CN105686765B - Sweeping robot - Google Patents
Sweeping robot Download PDFInfo
- Publication number
- CN105686765B CN105686765B CN201610114750.0A CN201610114750A CN105686765B CN 105686765 B CN105686765 B CN 105686765B CN 201610114750 A CN201610114750 A CN 201610114750A CN 105686765 B CN105686765 B CN 105686765B
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- China
- Prior art keywords
- gear
- idler wheel
- motor
- transmission component
- sweeping robot
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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
-
- 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
-
- 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 kind of sweeping robots, the sweeping robot includes ontology, ontology is equipped with mutually independent multiple running gears, each running gear includes shell and sets drive wheel assemblies inside the shell at least partially, and the drive wheel assemblies of multiple running gears are mutually replaceable, each drive wheel assemblies include: transmission component, idler wheel, motor and encoder, and idler wheel is rotatably connected with transmission component around horizontal axis；For driving idler wheel to rotate, motor is opposite with transmission component to be connected fixedly and is sequentially connected by transmission component and idler wheel motor；Encoder is connected to the motor to control electrical motor gearshift.Sweeping robot according to the present invention, by the way that multiple drive wheel assemblies being replaced mutually are arranged, the versatility of drive wheel assemblies can be improved, make components sharing and the standardization of drive wheel assemblies, to improve the production efficiency and assembly efficiency of sweeping robot, production cost is reduced.
Description
Technical field
The present invention relates to cleaning appliance technical fields, more particularly, to a kind of sweeping robot.
Background technique
In the related technology, the walking movement of sweeping robot is real by the motor driven idler wheel rotation in drive wheel assemblies
It is existing.However due to the usual bilateral symmetry of drive wheel assemblies at left and right sides of sweeping robot, this results in the driving of the left and right sides
The structure of components in wheel assembly is different, to not only increase the die cost of part, also reduces sweeping robot
Production efficiency and assembly efficiency.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.Therefore, the present invention intends to propose one
Kind sweeping robot, the sweeping robot structure is simple, and sharing and the standardization of drive wheel assemblies may be implemented.
Sweeping robot according to the present invention, including ontology, the ontology are equipped with mutually independent multiple running gears,
The drive wheel assemblies that each running gear includes shell and is located in the shell at least partially, and multiple rows
The drive wheel assemblies of walking apparatus are mutually replaceable, and each drive wheel assemblies include: transmission component；Idler wheel, the idler wheel
Rotatably it is connected with the transmission component around horizontal axis, and the relative position of the idler wheel and the transmission component is fixed；
For driving the motor of the idler wheel rotation, the motor is opposite with the transmission component to be connected fixedly and by the transmission
Component and the idler wheel are sequentially connected；Encoder, the encoder are connected to control the electrical motor gearshift with the motor,
In, the open at its lower end of the shell, and the idler wheel stretches out the lower end of the shell.
Drive can be improved by the way that multiple drive wheel assemblies being replaced mutually are arranged in sweeping robot according to the present invention
The versatility of drive wheel assemblies makes components sharing and the standardization of drive wheel assemblies, to improve the production of sweeping robot
Efficiency and assembly efficiency reduce production cost.
In some embodiments of the invention, the running gear includes two symmetrically arranged on the left and the right, and described in two
The idler wheel of running gear is respectively adjacent to left margin and the right edge of the ontology.
In some embodiments of the invention, the transmission component is in the elongate in shape extended along the longitudinal direction, the electricity
Machine is fixedly connected on the rear end of the transmission component, and the idler wheel is rotatably connected to the front end of the transmission component, institute
The transmission component is protruded in front edge, upper edge and the lower edge for stating idler wheel.
In some embodiments of the invention, the width dimensions of the transmission component along the vertical direction gradually subtract from front to back
It is small.
In some embodiments of the invention, the front end of the transmission component is formed with wheel disc corresponding with the idler wheel,
The idler wheel and the wheel disc are positioned opposite.
In some embodiments of the invention, the axis of the motor is parallel with the axis of the idler wheel, and the motor
It is located at the same side of the transmission component with the idler wheel.
Further, plane pair of the transmission component about the axis of the axis and idler wheel by the motor
Claim.
In some embodiments of the invention, the outer surface of the transmission component is equipped with baffle, and the baffle is located at institute
It states between motor and the idler wheel.
In some embodiments of the invention, the drive wheel assemblies are equipped with mounting portion, and the mounting portion is about warp
Symmetrical two groups of plane for crossing the axis of the motor and the axis of the idler wheel, at least one set of mounting portion and the shell
It is connected.
In some embodiments of the invention, the transmission component includes shell and driving gear set, the transmission gear
Group is located in the shell, and the motor is opposite with the shell to be connected fixedly, and the idler wheel be connected with the shell and
Relative position is fixed, and the driving gear set is connected respectively with the motor shaft of the motor and the idler wheel to transmit power.
Further, the driving gear set includes: input gear, and the motor shaft of the input gear and the motor is same
Axis is affixed；Output gear, the output gear and the idler wheel are coaxially affixed；Intermediate gear, the intermediate gear include coaxial
And relatively-stationary first gear and second gear, the reference diameter of the first gear are greater than the indexing of the second gear
Circular diameter, the first gear and the input gear are sequentially connected, and the second gear and output gear transmission connect
It connects.
Further, the intermediate gear includes multiple, and the input gear is located at the upstream of multiple intermediate gears
And the output gear is located at the downstream of multiple intermediate gears, multiple intermediate gears are from upstream to downstream and successively connect
It connects, the second gear of an intermediate gear of the first gear of each intermediate gear with input gear or positioned at upstream is nibbled
It closes, and the first gear of an intermediate gear of the second gear of each intermediate gear with output gear or positioned at downstream is nibbled
It closes.
In some embodiments of the invention, the input gear, the output gear, the first gear and described
Two gears are helical gear.
In some embodiments of the invention, the input gear, the output gear, in the intermediate gear at least
A part is integrated injection molding.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the schematic diagram of the running gear of sweeping robot according to an embodiment of the present invention；
Fig. 2 is the explosive view of running gear shown in Fig. 1；
Fig. 3 is the schematic diagram of shell shown in Fig. 1；
Fig. 4 is the explosive view of shell shown in Fig. 3；
Fig. 5 is the schematic diagram of drive wheel assemblies shown in Fig. 2；
Fig. 6 is the schematic diagram of another angle of drive wheel assemblies shown in Fig. 5；
Fig. 7 is the schematic diagram of another angle of drive wheel assemblies shown in Fig. 5；
Fig. 8 is the explosive view of drive wheel assemblies shown in fig. 7；
Fig. 9 is the cross-sectional view of drive wheel assemblies shown in fig. 7；
Figure 10 is the schematic diagram of transmission component shown in Fig. 5；
Figure 11 is the schematic diagram of driving gear set shown in Figure 10.
Appended drawing reference:
Running gear 1000,
Shell 200,
Drive wheel assemblies 100,
Transmission component 1,
Shell 11, wheel disc 111, annular rib 1111,
Motor holding tank 112, baffle 113, mounting portion 114,
Driving gear set 12, input gear 121,
First intermediate gear 122, the second intermediate gear 123, third intermediate gear 124,
Output gear 125, gear shaft 126, axle portion 127, flange 1271,
Idler wheel 2, wheel hub 21, end plate 211, annular slab 212, sleeve 22,
Motor 3, motor shaft 31,
Encoder 4, screw 5.
Specific embodiment
Sweeping robot according to an embodiment of the present invention is described below with reference to Fig. 1-Figure 11.
As depicted in figs. 1 and 2, sweeping robot according to an embodiment of the present invention, including ontology, ontology are equipped with mutually solely
Vertical multiple running gears 1000, each running gear 1000 include that shell 200 and at least part are located in shell 200
Drive wheel assemblies 100, and the drive wheel assemblies 100 of multiple running gears 1000 are mutually replaceable, to improve drive wheel assemblies 100
Versatility, make the components more regulation and standardization of sweeping robot, at the same time it can also improve the life of sweeping robot
Efficiency and assembly efficiency are produced, production cost is reduced.
As shown in Figure 5 and Figure 6, drive wheel assemblies 100 include: transmission component 1, idler wheel 2, motor 3 and encoder 4.
Specifically, idler wheel 2 is rotatably connected with transmission component 1 around horizontal axis, and the phase of idler wheel 2 and transmission component 1
Position is fixed.Motor 3 and transmission component 1 are connect relatively fixedly, and motor 3 is connected by transmission component 1 and the transmission of idler wheel 2
It connects, motor 3 is for driving idler wheel 2 to rotate, and motor 3 can drive idler wheel 2 to rotate by transmission component 1 as a result, sweeps to realize
The walking of floor-washing robot is mobile.Encoder 4 is connected to control 3 speed change of motor with motor 3, to adjust the walking of sweeping robot
Speed.
Sweeping robot according to an embodiment of the present invention can by the way that multiple drive wheel assemblies 100 being replaced mutually are arranged
To improve the versatility of drive wheel assemblies 100, make components sharing and the standardization of drive wheel assemblies 100, is swept to improve
The production efficiency and assembly efficiency of floor-washing robot reduce production cost.
In one embodiment of the invention, as shown in Figure 5 and Figure 6, transmission component 1 can be in and extend along the longitudinal direction
Elongate in shape, motor 3 is fixedly connected on the rear end of transmission component 1, and idler wheel 2 is rotatably connected to the front end of transmission component 1.
It is possible thereby to keep the structure of drive wheel assemblies 100 more compact, reasonable.
Further, as shown in fig. 6, transmission component 1 is protruded in front edge, upper edge and the lower edge of idler wheel 2.By
This, can influence the rolling of idler wheel 2, so that the structure of drive wheel assemblies 100 is more reasonable to avoid transmission component 1.
In addition, drive wheel assemblies 100 can still stretch out transmission component 1 in the lower edge of 180 ° of overturning of rear roller 2.Cause
This, the left and right sides of sweeping robot can be arranged symmetrically the transmission component 1 in the present invention, and sweeping robot or so two
The transmission component 1 of side can be interchanged, to realize the standardization of transmission component 1, reduce the cost of sweeping robot, Er Qiefang
Just it safeguards.
Optionally, as shown in fig. 6, the width dimensions of transmission component 1 along the vertical direction are gradually reduced from front to back, that is,
It says, the width for the rear end of transmission component 1 being connected with motor 3 is less than the width for the front end being connected with idler wheel 2, it is possible thereby to save
Material keeps the structure of transmission component 1 more reasonable.
In one embodiment of the invention, as shown in figs, the front end of transmission component 1 could be formed with and roll
2 corresponding wheel discs 111 are taken turns, idler wheel 2 and wheel disc 111 are positioned opposite.It is possible thereby to be convenient for the installation of idler wheel 2, while can also mention
The reliability connected between high idler wheel 2 and transmission component 1.
Preferably, as shown in figs. 6 and 10, the shape in disk form of wheel disc 111 and protrude the forward position of transmission component 1, upper edge and
Lower edge, wheel disc 111 and idler wheel 2 are coaxial, and the radial dimension of wheel disc 111 is less than the radial dimension of idler wheel 2.Thus, it is possible to improve
The stability of power transmission between transmission component 1 and idler wheel 2, while wheel disc 111 can also be avoided to influence the rolling of idler wheel 2, make to be driven
The structure of component 1 is more reasonable.
In one embodiment of the invention, as shown in Figure 9 and Figure 10, idler wheel 2 may include wheel hub 21, and wheel hub 21 includes
End plate 211 and multiple annular slabs 212, multiple annular slabs 212 are located at side (such as end plate 211 shown in Fig. 9 of end plate 211
Upside) and the arranged for interval from inside to outside on end plate 211, wheel disc 111 be equipped with multiple annulars spaced apart from inside to outside
Rib 1111, multiple annular ribs 1111 staggeredly and are spaced from each other arrangement from inside to outside with multiple annular slabs 212.As a result, not only
Can be improved the intensity of wheel hub 21, extend the service life of idler wheel 2, can also improve connected between idler wheel 2 and wheel disc 111 can
By property.
In one embodiment of the invention, as shown in figs, electricity can be equipped on the outer surface of transmission component 1
Machine holding tank 112, at least part of motor 3 are contained in motor holding tank 112, it is possible thereby to which the positioning convenient for motor 3 is pacified
Dress, while the reliability connected between motor 3 and transmission component 1 can also be improved.
In one embodiment of the invention, as shown in figure 8, the axis of motor 3 is parallel with the axis of idler wheel 2, and motor 3
It is located at the same side (such as downside of transmission component 1 shown in Fig. 8) of transmission component 1 with idler wheel 2.It is possible thereby to make driving wheel group
The structure of part 100 is more compact, reasonable.
Further, as shown in Figure 10, plane pair of the transmission component 1 about the axis of the axis and idler wheel 2 by motor 3
Claim.Thus, it is possible to realize that the transmission component 1 between different driving wheel assembly 100 exchanges, the sharing and standard of components are realized
Change.
In one embodiment of the invention, as shown in figs, the outer surface of transmission component 1 is equipped with baffle
113, baffle 113 is between motor 3 and idler wheel 2.It is possible thereby to which idler wheel 2 is avoided to touch during rolling with motor 3
It hits, to improve the security reliability of transmission component 1.
Preferably, as shown in figure 5, can be equipped with mounting portion 114 in drive wheel assemblies 100, mounting portion 114 is about process
Symmetrical two groups of the plane of the axis of the axis and idler wheel 2 of motor 3, at least one set of mounting portion 114 is connected with shell 200.As a result,
By utilizing symmetrical mounting portion 114, same drive wheel assemblies 100 may be mounted at the symmetrical both sides of sweeping robot, from
And it realizes the drive wheel assemblies 100 between multiple running gears 1000 and exchanges.
In one embodiment of the invention, the speed regulation series of encoder 4 can be in the range of 40 grades to 60 grades.Thus
The speed of travel range of sweeping robot can be improved, to guarantee the speed of travel that sweeping robot is applicable under different function.
In one embodiment of the invention, as shown in figure 9, transmission component 1 may include shell 11 and driving gear set
12, driving gear set 12 is located in shell 11, and motor 3 and shell 11 are connect relatively fixedly, and idler wheel 2 be connected with shell 11 and
Relative position is fixed, and driving gear set 12 is connected respectively with the motor shaft 31 of motor 3 and idler wheel 2 to transmit power.In this way, electric
Kinetic energy is transferred to driving gear set 12 by arbor 31, and kinetic energy is transferred to idler wheel 2 again by driving gear set 12, to drive idler wheel 2 to revolve
Turn, to realize sweeping robot walking movement.
Further, as shown in figures 9 and 11, driving gear set 12 may include: input gear 121, output gear 125
With intermediate gear (such as the first intermediate gear 122, the second intermediate gear 123 shown in Figure 11 or third intermediate gear 124),
Input gear 121 and the motor shaft 31 of motor 3 are coaxial affixed；Output gear 125 is coaxial affixed with idler wheel 2；Intermediate gear includes
Coaxial and relatively-stationary first gear and second gear, the reference circle that the reference diameter of first gear is greater than second gear are straight
Diameter, first gear and input gear 121 are sequentially connected, and second gear and output gear 125 are sequentially connected.In this way, motor shaft
31 coaxial drive input gears 121 rotate, and kinetic energy is successively transferred to first gear and second gear by input gear 121, and is led to
It crosses second gear and passes to output gear 125, since the reference diameter of co-axially fixed first gear is greater than second gear
Reference diameter, therefore, the linear velocity of second gear are less than the linear velocity of first gear, and driving gear set 12 can will be electric as a result,
The revolving speed deceleration of arbor 31 is transferred to output gear 125.
Further, as shown in figure 11, intermediate gear may include multiple, and input gear 121 is located at multiple center tooths
The upstream of wheel and output gear 125 are located at the downstream of multiple intermediate gears, and multiple intermediate gears are from upstream to downstream (such as Figure 11
In direction from back to front) be sequentially connected, the first gear and input gear 121 of each intermediate gear or one positioned at upstream
The second gear of intermediate gear engages, and the second gear of each intermediate gear and output gear 125 or positioned at one of downstream
The first gear of intermediate gear engages.Here, upstream refers to: in the transmission path of kinetic energy, first passing through input gear 121, then pass through
Intermediate gear is crossed, output gear 125 is finally reached.In this way, the kinetic energy of motor shaft 31 by input gear 121 successively pass to it is more
The first gear and second gear of a intermediate gear, then pass to output gear 125 again, as a result, by the way that multiple centres are arranged
Gear can neatly adjust the reduction ratio of driving gear set 12.
Optionally, referring to Fig.1 1, intermediate gear includes at least three, thus, it is possible to further neatly adjust driving cog
The reduction ratio of wheel group 12, to be adapted to the speed of travel of sweeping robot.
Preferably, as shown in figure 11, input gear 121, output gear 125, first gear and second gear are helical teeth
Wheel, engagement of the helical gear in engagement process be good, stable drive, noise are small, it is possible thereby to improve the transmission of driving gear set 12
Overall performance.
Preferably, input gear 121, output gear 125, at least part in intermediate gear are integrated injection molding,
It is possible thereby to improve the reliability connected between input gear 121, output gear 125 and multiple intermediate gears, transmission group is improved
The service life of part 1.For example, the first gear and second gear of each intermediate gear can be with integrated injection moldings.
In one embodiment of the invention, as shown in FIG. 8 and 9, motor 3 and idler wheel 2 are located at the same side (example of shell 11
The downside of shell 11 as shown in Figure 8), and it is (such as shown in Fig. 8 outward away from the side of motor 3 and idler wheel 2 on shell 11
Upwardly direction) protrude the holding tank for being formed and accommodating driving gear set 12.It as a result, not only can be in order to the peace of driving gear set 12
Dress influences gear engagement at the same time it can also which driving gear set 12 to be sealed in shell 11 to avoid dust, impurity etc., thus
Guarantee 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, tooth
Wheel shaft 126 is pierced by shell 11 and is connected with idler wheel 2, so that kinetic energy is transferred to idler wheel 2 by gear shaft 126 by output gear 125, by
This, can connect in order to idler wheel 2 with the installation of output gear 125, while can also improve between idler wheel 2 and output gear 125
The reliability of connection.
Further, as shown in figure 9, idler wheel 2 is equipped with sleeve 22, the end of gear shaft 126 is (such as described in Fig. 9
The lower end of gear shaft 126) insertion sleeve 22.It is possible thereby to further increase connected between idler wheel 2 and output gear 125 it is reliable
Property.
Preferably, as shown in Figure 8 and Figure 9, gear shaft 126 can be connect with idler wheel 2 with screw, thus, it is possible to guaranteeing to roll
Under the premise of wheel 2 and 126 connection reliability of gear shaft, simplify the connection structure between idler wheel 2 and transmission component 1, improves assembly
Efficiency.
In one embodiment of the invention, as shown in figure 9, gear shaft 126 be located at output gear 125 side (such as
The downside of output gear 125 shown in Fig. 9), and the other side (such as the output gear shown in Fig. 9 of output gear 125
125 upside) be equipped with axle portion 127, axle portion 127 is inserted into output gear 125, gear shaft 126 and axle portion 127 respectively with shell 11
Upper opposite two side walls bearing connection, so that gear shaft 126, axle portion 127 and output gear 125 link together and can be around
Bearing central axis rotation.
Further, as shown in figure 9, the another side (such as upper surface of output shaft shown in Fig. 9) of gear shaft 126
It is equipped with the axis hole extended along axial (such as up and down direction shown in Fig. 9), and the opening of axis hole forms jagged, axle portion
The flange 1271 outwardly protruded is formed on 127 circumferential surface, one end of axle portion 127 is inserted into axis hole, and the cooperation of flange 1271 exists
In notch.Thus, it is possible to improve the reliability connecting between axle portion 127 and output shaft.
Below with reference to the sweeping robot of Fig. 1-Figure 11 description accord to a specific embodiment of that present invention.
Sweeping robot includes ontology, and ontology is equipped with two running gears 1000 symmetrically arranged on the left and the right, each walking
Device 1000 includes shell 200 and drive wheel assemblies 100.The drive wheel assemblies 100 of two running gears 1000 can be mutual
Replacement, that is to say, that the drive wheel assemblies 100 of left side running gear 1000 may be mounted on the running gear 1000 on right side,
The drive wheel assemblies 100 of the running gear 1000 on right side also may be mounted on the running gear 1000 in left side.Wherein, shell
200 open at its lower end, the idler wheel 2 of drive wheel assemblies 100 stretch out the lower end of shell 200.
Specifically, as shown in Fig. 2, drive wheel assemblies 100 include transmission component 1, idler wheel 2, motor 3 and encoder 4,
In, encoder 4 is connected with motor 3 and for controlling 3 speed change of motor, and motor 3 is connected by transmission component 1 with idler wheel 2 to drive
Idler wheel 2 rotates.Wherein, left margin and the right hand edge setting of two 2 adjacent bodies of idler wheel.
As shown in figures s-11, plane where whole 2 axis about 31 line of motor shaft and idler wheel of transmission component 1 is symmetrical.It passes
Dynamic component 1 includes shell 11 and driving gear set 12, and driving gear set 12 is located in shell 11, and driving gear set 12 includes defeated
Enter gear 121, output gear 125, the first intermediate gear 122, the second intermediate gear 123 and third intermediate gear 124.In each
Between gear include co-axially fixed first gear and second gear, and the reference diameter of first gear is greater than second gear
Reference diameter.Wherein, as shown in figure 11, the first gear 1221 of the first intermediate gear 122 is engaged with input gear 121, the
The second gear 1222 of one intermediate gear 122 is engaged with the first gear 1231 of the second intermediate gear 123, the second intermediate gear
123 second gear 1232 is engaged with the first gear 1241 of third intermediate gear 124, the second tooth of third intermediate gear 124
Wheel 1242 is engaged with output gear 125.Preferably, input gear 121, output gear 125, in the first intermediate gear 122, second
Between gear 123 and third intermediate gear 124 be helical gear.
As shown in figure 9, output gear 125 further comprises gear shaft 126 and axle portion 127, wherein gear shaft 126 it is upper
It is formed with axis hole on end face, the opening of axis hole forms jagged, and the flange outwardly protruded is formed on the circumferential surface of axle portion 127
1271, the lower end of axle portion 127 is inserted into axis hole, and the cooperation of flange 1271 is in notch.It is formed on the lower end surface of gear shaft 126
The blind hole shot suitable for screw 5.
As shown in Figure 10, the rear end of shell 11 is formed with motor holding tank 112, and motor 3 is installed in motor holding tank 112
It is interior, and the motor shaft 31 of motor 3 protrudes into shell 11 and coaxial affixed with the input gear 121 in shell 11.The front end of shell 11
It is formed with discoid wheel disc 111, is equipped at intervals with multiple annular ribs 1111 on wheel disc 111 from inside to outside.
As shown in figure 9, idler wheel 2 includes wheel hub 21, wheel hub 21 includes the end plate 211 concordant with 2 lower end surface of idler wheel and from end
Multiple annular slabs 212 that 211 upper surface of plate upwardly extends.The sleeve being inserted into suitable for gear shaft 126 is further provided on idler wheel 2
22, sleeve 22 is interior to be equipped with circle convex platform, during installing idler wheel 2, gear shaft 126 is inserted into sleeve 22, at this point, gear
The lower end surface of axis 126 is against on the upper surface of circle convex platform, multiple annular ribs 1111 and multiple annular slabs 212 it is inside and outside staggeredly and
It is spaced from each other, screw 5 is then sequentially passed through into circle convex platform from the bottom up again and protrudes into the blind hole of gear shaft 126, and screw
Head is against on the lower end surface of circle convex platform, and idler wheel 2 is threaded io gear shaft 126 to realize.
Further, shell 11 is equipped with about the symmetrical two groups of installations of plane where 2 axis of 31 line of motor shaft and idler wheel
Portion 114, the circumferential setting of 114 wound motor holding tank 112 of mounting portion.It is additionally provided on shell 11 between motor 3 and idler wheel 2
Arc block plate 113.
During drive wheel assemblies 100 work, motor 3 drives input gear 121 to rotate by motor shaft 31, input
Gear 121, which successively slows down kinetic energy, is transferred to the first intermediate gear 122, the second intermediate gear 123 and third intermediate gear 124,
Kinetic energy is passed to output gear 125 again by third intermediate gear 124, and output gear 125 drives idler wheel 2 to roll, and is swept to realize
The walking of floor-washing robot is mobile.
Sweeping robot according to an embodiment of the present invention, transmission component 1 are whole about 2 axis institute of 31 line of motor shaft and idler wheel
It is symmetrical in plane, it is possible thereby to realize the right and left mutually changing of drive wheel assemblies 100, it may be assumed that can will be located on the left of sweeping robot
Drive wheel assemblies 100 are installed to the right side of sweeping robot, and similarly, the drive wheel assemblies 100 on right side can also be installed to left side,
So as to improve the versatility of drive wheel assemblies 100, publicization and standardization of components are realized.At the same time it can also improve
Production efficiency and assembly efficiency reduce production cost.
In the description of the present invention, it is to be understood that, term " center ", " length ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "inner", "outside", " axial direction ", " radial direction ", " circumferential direction "
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limitation of the present invention.
In addition, without conflicting with each other, those skilled in the art can be by difference described in this specification
The feature of embodiment or example and different embodiments or examples is combined.
Claims (12)
1. a kind of sweeping robot, which is characterized in that including ontology, the ontology is equipped with mutually independent multiple walking dresses
It sets, the drive wheel assemblies that each running gear includes shell and is located in the shell at least partially, and multiple institutes
The drive wheel assemblies for stating running gear are mutually replaceable, and each drive wheel assemblies include:
Transmission component；
Idler wheel, the idler wheel are rotatably connected with the transmission component around horizontal axis, and the idler wheel and the transmission group
The relative position of part is fixed；
For driving the motor of the idler wheel rotation, the motor is opposite with the transmission component to be connected fixedly and by described
Transmission component and the idler wheel are sequentially connected；
Encoder, the encoder are connected to control the electrical motor gearshift with the motor,
Wherein, the open at its lower end of the shell, and the idler wheel stretches out the lower end of the shell；
The axis of the motor is parallel with the axis of the idler wheel, and the motor and the idler wheel are located at the transmission component
The same side；
The drive wheel assemblies are equipped with mounting portion, and the mounting portion is about the axis and the idler wheel by the motor
Symmetrical two groups of the plane of axis, at least one set of mounting portion is connected with the shell.
2. sweeping robot according to claim 1, which is characterized in that the running gear includes symmetrically arranged on the left and the right
Two, and the idler wheel of two running gears is respectively adjacent to left margin and the right edge of the ontology.
3. sweeping robot according to claim 1, which is characterized in that the transmission component is in extend along the longitudinal direction
Elongate in shape, the motor is fixedly connected on the rear end of the transmission component, and the idler wheel is rotatably connected to the biography
The transmission component is protruded in the front end of dynamic component, front edge, upper edge and the lower edge of the idler wheel.
4. sweeping robot according to claim 3, which is characterized in that the broad-ruler of the transmission component along the vertical direction
It is very little to be gradually reduced from front to back.
5. sweeping robot according to claim 3, which is characterized in that the front end of the transmission component be formed with it is described
The corresponding wheel disc of idler wheel, the idler wheel and the wheel disc are positioned opposite.
6. sweeping robot according to claim 1, which is characterized in that the transmission component is about by the motor
The plane of the axis of axis and the idler wheel is symmetrical.
7. sweeping robot according to claim 1, which is characterized in that the outer surface of the transmission component is equipped with gear
Piece, the baffle is between the motor and the idler wheel.
8. sweeping robot according to any one of claims 1-5, which is characterized in that the transmission component includes shell
And driving gear set, the driving gear set are located in the shell, the motor is opposite with the shell to be connected fixedly, and
The idler wheel is connected with the shell and relative position is fixed, the driving gear set respectively with the motor shaft of the motor and
The idler wheel is connected to transmit power.
9. sweeping robot according to claim 8, which is characterized in that the driving gear set includes:
The motor shaft of input gear, the input gear and the motor is coaxially affixed；
Output gear, the output gear and the idler wheel are coaxially affixed；
Intermediate gear, the intermediate gear include coaxial and relatively-stationary first gear and second gear, the first gear
Reference diameter be greater than the reference diameter of the second gear, the first gear and the input gear are sequentially connected,
And the second gear and the output gear are sequentially connected.
10. sweeping robot according to claim 9, which is characterized in that the intermediate gear includes multiple, the input
Gear is located at the upstream of multiple intermediate gears and the output gear is located at the downstream of multiple intermediate gears, Duo Gesuo
It states intermediate gear and is from upstream to downstream and be sequentially connected, the first gear and input gear of each intermediate gear or be located at upstream
An intermediate gear second gear engagement, and the second gear of each intermediate gear and output gear or be located at downstream
An intermediate gear first gear engagement.
11. sweeping robot according to claim 9, which is characterized in that the input gear, the output gear, institute
Stating first gear and the second gear is helical gear.
12. sweeping robot according to claim 9, which is characterized in that the input gear, the output gear, institute
At least part stated in intermediate gear is integrated injection molding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610114750.0A CN105686765B (en) | 2016-03-01 | 2016-03-01 | Sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610114750.0A CN105686765B (en) | 2016-03-01 | 2016-03-01 | Sweeping robot |
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| Publication Number | Publication Date |
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| CN105686765A CN105686765A (en) | 2016-06-22 |
| CN105686765B true CN105686765B (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610114750.0A Expired - Fee Related CN105686765B (en) | 2016-03-01 | 2016-03-01 | Sweeping robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018007909A (en) * | 2016-07-14 | 2018-01-18 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
| 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 |
| 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 |
| CN111227731B (en) * | 2020-03-20 | 2024-04-19 | 广东金力智能传动技术股份有限公司 | Robot integrated walking module and control method thereof |
| CN113729565B (en) * | 2021-08-09 | 2022-11-04 | 小窝智能(北京)科技有限公司 | Intensive motion wheelset |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205625824U (en) * | 2016-03-01 | 2016-10-12 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004267236A (en) * | 2003-03-05 | 2004-09-30 | Hitachi Ltd | Self-traveling type vacuum cleaner and charging device used for the same |
| TWM250637U (en) * | 2004-01-16 | 2004-11-21 | Cheng-Shiang Yan | Transmission device |
| US20080302586A1 (en) * | 2007-06-06 | 2008-12-11 | Jason Yan | Wheel set for robot cleaner |
| KR101688143B1 (en) * | 2010-06-07 | 2016-12-20 | 엘지전자 주식회사 | A robot cleaner |
| CN203328628U (en) * | 2013-04-20 | 2013-12-11 | 深圳市华欣智能电器有限公司 | Rolling wheel component of intelligent dust collector |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205625824U (en) * | 2016-03-01 | 2016-10-12 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
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