CN110464252A - Sweeping robot - Google Patents
Sweeping robot Download PDFInfo
- Publication number
- CN110464252A CN110464252A CN201910695472.6A CN201910695472A CN110464252A CN 110464252 A CN110464252 A CN 110464252A CN 201910695472 A CN201910695472 A CN 201910695472A CN 110464252 A CN110464252 A CN 110464252A
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- CN
- China
- Prior art keywords
- shaft
- main body
- foreign steamer
- actuator
- driving
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A47L11/24—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
- A47L11/4072—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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- Manipulator (AREA)
Abstract
The present invention relates to a kind of sweeping robots, comprising: the side of main body is arranged in main body and driving wheel, driving wheel, and for driving bulk motion, driving wheel includes: inner hub connection member, connect with main body, is internally provided with actuator and driving member；And foreign steamer hub assembly, the outside of inner hub connection member is set, and it is rotatablely connected with inner hub connection member, one end of driving member and actuator are sequentially connected, the other end and foreign steamer hub assembly are sequentially connected, torsion is transferred to foreign steamer hub assembly by driving member by actuator, enables foreign steamer hub assembly relative to inner hub connection member and body rotation, and then drives robot motion.Sweeping robot of the invention, by the way that driving wheel to be arranged in the side of main body, so that actuator will not occupy the space of main body, and by the way that actuator and driving member are arranged in driving wheel, so that robot overall structure is more compact, overall volume is smaller.
Description
Technical field
The present invention relates to robot device fields, more particularly to a kind of sweeping robot.
Background technique
Robot is increasingly common in current life, such as sweeping robot, and row is realized under the driving of driving wheel
Function is walked, and relies on certain artificial intelligence, completes floor-cleaning work in the room automatically.General swept using brush is inhaled with negative pressure
Subsidiary formula formula first sucks ground sundries in the dirt box of itself, to complete ground cleaning.Generally, in order to improve machine
Drive wheel design can be generally wide wheel line by the obstacle climbing ability of people and the traveling ability under intricately condition environment, but wide
The driving wheel volume for taking turns line is larger, and the driving wheel of traditional robot is arranged in body interior and lower section, so that the body of main body
Product is larger, and entire robot device seems too fat to move.And if by driving wheel setting portion outside the main body, between driving wheel and main body often
It needs that machine driving is arranged, this will increase structure complexity, while connection between the two can have unstability, and be easy to produce
Raw dust accretions, influence transmission efficiency.
Summary of the invention
Based on this, it is necessary to which both the simplifications being arranged for volume microminiaturization and the transmission mechanism of traditional robot are difficult to
The problem of balance, provides a kind of sweeping robot.
Sweeping robot of the present invention, comprising: the side of the main body is arranged in main body and driving wheel, the driving wheel, uses
In driving the bulk motion, the driving wheel includes: inner hub connection member, connect with the main body, is internally provided with actuator
And driving member；And foreign steamer hub assembly, the outside of the inner hub connection member is set, and rotates and connect with the inner hub connection member
It connects, one end of the driving member and actuator are sequentially connected, and the other end and the foreign steamer hub assembly are sequentially connected.
In one embodiment, the inner hub connection member includes bracket, and wheel shaft, the actuator are provided on the bracket
It is arranged in the bracket with driving member, the center of the foreign steamer hub assembly offers first plugged for the wheel shaft
Axis hole, the foreign steamer hub assembly are equipped with the driven member being sequentially connected with the driving member.
In one embodiment, the foreign steamer hub assembly further includes bearing, and foreign steamer hub assembly center is to the bracket
First boss is extended to form, the first shaft hole is set to the first boss, and the bearing is arranged in the first shaft hole,
After the wheel shaft is inserted into the first shaft hole, the bearing is set in the outside of the wheel shaft, and the driven member is driven tooth
Wheel, the driven gear fixing sleeve are set to the outside of the first boss, the driven gear central axis and the outer wheel hub group
The first shaft hole of part is coaxial.
In one embodiment, the actuator includes scroll bar, and the driving member includes intermeshing turbine and output
Gear, the scroll bar are engaged with turbine, and the output gear is engaged with the driven gear.
In one embodiment, the bracket is the first tubular structure with the first bottom plate, first tubular structure
Inside forms accommodating space, and the accommodating space is for accommodating the actuator and the driving member, in first bottom plate
The heart is positioned against the first tubular structure internal stretch protrusion, to form second boss in the inside of first bottom plate, and
Recess is formed simultaneously on the outside of the first bottom plate, the driven gear is located in the recess, and the second boss, which is equipped with, to be lacked
Mouthful, the output gear is engaged with driven gear in indentation, there.
In one embodiment, the inner hub connection member is provided with shaft, the main body on the end face of the main body
On be provided with the second axis hole, the shaft can be matched with the second axis hole, so that the driving wheel is connected to the side of main body.
In one embodiment, after the shaft of the driving wheel is inserted into second axis hole, in the shaft and/or master
Locating part is additionally provided on body, to prevent the driving wheel to be separated with the main body.
In one embodiment, it is provided with flange in the shaft, after the shaft is inserted into the second axis hole, in shaft
It is additionally provided with the first clip, first clip is arranged between flange and inner cover, for preventing driving wheel and main body to be separated.
In one embodiment, control panel is provided in the main body, the shaft is interior to offer first along axis direction
Through-hole, the actuator lead to power supply line and/or data line, and the power supply line and/or data line can pass through described first
Through-hole is connect with the control panel, so that the control panel and the actuator are electrically connected.
In one embodiment, the foreign steamer hub assembly includes the second tubular structure with the second bottom plate, and described second
Bottom plate and the second tubular structure surround the accommodating cavity of accommodating inner hub connection member, and the first shaft hole is provided with second bottom plate
Center, the second tubular structure outside package wheel skin.
In one embodiment, the inner hub connection member further includes fixing piece, after the wheel shaft passes through the first shaft hole
Protruding end is formed, the fixing piece is fixedly installed on the protruding end, the wheel shaft is held in the first shaft hole.
Sweeping robot of the present invention, has the beneficial effect that
Sweeping robot of the present invention, by the way that driving wheel to be arranged in the outside of main body, so that actuator will not occupy main body
Space, in addition, the present invention by rationally be arranged driving wheel internal structure, make full use of the space in driving wheel, driving
Setting actuator and driving member in wheel are also simultaneously so that the driving wheel of robot of the present invention is not only the appearance member of robot
Functor, main body is interior not to have to setting actuator and driving member, reduces the volume of main body, so that robot of the invention is whole
Structure is more compact, and overall volume is smaller.
Detailed description of the invention
Fig. 1 is the overall structure diagram of robot in one embodiment.
Fig. 2 is the disassemblying structure schematic diagram of the main component of driving wheel in one embodiment.
Fig. 3 is the disassemblying structure schematic diagram of the main component of robot in one embodiment.
Fig. 4 is the attachment structure schematic diagram of driving wheel and main body in one embodiment.
Fig. 5 is the structural schematic diagram in one embodiment between inner hub connection member and foreign steamer hub assembly.
Fig. 6 is the three-dimensional knot after the inner hub connection member of hiding inner cover in one embodiment is assembled together with foreign steamer hub assembly
Structure schematic diagram.
Fig. 7 is the top view of driving wheel in Fig. 6.
Fig. 8 is partial sectional view of the bracket in Fig. 7 at Section A-A in one embodiment.
Fig. 9 is partial sectional view of one embodiment China and foreign countries hub unit in Fig. 7 at Section A-A.
Figure 10 is the structural schematic diagram after the foreign steamer hub assembly in bracket and Fig. 9 in Fig. 8 is assembled together.
Figure 11 is cross-sectional view of the driving wheel at section B-B in Fig. 7.
Figure 12 is the configuration schematic diagram of driving wheel in one embodiment.
Appended drawing reference:
Main body 10, organism top case 11, body lower cover 12, the second axis hole 13, the first clip 14, the second clip 15；Driving wheel
20；Inner hub connection member 300, actuator 310, scroll bar 311；Driving member 320, turbine 321, the first turbine 322, first gear 323,
Output gear 324, the first output gear 325, the second output gear 326；Inner cover 330, shaft 331, first through hole 332, flange
333；Bracket 340, the first bottom plate 341, second boss 342, recess 343, notch 344, partition 345, the first space 346, second
Space 347, the first tubular structure 348；Wheel shaft 350, the second through-hole 351, protruding end 352；Visit component 360 in side；Outer cover 370；Gu
Determine part 380；Foreign steamer hub assembly 400, the second bottom plate 410, first shaft hole 420, bearing 430, driven gear 440, the second tubular knot
Structure 450, first boss 460.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein "inner", "outside", "left", "right" and
Similar statement for illustrative purposes only, is not meant to be the only embodiment.
Sweeping robot of the present invention, as depicted in figs. 1 and 2, Fig. 1 are the overall structure diagram of robot, and Fig. 2 is machine
The structural schematic diagram of the driving wheel 20 of people.
It will be noted from fig. 1 that robot includes main body 10 and driving wheel 20, the side of main body 10 is arranged in driving wheel 20
Side, for driving main body 10 to move；From fig. 2 it can be seen that driving wheel 20 includes inner hub connection member 300 and foreign steamer hub assembly
400, wherein inner hub connection member 300 is connect with main body 10, is internally provided with actuator 310 and driving member 320；Foreign steamer hub assembly
400 are arranged in the outside of inner hub connection member 300, and are rotatablely connected with inner hub connection member 300, one end of driving member 320 and drive
Moving part 310 is sequentially connected, and the other end and foreign steamer hub assembly 400 are sequentially connected, and actuator 310 is passed torsion by driving member 320
It is defeated to arrive foreign steamer hub assembly 400, foreign steamer hub assembly 400 is rotated relative to inner hub connection member 300 and main body 10, and then drive
Mobile robot movement.In addition, it is necessary to explanation, in the embodiment shown in fig. 1, robot include two driving wheels 20, point
Not Wei Yu main body 10 both sides external, it is to be understood that in order to improve robot operation stability, can also be in main body 10
Lower section support wheel (not shown) is set, the principle of one side, the support wheel and robot both sides external are constituted according to 3 points
Driving wheel 20 enable to robot stabilized walking on the ground.
In one embodiment, as shown in Fig. 2, inner hub connection member 300 includes bracket 340, combined setting with bracket 340
Inner cover 330, and the wheel shaft 350 of 340 center of bracket is set, inner cover 330 with main body 10 for connecting.Further,
As shown in Figures 2 and 3, the inner cover 330 of driving wheel 20 is provided with shaft 331 on the end face of main body 10, as shown in figure 3, main
Body includes organism top case 11 and body lower cover 12, after organism top case 11 and body lower cover 12 are combined together, in corresponding position
It is capable of forming the second axis hole 13, for matching with shaft 331, so that driving wheel 20 is connected to the outside of main body 10.In addition, being
Driving wheel 20 is prevented to be separated with main body 10, as shown in figure 4, after the shaft 331 of driving wheel 20 is inserted into second axis hole 13, In
The first clip 14 and the second clip 15 are additionally provided in shaft 331, for shaft 331 to be fixed on body lower cover 12, wherein
Be additionally provided with flange 333 close to one end of inner cover 330 in shaft 331, the setting of the first clip 14 flange 333 and inner cover 330 it
Between, for preventing driving wheel 20 to be separated with main body 10, the second clip 15 be arranged in the one end of shaft 331 far from inner cover 330 with
Between body lower cover 12, it is used for fixed rotating shaft 331, improves the stability that driving wheel 20 is connect with body rotation.It is understood that
It is, it, in other embodiments, can also be in shaft 331 in addition to the first clip 14 and the second clip 15 are arranged in shaft 331
And/or other locating parts are set in main body, for shaft 331 to be fixed on main body, driving wheel 20 is prevented to be separated with main body.
In addition, actuator 310 and driving member 320 are arranged in bracket 340 as shown in Fig. 2, Fig. 5, Fig. 6 and Figure 11, branch
The center of frame 340 is provided with wheel shaft 350, and foreign steamer hub assembly 400 includes the second tubular structure with the second bottom plate 410
450, the second bottom plate 410 and the second tubular structure 450 surround the accommodating cavity for accommodating inner hub connection member, the center of the second bottom plate 410
Position offers first shaft hole 420, the outside package wheel skin of the second tubular structure 450, and the center of the second bottom plate 410 is towards bracket
340 extend to form first boss 460, and first shaft hole 420 is set to first boss 460, is fixedly installed axis in first shaft hole 420
430 are held, when inner hub connection member 300 and foreign steamer hub assembly 400 are assembled together, as shown in figure 9, wheel shaft 350 is inserted into first axle
In hole 420, and bearing 430 is set in the outside of wheel shaft 350, so that foreign steamer hub assembly 400 and the rotation of inner hub connection member 300 connect
It connects, the outside of first boss 460 is fixedly installed driven member, and torsion is transferred to driven by actuator 310 by driving member 320
Part, driven member and then drive foreign steamer hub assembly 400 are rotated relative to inner hub connection member 300.
Further, as shown in figure 5, actuator 310 is specially motor, the output end of actuator 310 includes scroll bar 311,
Driving member 320 includes intermeshing turbine 321 and output gear 324, and scroll bar 311 engages with turbine 321, enables motor
Torsion is transferred to output gear 324 by scroll bar 311 and turbine 321, the driven member on foreign steamer hub assembly 400 includes driven tooth
Wheel 440,440 fixing sleeve of driven gear are set to the outside of first boss 460,440 central axis of driven gear and foreign steamer hub assembly
First shaft hole 420 is coaxial, and output gear 324 is engaged with driven gear 440, and torsion is transferred to by output gear 324
Driven gear 440, and then driven gear 440 drives foreign steamer hub assembly 400 to rotate relative to inner hub connection member 300.From Fig. 5 also
It can be seen that turbine 321 includes the first turbine 322 rotated coaxially and first gear 323, output gear 324 includes coaxial turns
Dynamic the first output gear 325 and the second output gear 326, scroll bar 311 are engaged with the first turbine 322, first gear 323 and
The engagement of one output gear 325, the first turbine 322 are driven by scroll bar 311, and first gear 323 coaxially turns with the first turbine 322
It is dynamic, and then it is able to drive the rotation of the first output gear 325, the second output gear 326 coaxially turns with the first output gear 325
It is dynamic, and then it is able to drive the rotation of driven gear 440.
Further, as shown in Fig. 2, Fig. 5 and Figure 11, bracket 340 is the first tubular structure with the first bottom plate 341
348, inner cover 330 is connect with the space in closed supports 340 with the free end of the first tubular structure 348, in the first bottom plate 341
The heart be positioned against inner cover 330 extend protrusion so that the first bottom plate 341 close to inner cover 330 side (i.e. the first bottom plate 341
Inside) and far from inner cover 330 side (i.e. the outside of the first bottom plate 341) be respectively formed with second boss 342 and recess 343,
The driven gear 440 and bearing 430 of foreign steamer hub assembly 400 are located in recess 343, and actuator 310 and driving member 320 are located at inner cover
330 and first between bottom plate 341, open up jagged 344 in second boss 342, as shown in Fig. 6-Figure 11, the second output gear
326 engage at notch 344 with driven gear 440.Fig. 6 is the inner hub connection member 300 and foreign steamer hub assembly for hiding inner cover 330
400 be assembled together after schematic perspective view, Fig. 7 be Fig. 6 in driving wheel 20 top view, Fig. 8 and Fig. 9 are respectively bracket
340 and partial sectional view of the foreign steamer hub assembly 400 in Fig. 7 at Section A-A, Figure 10 be in bracket 340 and Fig. 9 in Fig. 8
Foreign steamer hub assembly 400 be assembled together after structural schematic diagram, Figure 11 be Fig. 7 in cross-sectional view of the driving wheel 20 at section B-B,
As can see from Figure 10, after bracket 340 and foreign steamer hub assembly 400 are assembled together, the driven gear of foreign steamer hub assembly 400
440 can expose outside to come from notch 344, and then can engage with the second output gear 326.As can see from Figure 11, it drives
Torsion is transmitted to the driven gear 440 of foreign steamer hub assembly 400 by moving part 310 at notch 344 by the second output gear 326,
It is provided with bearing 430 between wheel shaft 350 in the driven gear 440 and bracket 340 of foreign steamer hub assembly 400, therefore, in actuator
310 and driving member 320 under the action of, driven gear 440 is able to drive foreign steamer hub assembly 400 relative to inner hub connection member 300
Rotation.
Further, inner hub connection member 300 further includes power supply module (not shown), for providing electric power for robot
It supports；As shown in Figure 5 and Figure 6, partition 345 is additionally provided in bracket 340, the space in bracket 340 is divided by partition 345
One space 346 and second space 347, the first space 346 is for accommodating the actuator 310 and driving member 320, second space
347 for accommodating power supply module.Actuator 310 and power supply module are electrically connected, and power supply module is used to provide electricity for actuator 310
Power input.In one embodiment, it is provided with control panel (not shown) in main body 10, is opened in shaft 331 along axis direction
Equipped with first through hole 332, as shown in figure 3, power supply module leads to power supply line and/or data line, power supply line and/or data line energy
It is enough to be connect across first through hole 332 with control panel, so that control panel and power supply module are electrically connected.In one embodiment, it drives
Moving part is electrically connected also by first through hole 332 and control panel, and is worked under the control of control panel.
Further, the detonation configuration of driving wheel 20 is as shown in figure 12, can see from Figure 11 and Figure 12, inner wheel hub group
Part 300 further includes that component 360 is visited on side, is used for the distance between sniffing robot and outer barrie object, and wheel shaft 350 passes through first axle
Hole 420 simultaneously forms protruding end 352 from the second bottom plate 410 far from the direction extension protrusion of bracket 340, and side is visited component 360 and is connected to
On protruding end 352.Further, the second through-hole 351 is provided in the axial direction in wheel shaft 350, for interting power supply line and/or number
According to line, so that component 360 is visited on side and control panel is electrically connected.Since in machine man-hour, only foreign steamer hub assembly 400 is turning
Dynamic, bracket 340 and wheel shaft 350 in inner hub connection member 300 not can rotate, and therefore, side spy component 360 are connected to wheel shaft 350
Protruding end 352 on, can be improved side visit component 360 detection accuracy.
In addition, in Figure 11 it can further be seen that when by side spy component 360 be connected on the protruding end 352 of wheel shaft 350 with
Afterwards, fixing piece 380 is additionally provided on protruding end 352, for side spy component 360 to be fixed on protruding end 352, while can also
Enough so that wheel shaft 350 is held in first shaft hole 420.In a specific embodiment, as shown in figure 11, the protrusion of wheel shaft 350
External screw thread is additionally provided on end 352, fixing piece 380 is nut, when the protruding end 352 that side spy component 360 is connected to wheel shaft 350
After upper, nut is tightened on the external screw thread of protruding end 352, so that side spy component 360 is fixed on protruding end 352
On, while it is held in wheel shaft 350 in first shaft hole 420.
In one embodiment, as shown in Fig. 2, Figure 11 and Figure 12, inner hub connection member 300 further includes outer cover 370, from outside
It covers and visits component 360 in side, it can be seen that, the setting of outer cover 370 visits component 360 far from second on side from Fig. 2, Figure 11 and Figure 12
On the one side of bottom plate 410.It is understood that in the second side of the bottom plate 410 far from main body 10 of outer hub unit 400,
Other than component 360 is visited not with the rotation of foreign steamer hub assembly 400 in side, across the wheel shaft of 400 second bottom plate 410 of foreign steamer hub assembly
350 protruding end 352 is not also rotated with foreign steamer hub assembly 400, and therefore, in other embodiments, outer cover 370 can also be arranged in
On the protruding end 352 of wheel shaft 350.
Sweeping robot in above-described embodiment, by the way that driving wheel to be arranged in the outside of main body, so that actuator will not account for
With the space of main body, in addition, the present invention makes full use of the sky in driving wheel by the way that actuator and driving member are arranged in driving wheel
Between, so that the driving wheel of robot of the present invention is not only the appearance member of robot, while being also functor, does not have to setting in main body
Actuator and driving member reduce the volume of main body, so that robot architecture of the invention is more compact, overall volume is more
It is small.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of sweeping robot characterized by comprising
The side of the main body is arranged in main body and driving wheel, the driving wheel, for driving the bulk motion, the driving
Wheel includes:
Inner hub connection member connect with the main body, is internally provided with actuator and driving member；And
Foreign steamer hub assembly is arranged in the outside of the inner hub connection member, and is rotatablely connected with the inner hub connection member, the biography
One end of moving part and actuator are sequentially connected, and the other end and the foreign steamer hub assembly are sequentially connected.
2. sweeping robot according to claim 1, which is characterized in that the inner hub connection member includes bracket, the branch
Wheel shaft is provided on frame, the actuator and driving member are arranged in the bracket, the center of the foreign steamer hub assembly
The first shaft hole plugged for the wheel shaft is offered, the foreign steamer hub assembly is driven equipped with being sequentially connected with the driving member
Part.
3. sweeping robot according to claim 2, which is characterized in that the foreign steamer hub assembly further includes bearing, described
The center of foreign steamer hub assembly extends to form first boss towards the bracket, and the first shaft hole is set to the first boss,
The bearing is arranged in the first shaft hole, and after the wheel shaft is inserted into the first shaft hole, the bearing is set in described
The outside of wheel shaft, the driven member are driven gear, and the driven gear fixing sleeve is set to the outside of the first boss, described
Driven gear central axis and the first shaft hole of the foreign steamer hub assembly are coaxial.
4. sweeping robot according to claim 3, which is characterized in that the actuator includes scroll bar, the driving member
Including intermeshing turbine and output gear, the scroll bar is engaged with turbine, and the output gear is nibbled with the driven gear
It closes.
5. sweeping robot according to claim 4, which is characterized in that the bracket is first with the first bottom plate
Shape structure, forms accommodating space inside first tubular structure, and the accommodating space is for accommodating the actuator and described
The center of driving member, first bottom plate is protruded towards the first tubular structure internal stretch, at first bottom
The inside of plate forms second boss, and recess is formed simultaneously on the outside of the first bottom plate, and the driven gear is located at the recess
Interior, the second boss is equipped with notch, and the output gear is engaged with driven gear in indentation, there.
6. sweeping robot according to claim 2, which is characterized in that the inner hub connection member is close to the end of the main body
It is provided with shaft on face, the second axis hole is provided in the main body, the shaft can be matched with the second axis hole, so that described
Driving wheel is connected to the side of main body.
7. sweeping robot according to claim 6, which is characterized in that when the shaft of the driving wheel is inserted into described second
After axis hole, it is additionally provided with locating part in the shaft and/or main body, to prevent the driving wheel to be separated with the main body.
8. sweeping robot according to claim 7, which is characterized in that flange is provided in the shaft, when described turn
After axis is inserted into the second axis hole, the first clip is additionally provided in shaft, first clip is arranged in flange and inner hub connection member
Between, for preventing driving wheel to be separated with main body.
9. sweeping robot according to claim 6, which is characterized in that it is provided with control panel in the main body, described turn
Offer first through hole along axis direction in axis, the actuator leads to power supply line and/or data line, the power supply line and/
Or data line can pass through the first through hole and connect with the control panel, so that the control panel electrically connects with the actuator
It connects.
10. sweeping robot according to claim 2, which is characterized in that the foreign steamer hub assembly includes having the second bottom
Second tubular structure of plate, second bottom plate and the second tubular structure surround the accommodating cavity of accommodating inner hub connection member, and described the
One axis hole is provided with the center of second bottom plate, package wheel skin on the outside of second tubular structure.
11. sweeping robot according to claim 2, which is characterized in that the inner hub connection member further includes fixing piece, institute
It states wheel shaft and forms protruding end after the first shaft hole, the fixing piece is fixedly installed on the protruding end, will be described
Wheel shaft is held in the first shaft hole.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695472.6A CN110464252A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
| PCT/CN2020/105757 WO2021018234A1 (en) | 2019-07-30 | 2020-07-30 | Sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695472.6A CN110464252A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110464252A true CN110464252A (en) | 2019-11-19 |
Family
ID=68509133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910695472.6A Pending CN110464252A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110464252A (en) |
| WO (1) | WO2021018234A1 (en) |
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|---|---|---|---|---|
| CN111021734A (en) * | 2019-11-25 | 2020-04-17 | 广东博智林机器人有限公司 | Floating robot |
| WO2021018234A1 (en) * | 2019-07-30 | 2021-02-04 | 广东宝乐机器人股份有限公司 | Sweeping robot |
| 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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| JP6254495B2 (en) * | 2014-07-07 | 2017-12-27 | ブリヂストンサイクル株式会社 | Motor built-in hub structure and bicycle |
| CN105640445B (en) * | 2016-03-01 | 2019-11-22 | 江苏美的清洁电器股份有限公司 | Drive wheel assemblies for sweeping robot |
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| CN109288456A (en) * | 2018-11-21 | 2019-02-01 | 深圳市长懋实业有限公司 | Robot driving wheel group and sweeping robot |
| CN109747735B (en) * | 2019-02-28 | 2024-06-25 | 赋之科技(深圳)有限公司 | Mobile device |
| CN109758051B (en) * | 2019-03-27 | 2024-03-19 | 南京特沃斯清洁设备有限公司 | Hand-push type floor washing machine capable of being cleaned in multiple directions |
| CN110464252A (en) * | 2019-07-30 | 2019-11-19 | 广东宝乐机器人股份有限公司 | Sweeping robot |
| CN211066419U (en) * | 2019-07-30 | 2020-07-24 | 广东宝乐机器人股份有限公司 | Floor sweeping robot |
-
2019
- 2019-07-30 CN CN201910695472.6A patent/CN110464252A/en active Pending
-
2020
- 2020-07-30 WO PCT/CN2020/105757 patent/WO2021018234A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021018234A1 (en) * | 2019-07-30 | 2021-02-04 | 广东宝乐机器人股份有限公司 | Sweeping robot |
| CN111021734A (en) * | 2019-11-25 | 2020-04-17 | 广东博智林机器人有限公司 | Floating robot |
| CN113729565A (en) * | 2021-08-09 | 2021-12-03 | 北京联结你我科技有限公司 | Intensive motion wheelset |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021018234A1 (en) | 2021-02-04 |
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