
Housing 11, wheel disc 111, annular rib 1111,
Motor holding tank 112, catch 113, installation portion 114,
Driving gear set 12, input gear 121,
First idler gear 122, the second idler gear 123, the 3rd idler gear 124,
Output gear 125, gear shaft 126, axle portion 127, flange 1271,
Roller 2, wheel hub 21, end plate 211, annular slab 212, sleeve 22,
Motor 3, motor shaft 31,
Encoder 4, screw 5。
Detailed description of the invention
Below with reference to Fig. 1-Figure 11, sweeping robot according to embodiments of the present invention is described。
As depicted in figs. 1 and 2, sweeping robot according to embodiments of the present invention, including body, body is provided with separate multiple running gears 1000, each running gear 1000 all includes shell 200 and the drive wheel assemblies 100 being located at least partially in shell 200, and the drive wheel assemblies 100 of multiple running gear 1000 is mutually replaceable, to improve the versatility of drive wheel assemblies 100, make the parts regulation and standardization more of sweeping robot, simultaneously, production efficiency and the efficiency of assembling of sweeping robot can also be improved, reduce production cost。
As shown in Figure 5 and Figure 6, drive wheel assemblies 100 includes: transmission component 1, roller 2, motor 3 and encoder 4。
Specifically, roller 2 is rotatably connected with transmission component 1 around horizontal axis, and the relative position of roller 2 and transmission component 1 is fixed。Motor 3 is connected with transmission component 1 with being relatively fixed, and motor 3 is in transmission connection by transmission component 1 and roller 2, and motor 3 rotates for driving rolls 2, and thus, motor 3 can pass through transmission component 1 driving rolls 2 and rotate, thus the walking realizing sweeping robot is moved。Encoder 4 is connected with motor 3 to control motor 3 speed change, thus regulating the speed of travel of sweeping robot。
Sweeping robot according to embodiments of the present invention, by arranging multiple drive wheel assemblies 100 that can mutually replace, the versatility of drive wheel assemblies 100 can be improved, make parts sharing and the standardization of drive wheel assemblies 100, thus improving production efficiency and the efficiency of assembling of sweeping robot, reduce production cost。
In one embodiment of the invention, as shown in Figure 5 and Figure 6, transmission component 1 can be the elongate in shape extended along the longitudinal direction, and motor 3 is fixedly connected on the rear end of transmission component 1, and roller 2 is rotatably connected to the front end of transmission component 1。The structure that thus can make drive wheel assemblies 100 is compacter, reasonable。
Further, as shown in Figure 6, transmission component 1 is all protruded in the edge, front of roller 2, upper edge and lower edge。Thus, it is possible to avoid transmission component 1 to affect the rolling of roller 2 so that the structure of drive wheel assemblies 100 is more reasonable。
It addition, drive wheel assemblies 100 still can stretch out transmission component 1 on the lower edge of the rear roller 2 of upset 180 °。Therefore, the left and right sides of sweeping robot can be arranged symmetrically the transmission component 1 in the present invention, and the transmission component 1 of the sweeping robot left and right sides can exchange, it is achieved thereby that the standardization of transmission component 1, reduce the cost of sweeping robot, and maintain easily。
Alternatively, as shown in Figure 6, transmission component 1 width dimensions along the vertical direction is gradually reduced from front to back, that is, the width of the rear end being connected with motor 3 of transmission component 1, less than the width of the front end being connected with roller 2, thus can save material, and the structure making transmission component 1 is more reasonable。
In one embodiment of the invention, as shown in figs, the front end of transmission component 1 could be formed with the wheel disc 111 corresponding with roller 2, and roller 2 is positioned opposite with wheel disc 111。Thus so that the installation of roller 2, can also improve the reliability being connected between roller 2 with transmission component 1 simultaneously。
Preferably, as shown in figs. 6 and 10, wheel disc 111 shape in disk form also protrudes the forward position of transmission component 1, upper edge and lower edge, and wheel disc 111 is coaxial with roller 2, and the radial dimension of wheel disc 111 is less than the radial dimension of roller 2。Thus, it is possible to improve the stability of power transmission between transmission component 1 and roller 2, wheel disc 111 can also being avoided to affect the rolling of roller 2, the structure making transmission component 1 is more reasonable simultaneously。
In one embodiment of the invention, as shown in Figure 9 and Figure 10, roller 2 can include wheel hub 21, wheel hub 21 includes end plate 211 and multiple annular slab 212, multiple annular slabs 212 are located at the side (such as the upside of the end plate 211 shown in Fig. 9) of end plate 211 and interval is arranged from inside to outside on end plate 211, wheel disc 111 is provided with spaced apart multiple annular rib 1111 from inside to outside, and multiple annular ribs 1111 are staggered from inside to outside with multiple annular slabs 212 and are spaced from each other layout。Thus, it is possible not only to improve the intensity of wheel hub 21, extends the service life of roller 2, it is also possible to improve the reliability being connected between roller 2 and wheel disc 111。
In one embodiment of the invention, as shown in figs, the outer surface of transmission component 1 can be provided with motor holding tank 112, motor 3 be contained in motor holding tank 112 at least partially, thus so that the location and installation of motor 3, can also improve the reliability being connected between motor 3 with transmission component 1 simultaneously。
In one embodiment of the invention, as shown in Figure 8, the axis of motor 3 is parallel with the axis of roller 2, and motor 3 and roller 2 are positioned at the same side (such as the downside of transmission component 1 shown in Fig. 8) of transmission component 1。The structure that thus can make drive wheel assemblies 100 is compacter, reasonable。
Further, as shown in Figure 10, transmission component 1 is about the plane symmetry of the axis through the axis of motor 3 and roller 2。Thus, it is possible to the transmission component 1 realized between different driving wheel assembly 100 exchanges, it is achieved the sharing of parts and standardization。
In one embodiment of the invention, as shown in figs, the outer surface of transmission component 1 is provided with catch 113, and catch 113 is between motor 3 and roller 2。Roller 2 thus can be avoided to collide with motor 3 in the process rolled, thus improving the security reliability of transmission component 1。
Preferably, as it is shown in figure 5, can be provided with installation portion 114 in drive wheel assemblies 100, installation portion 114 is two groups of the plane symmetry about the axis through the axis of motor 3 and roller 2, and least one set installation portion 114 is connected with shell 200。Thus, by utilizing the installation portion 114 of symmetry, same drive wheel assemblies 100 may be mounted at the symmetrical both sides of sweeping robot, thus the drive wheel assemblies 100 realized between multiple running gear 1000 is exchanged。
In one embodiment of the invention, the speed governing progression of encoder 4 can in the scope of 40 grades to 60 grades。Thus can improve the speed of travel scope of sweeping robot, to ensure the speed of travel that sweeping robot is suitable under difference in functionality。
In one embodiment of the invention, as shown in Figure 9, transmission component 1 can include housing 11 and driving gear set 12, driving gear set 12 is located in housing 11, motor 3 is connected with housing 11 with being relatively fixed, and roller 2 is connected with housing 11 and relative position is fixed, driving gear set 12 is connected to transmit power with the motor shaft 31 of motor 3 and roller 2 respectively。So, kinetic energy is transferred to driving gear set 12 by motor shaft 31, and kinetic energy is transferred to roller 2 by driving gear set 12 again, rotates with driving rolls 2, thus it is mobile to realize sweeping robot walking。
Further, as shown in figures 9 and 11, driving gear set 12 may include that input gear 121, output gear 125 and idler gear (such as the first idler gear the 122, second idler gear 123 or the 3rd idler gear 124 shown in Figure 11), and input gear 121 is coaxially affixed with the motor shaft 31 of motor 3；Output gear 125 is coaxially affixed with roller 2；Idler gear includes coaxial and relatively-stationary first gear and the second gear, and the reference diameter of the first gear is more than the reference diameter of the second gear, and the first gear and input gear 121 are in transmission connection, and the second gear is in transmission connection with output gear 125。So, motor shaft 31 coaxially drives input gear 121 to rotate, kinetic energy is transferred to the first gear and the second gear by input gear 121 successively, and pass to output gear 125 by the second gear, owing to the reference diameter of co-axially fixed first gear is more than the reference diameter of the second gear, therefore, the linear velocity of the second gear is less than the linear velocity of the first gear, thus, the rotating speed deceleration of motor shaft 31 can be transferred to output gear 125 by driving gear set 12。
Further, as shown in figure 11, idler gear can include multiple, input gear 121 is positioned at the upstream of multiple idler gear and output gear 125 is positioned at the downstream of multiple idler gear, multiple idler gears are from upstream to downstream (in such as Figure 11 direction) from back to front and are sequentially connected with, first gear of each idler gear engages with the second gear of input gear 121 or the idler gear being positioned at upstream, and the second gear of each idler gear engages with the first gear of output gear 125 or the idler gear being positioned at downstream。Here, upstream refers to: in the bang path of kinetic energy, first passes through input gear 121, then through idler gear, finally reaches output gear 125。So, the kinetic energy of motor shaft 31 passes to the first gear and second gear of multiple idler gear successively by input gear 121, then passes to output gear 125 again, thus, by arranging multiple idler gear, it is possible to adjust the speed reducing ratio of driving gear set 12 neatly。
Alternatively, with reference to Figure 11, idler gear includes at least three, thus, it is possible to adjust the speed reducing ratio of driving gear set 12 further neatly, with the speed of travel of adaptive sweeping robot。
Preferably, as shown in figure 11, input gear 121, output gear the 125, first gear and the second gear are helical gear, and helical gear engagement in engagement process is good, stable drive, noise are little, thus can improve the overall performance of driving gear set 12 transmission。
Preferably, input gear 121, output gear 125, idler gear be integrated injection mo(u)lding at least partially, thus can improve the reliability connected between input gear 121, output gear 125 and multiple idler gear, improve the service life of transmission component 1。Such as, the first gear of each idler gear and the second gear all can integrated injection moldings。
In one embodiment of the invention, as shown in FIG. 8 and 9, motor 3 and roller 2 are located at the same side (such as the downside of the housing 11 shown in Fig. 8) of housing 11, and the side outwards (such as the upwardly direction shown in Fig. 8) deviating from motor 3 and roller 2 on housing 11 is protruded and formed the holding tank holding driving gear set 12。Thus, it is possible not only to be easy to the installation of driving gear set 12, at the same time it can also be sealed in housing 11 by driving gear set 12, to avoid dust, impurity etc. to affect gear engagement, thus ensureing the service life of driving gear set 12。
In one embodiment of the invention, as Figure 8-Figure 10, output gear 125 can have gear shaft 126, gear shaft 126 passes housing 11 and is connected with roller 2, so that kinetic energy is transferred to roller 2 by gear shaft 126 by output gear 125, it is connected with the installation of output gear 125 thus, it is possible to be easy to roller 2, the reliability being connected between roller 2 with output gear 125 can also be improved simultaneously。
Further, as it is shown in figure 9, roller 2 is provided with sleeve 22, sleeve 22 is inserted in the end (such as the lower end of the gear shaft 126 described in Fig. 9) of gear shaft 126。Thus can improve the reliability being connected between roller 2 with output gear 125 further。
Preferably, as shown in Figure 8 and Figure 9, gear shaft 126 can be connected by screw with roller 2, thus, it is possible under ensureing the roller 2 premise with gear shaft 126 connection reliability, simplify the attachment structure between roller 2 and transmission component 1, improves efficiency of assembling。
In one embodiment of the invention, as shown in Figure 9, gear shaft 126 is located at the side (such as the downside of the output gear 125 shown in Fig. 9) of output gear 125, and the opposite side of output gear 125 (such as the upside of the output gear 125 shown in Fig. 9) is provided with axle portion 127, axle portion 127 inserts in output gear 125, two sidewall bearings that gear shaft 126 is relative with on housing 11 respectively with axle portion 127 connect, so that gear shaft 126, axle portion 127 and output gear 125 link together and can rotate around bearing central axis。
Further, as shown in Figure 9, the another side (such as the upper surface of the output shaft shown in Fig. 9) of gear shaft 126 is provided with vertically the axis hole that (such as the above-below direction shown in Fig. 9) extends, and the opening part of axis hole is formed with breach, the side face in axle portion 127 is formed outwardly flange 1271, the one end in axle portion 127 is inserted in axis hole, and flange 1271 coordinates in breach。Thus, it is possible to the reliability of the connection improved between axle portion 127 and output shaft。
Below with reference to Fig. 1-Figure 11, the sweeping robot according to one specific embodiment of the present invention is described。
Sweeping robot includes body, and body is provided with two running gears 1000 being symmetrically arranged, and each running gear 1000 all includes shell 200 and drive wheel assemblies 100。The drive wheel assemblies 100 of two running gears 1000 can be replaced mutually, that is, the drive wheel assemblies 100 of left row walking apparatus 1000 may be mounted on the running gear 1000 on right side, and the drive wheel assemblies 100 of the running gear 1000 on right side can also be arranged on the running gear 1000 in left side。Wherein, the open at its lower end of shell 200, the roller 2 of drive wheel assemblies 100 stretches out the lower end of shell 200。
Specifically, as in figure 2 it is shown, drive wheel assemblies 100 includes transmission component 1, roller 2, motor 3 and encoder 4, wherein, encoder 4 is connected with motor 3 and is used for controlling motor 3 speed change, and motor 3 is connected with roller 2 by transmission component 1 and rotates with driving rolls 2。Wherein, the left margin of two roller 2 adjacent body and right hand edge are arranged。
As shown in figures s-11, transmission component 1 entirety is about motor shaft 31 line and roller 2 axis place plane symmetry。Transmission component 1 includes housing 11 and driving gear set 12, and driving gear set 12 is located in housing 11, and driving gear set 12 includes input gear 121, output gear the 125, first idler gear the 122, second idler gear 123 and the 3rd idler gear 124。Each idler gear all includes co-axially fixed first gear and the second gear, and the reference diameter of the first gear is more than the reference diameter of the second gear。Wherein, as shown in figure 11, first gear 1221 of the first idler gear 122 engages with input gear 121, second gear 1222 of the first idler gear 122 engages with the first gear 1231 of the second idler gear 123, second gear 1232 of the second idler gear 123 engages with the first gear 1241 of the 3rd idler gear 124, and the second gear 1242 of the 3rd idler gear 124 engages with output gear 125。Preferably, input gear 121, output gear the 125, first idler gear the 122, second idler gear 123 and the 3rd idler gear 124 are helical gear。
As shown in Figure 9, output gear 125 farther includes gear shaft 126 and axle portion 127, wherein, the upper surface of gear shaft 126 is formed with axis hole, the opening part of axis hole is formed with breach, being formed with outwardly flange 1271 on the side face in axle portion 127, the lower end in axle portion 127 is inserted in axis hole, and flange 1271 coordinates in breach。The lower surface of gear shaft 126 is formed and is suitable to the blind hole that screw 5 is shot。
As shown in Figure 10, the rear end of housing 11 is formed with motor holding tank 112, and motor 3 is installed in motor holding tank 112, and the motor shaft 31 of motor 3 stretches into housing 11 and coaxially affixed with the input gear 121 in housing 11。The front end of housing 11 is formed with discoid wheel disc 111, and wheel disc 111 is interval with multiple annular rib 1111 from inside to outside。
As it is shown in figure 9, roller 2 includes wheel hub 21, wheel hub 21 include the end plate 211 concordant with roller 2 lower surface and from end plate 211 upper surface upwardly extending multiple annular slabs 212。Roller 2 is further provided be suitable to the sleeve 22 that gear shaft 126 inserts, annulus boss it is provided with in sleeve 22, in the process installing roller 2, gear shaft 126 is inserted in sleeve 22, now, the lower surface of gear shaft 126 is against on the upper surface of annulus boss, interlock inside and outside multiple annular ribs 1111 and multiple annular slab 212 and be spaced from each other, then in screw 5 being sequentially passed through from the bottom up annulus boss again and stretching into the blind hole of gear shaft 126, and head of screw is against on the lower surface of annulus boss, thus realizing roller 2 is threaded io gear shaft 126。
Further, housing 11 is provided with two groups of installation portions 114 about motor shaft 31 line and roller 2 axis place plane symmetry, installation portion 114 wound motor holding tank 112 circumferentially disposed。Housing 11 is additionally provided with the arc block plate 113 between motor 3 and roller 2。
In the process of drive wheel assemblies 100 work, motor 3 drives input gear 121 to rotate by motor shaft 31, kinetic energy is slowed down and is transferred to the first idler gear the 122, second idler gear 123 and the 3rd idler gear 124 by input gear 121 successively, kinetic energy is passed to output gear 125 by the 3rd idler gear 124 again, output gear 125 drives roller 2 to roll, thus the walking realizing sweeping robot is moved。
Sweeping robot according to embodiments of the present invention, transmission component 1 entirety is about motor shaft 31 line and roller 2 axis place plane symmetry, thus can realize the right and left mutually changing of drive wheel assemblies 100, that is: the drive wheel assemblies 100 on the left of sweeping robot can be will be located in and be mounted to the right side of sweeping robot, in like manner, the drive wheel assemblies 100 on right side can also be mounted to left side, such that it is able to improve the versatility of drive wheel assemblies 100, it is achieved publicization of parts and standardization。At the same time it can also be improve production efficiency and efficiency of assembling, reduce production cost。
In describing the invention, it will be appreciated that, term " " center ", " length ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " interior ", " outward ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention。
Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art。
Claims (14)
1. a sweeping robot, it is characterized in that, including body, described body is provided with separate multiple running gears, each described running gear all includes shell and the drive wheel assemblies being located at least partially in described shell, and the drive wheel assemblies of multiple described running gear is mutually replaceable, each described drive wheel assemblies all includes:
Transmission component；
Roller, described roller is rotatably connected with described transmission component around horizontal axis, and the relative position of described roller and described transmission component is fixed；
For the motor driving described roller to rotate, described motor is connected with described transmission component and is in transmission connection by described transmission component and described roller with being relatively fixed；
Encoder, described encoder is connected to control described electrical motor gearshift with described motor,
Wherein, the open at its lower end of described shell, and described roller stretches out the lower end of described shell。
2. sweeping robot according to claim 1, it is characterised in that described running gear includes two be symmetrically arranged, and the described roller of two described running gears is respectively adjacent to left margin and the edge, the right of described body。
3. sweeping robot according to claim 1, it is characterized in that, described transmission component is in the elongate in shape extended along the longitudinal direction, described motor is fixedly connected on the rear end of described transmission component, and described roller is rotatably connected to the front end of described transmission component, described transmission component is all protruded along, upper edge and lower edge in the front of described roller。
4. sweeping robot according to claim 3, it is characterised in that described transmission component width dimensions along the vertical direction is gradually reduced from front to back。
5. sweeping robot according to claim 3, it is characterised in that the front end of described transmission component is formed with the wheel disc answered with described pair of rollers, described roller is positioned opposite with described wheel disc。
6. the sweeping robot according to any one of claim 1-5, it is characterised in that the axis of described motor is parallel with the axis of described roller, and described motor and described roller be positioned at the same side of described transmission component。
7. sweeping robot according to claim 6, it is characterised in that described transmission component is about the plane symmetry of the axis through the axis of described motor and described roller。
8. sweeping robot according to claim 6, it is characterised in that the outer surface of described transmission component is provided with catch, and described catch is between described motor and described roller。
9. sweeping robot according to claim 6, it is characterized in that, described drive wheel assemblies is provided with installation portion, and described installation portion is two groups of the plane symmetry about the axis through the axis of described motor and described roller, and installation portion described in least one set is connected with described shell。
10. the sweeping robot according to any one of claim 1-5, it is characterized in that, described transmission component includes housing and driving gear set, described driving gear set is located in described housing, described motor is connected with described housing with being relatively fixed, and described roller is connected with described housing and relative position is fixed, described driving gear set is connected to transmit power with the motor shaft of described motor and described roller respectively。
11. sweeping robot according to claim 10, it is characterised in that described driving gear set includes:
Input gear, described input gear is coaxially affixed with the motor shaft of described motor；
Output gear, described output gear is coaxially affixed with described roller；
Idler gear, described idler gear includes coaxial and relatively-stationary first gear and the second gear, the reference diameter of described first gear is more than the reference diameter of described second gear, described first gear and described input gear are in transmission connection, and described second gear is in transmission connection with described output gear。
12. sweeping robot according to claim 11, it is characterized in that, described idler gear includes multiple, described input gear is positioned at the upstream of multiple described idler gear and described output gear is positioned at the downstream of multiple described idler gear, multiple described idler gears are from upstream to downstream and are sequentially connected with, first gear of each described idler gear engages with the second gear of input gear or the idler gear being positioned at upstream, and the second gear of each described idler gear engages with the first gear of output gear or the idler gear being positioned at downstream。
13. sweeping robot according to claim 11, it is characterised in that described input gear, described output gear, described first gear and described second gear are helical gear。
14. sweeping robot according to claim 11, it is characterised in that be integrated injection mo(u)lding at least partially in described input gear, described output gear, described idler gear。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610114750.0A CN105686765B (en) | 2016-03-01 | 2016-03-01 | Sweeping robot |
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| CN105686765B CN105686765B (en) | 2018-12-21 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109008831A (en) * | 2018-09-30 | 2018-12-18 | 江苏美的清洁电器股份有限公司 | The roller gearing of sweeping robot and sweeping robot with it |
| TWI667985B (en) * | 2016-07-14 | 2019-08-11 | 日商日立空調 家用電器股份有限公司 | Self-propelled electric sweeper |
| CN111227731A (en) * | 2020-03-20 | 2020-06-05 | 广东金力变速科技股份有限公司 | Robot integrated walking module and control method thereof |
| CN111374615A (en) * | 2020-03-20 | 2020-07-07 | 广东金力变速科技股份有限公司 | Installation method of robot integrated walking module |
| CN113729565A (en) * | 2021-08-09 | 2021-12-03 | 北京联结你我科技有限公司 | Intensive motion wheelset |
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| TWI667985B (en) * | 2016-07-14 | 2019-08-11 | 日商日立空調 家用電器股份有限公司 | Self-propelled electric sweeper |
| CN109008831A (en) * | 2018-09-30 | 2018-12-18 | 江苏美的清洁电器股份有限公司 | The roller gearing of sweeping robot and sweeping robot with it |
| CN111227731A (en) * | 2020-03-20 | 2020-06-05 | 广东金力变速科技股份有限公司 | Robot integrated walking module and control method thereof |
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| CN113729565A (en) * | 2021-08-09 | 2021-12-03 | 北京联结你我科技有限公司 | Intensive motion wheelset |
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|---|---|
| CN105686765B (en) | 2018-12-21 |
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