CN114983298A - Transmission and cleaning robot - Google Patents

Abstract

The invention discloses a transmission device, which comprises a plurality of gears which are sequentially in transmission connection between a motor and a moving component, wherein at least one of the gears is a force releasing gear. The force releasing gear comprises a first sub gear serving as a power input end and a second sub gear serving as a power output end which are coaxially arranged, and the second sub gear is connected to the first sub gear through an elastic frame in a clamping mode. When the second sub-gear is blocked from running, the elastic frame can slide relative to the first sub-gear to prevent the first sub-gear from stopping rotating. The invention also discloses a cleaning robot comprising the transmission device. The transmission device provided by the invention can absorb and release the torsion input from the front end of the transmission device through the force release gear when the output force arm stops moving due to obstruction, can effectively protect the transmission device and the motor, and can greatly reduce or even avoid the risks of gear collapse, battery loss, motor burnout and the like in the transmission device.

Description

Transmission and cleaning robot

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to a transmission device and a cleaning robot comprising the transmission device.

Background

Along with the continuous development of intelligent home technology, the popularity of intelligent cleaning equipment such as sweeper robot is also higher and higher. In the intelligent cleaning device, the moving components such as the side brush component, the rolling brush component and the moving wheel set are driven by a motor through a gear transmission device (such as a gear reduction box) to perform corresponding movement actions. In daily cleaning work, the output force arm of the gear transmission device has the risk of being wound by linear garbage such as hair, silk threads and the like to cause movement obstruction. When the output force arm is blocked and stops moving, the motor continues to output driving force to drive the gear transmission device to move: on one hand, gears in a gear transmission are easy to wear and break; on the other hand, the motor is subjected to a large torque force due to a high load, and the motor generates heat, so that the battery load is increased, the battery life is shortened, and even the motor may be directly burnt.

Disclosure of Invention

In view of the defects of the prior art, the invention provides a transmission device, which aims to solve the problem that a gear and a motor are easily damaged when the existing gear transmission device stops moving due to the fact that an output force arm is blocked.

In order to achieve the above purpose, the invention adopts the following technical scheme:

a transmission device comprises a plurality of gears which are sequentially in transmission connection between a motor and a moving component, wherein at least one of the gears is a force releasing gear; the force releasing gear comprises a first sub gear serving as a power input end and a second sub gear serving as a power output end which are coaxially arranged, and the second sub gear is connected to the first sub gear in a clamping mode through an elastic frame;

when the second sub gear is blocked from running, the elastic frame can slide relative to the first sub gear to prevent the first sub gear from stopping rotating.

In a preferred scheme, a circular accommodating groove is formed in the first sub-gear, inner teeth are arranged on the side wall of the accommodating groove, the elastic frame is circular, outer teeth are arranged on the side wall of the elastic frame, and the elastic frame is connected in the accommodating groove in a meshed mode; the second sub-gear is connected to the front surface of a base, a plurality of clamping keys are arranged on the rear surface of the base, key grooves which are matched with the clamping keys and correspond to the clamping keys one to one are formed in the elastic support, and the clamping keys are connected to the key grooves in a clamping mode; wherein, when the second sub-gear is blocked from running, the elastic frame is deformed so that the outer teeth can slide relative to the inner teeth.

In a preferred embodiment, the number of external teeth is several times smaller than the number of internal teeth.

In a preferred embodiment, a notch is formed on an outer side wall of the key groove so as to divide the side wall of the elastic frame into a plurality of arc sections at intervals in sequence, and each arc section is connected with at least one external tooth.

In a preferred scheme, the number of the clamping keys is three, the number of the key slots is three correspondingly, and the notches formed on the outer side walls of the three key slots divide the side walls of the elastic frame into three arc sections which are sequentially spaced.

In a preferred embodiment, the first sub-gear is larger than the second sub-gear.

In a preferred scheme, a rotating shaft is arranged at the central position of the accommodating groove, a through hole matched with the rotating shaft is formed in the central position of the elastic frame, and the rotating shaft is inserted in the through hole.

In a preferable scheme, the plurality of gears comprise a transmission gear, an output gear and the force releasing gear; wherein the transmission gear is used for being in transmission coupling with a power output end of the motor, the output gear is used for being in transmission coupling with the motion component, and the force releasing gear is in transmission coupling between the transmission gear and the output gear.

In a preferable scheme, the transmission gear comprises a first-stage transmission gear and a second-stage transmission gear, the first-stage transmission gear is connected to the power output end of the motor, the second-stage transmission gear is a duplicate gear, a large gear of the second-stage transmission gear is meshed with the first-stage transmission gear, and a small gear of the second-stage transmission gear is meshed with the force releasing gear.

Another aspect of the present invention is to provide a cleaning robot including a motor, a transmission and a moving member, the transmission transmitting a driving force output from the motor to the moving member to drive the moving member to move, wherein the transmission is the transmission as described above.

According to the transmission device provided by the embodiment of the invention, the force releasing gears are arranged in the plurality of gears which are sequentially in transmission connection between the motor and the moving component, when the output force arm of the transmission device is blocked and stops moving, the force releasing gears are used for absorbing and releasing the torque force output by the motor and/or other gears at the front end of the transmission device, the transmission device and the motor can be effectively protected, and the risks of gear breakage, battery loss, motor burnout and the like in the transmission device can be greatly reduced or even avoided.

Drawings

FIG. 1 is a schematic structural diagram of a transmission in an embodiment of the present invention;

FIG. 2 is a schematic structural view of a force-releasing gear in an embodiment of the present invention;

FIG. 3 is an exploded view of a force release gear in an embodiment of the present invention;

FIG. 4 is a schematic view of an exemplary engagement between the elastic frame and the receiving groove;

FIG. 5 is a schematic diagram illustrating an example of relative sliding between the elastic frame and the accommodating groove in the embodiment of the invention;

fig. 6 is a schematic structural view of a cleaning robot in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.

Referring to fig. 1 to 3, the embodiment of the present invention first provides a transmission device 100 including a plurality of gears sequentially coupled between a motor 200 and a moving member 300. The transmission device 100 transmits the driving force output by the motor 200 to the moving member 300 to drive the moving member 300 to perform corresponding motion. The moving member 300 is, for example, an edge brush assembly, a rolling brush assembly, a moving wheel set, etc., and in this embodiment, as shown in fig. 1, the moving member 300 is, for example, an edge brush assembly, which is specifically described.

In the present embodiment, the plurality of gears includes a transmission gear 1, an output gear 2, and a force releasing gear 3. Wherein, the transmission gear 1 is used for transmission coupling to the power output end of the motor 200; the force releasing gear 3 is connected between the transmission gear 1 and the output gear 2 in a transmission way; the output gear 2 is used for being in transmission coupling to the moving member 300, specifically, an output force arm 4 is arranged on the output gear 2 in a penetrating manner, and the moving member 300 is connected to the output force arm 4.

In the present embodiment, as shown in fig. 1, the transmission gear 1 includes a first-stage transmission gear 11 and a second-stage transmission gear 12. The first stage transmission gear 1 is connected to the power output end of the motor 200. The second stage transmission gear 12 is a duplicate gear, a large gear of the second stage transmission gear is meshed with the first stage transmission gear 11, and a small gear of the second stage transmission gear is meshed with the force releasing gear 3. It will be readily appreciated that in alternative embodiments, the drive gear 1 may be a drive gear selected to include more stages of coupling, for example, a third stage drive gear may be drivingly coupled to the output of the second stage drive gear 12 and then drivingly coupled to the force releasing gear 3 by the third stage drive gear.

In the present embodiment, as shown in fig. 2 and 3, the force releasing gear 3 includes a first sub gear 31 as a power input end and a second sub gear 32 as a power output end, which are coaxially disposed, and the second sub gear 32 is snap-connected to the first sub gear 31 by an elastic frame 33. The first sub gear 31 is engaged with the pinion of the second stage transmission gear 12, and the second sub gear 32 is engaged with the output gear 2. When the second sub-gear 32 is blocked from operating, for example, the second sub-gear is wound by linear garbage such as hair and silk, the elastic frame 33 is deformed and can slide relative to the first sub-gear 31 to prevent the first sub-gear 31 from stopping rotating.

The transmission provided in the above embodiment: when the moving member 300 is not subjected to resistance, the driving force output by the motor 200 is transmitted to the first sub-gear 31 via the transmission gear 1, so as to drive the second sub-gear 32 to rotate along with the elastic frame 33, and further, the power is transmitted to the output gear 2, and is output to the moving member 300 via the output arm 4, so as to drive the moving member 300 to normally rotate; when the motion member 300 and/or the output arm 4 is obstructed from operating, the resistance is transmitted to the elastic frame 33 through the output gear 2 and the second sub-gear 32, and at this time, the first sub-gear 31 at the front end of the elastic frame 33 still continuously receives the torque force input from the transmission gear 1, so that the elastic frame 33 deforms and can slide relative to the first sub-gear 31, the transmission gear 1 and the motor 200 at the front end of the elastic frame 33 can keep a normal rotation state, and the second sub-gear 32, the output gear 2, the output arm 4 and the motion member 300 at the rear end of the elastic frame 33 keep a stop rotation state. That is, the deformation of the elastic frame 33 absorbs and releases the torque force input to the first sub gear 31, thereby effectively protecting the transmission 100 and the motor 200, and greatly reducing or even avoiding the risks of gear breakdown, battery loss, motor burnout, and the like in the transmission. When the resistance of the motion component 300 and/or the output arm 4 is removed, the elastic frame 33 can restore to the original state, and the transmission device 100 can restore to the normal working state.

Based on the above concept, the force releasing gear 3 is not necessarily drivingly coupled between the transmission gear 1 and the output gear 2. For example, referring to fig. 1, the power releasing gear 3 may be drivingly coupled between the first stage transmission gear 11 and the second stage transmission gear 12, and then the second stage transmission gear 12 is coupled to the output gear 2; alternatively, the force releasing gear 3 is directly coupled to the power output end of the motor 200, and then the transmission gear 1 is drivingly coupled to the power output end of the force releasing gear 3; alternatively, the output force arm 4 may be connected to the force releasing gear 3, and the force releasing gear 3 may be directly used as the output gear. The above-mentioned change of the position of the force releasing gear 3 in the plurality of gears sequentially coupled in transmission can achieve the same or similar technical effects as the solution of the present embodiment, and it can be understood that in the transmission device 100, at least one of the plurality of gears sequentially coupled in transmission may be provided as the force releasing gear 3. In the embodiment, the force releasing gear 3 is in transmission coupling between the transmission gear 1 and the output gear 2, so that the operation of the transmission device 100 can be more stable.

As a preferable mode, in the present embodiment, as shown in fig. 2 and 3, in the specific structure of the force releasing gear 3: a circular receiving groove 311 is formed in the first sub-gear 31, and inner teeth 312 are disposed on a side wall of the receiving groove 311. The elastic frame 33 is circular and has an outer tooth 331 formed on a side wall thereof, and the elastic frame 33 is engaged with the receiving groove 311 by engagement of the outer tooth 331 with the inner tooth 312. The second sub gear 32 is connected to a front surface of a base 321, a plurality of clamping keys 322 are arranged on a rear surface of the base 321, key slots 332 which are matched with the clamping keys 322 and correspond to the clamping keys 322 one by one are arranged in the elastic support 33, and the clamping keys 322 are clamped and connected to the key slots 332, so that the second sub gear 32 is clamped and connected with the elastic support 33.

The force releasing gear 3 as above: in an initial state, referring to fig. 2, 3 and 4, the external teeth 331 of the elastic frame 33 are engaged with the internal teeth 312 of the first sub-gear 31, and when the first sub-gear 31 receives a driving force from the front end and rotates, the engaged elastic frame 33 is driven to rotate, and the second sub-gear 32 engaged with the elastic frame 33 rotates together; when the operation of the second sub gear 32 is blocked, referring to fig. 2, 3 and 5, the elastic frame 33 engaged with the second sub gear 32 stops rotating and deforms, and when the first sub gear 31 continues to rotate, the external teeth 331 of the elastic frame 33 slide relative to the internal teeth 312 of the first sub gear 31, specifically, the external teeth 331 jump up and down between the tooth tops and the tooth bottoms of the internal teeth 312 and make a sound, and the sound can be used as a fault warning message.

In the force releasing gear 3 of the present embodiment, the first sub-gear 31 is larger than the second sub-gear 32, and the force releasing gear 3 can be regarded as a duplicate gear having a speed reducing function. Further, the number of the external teeth 331 of the elastic frame 33 is several times smaller than the number of the internal teeth 312 of the first sub gear 31, so that the elastic frame 33 is more likely to slide relative to the first sub gear 31 when resistance is applied, and it can be understood that the external teeth 331 are provided in a small number, and the threshold value capable of sliding the external teeth 331 and the internal teeth 312 relative to each other is lowered on the basis of satisfying the mesh transmission in the normal state, thereby improving the sensitivity of the protective operation of the transmission 100.

In this embodiment, as shown in fig. 3, in the specific structure of the elastic frame 33: the outer side wall of the key groove 332 is formed with notches 333, so that the side wall of the elastic frame 33 is divided into a plurality of arc sections 334 which are sequentially spaced, two external teeth 331 are connected to each arc section 334, and the two external teeth 331 are connected to both ends of the corresponding arc section 334. Wherein each circular arc segment 334 is connected to the center of the elastic frame 33 through a partition wall 335 between two adjacent key slots 332. By dividing the side wall of the elastic frame 33 into a plurality of arc sections 334 which are sequentially spaced, the deformation capability of the elastic frame 33 is improved, the threshold value for enabling the outer teeth 331 and the inner teeth 312 to relatively slide is further reduced, and the sensitivity of the protection action of the transmission device 100 is improved.

Preferably, in this embodiment, as shown in fig. 3, the number of the locking keys 322 is three, the number of the key slots 332 is three, and the notches 333 formed on the outer side walls of the three key slots 332 divide the side walls of the elastic frame 33 into three arc segments 334 which are sequentially spaced. In other embodiments, a greater number of keys 322 and keyways 332 may be provided.

In this embodiment, the three key slots 332 and the three circular arc segments 334 are arranged on the elastic frame 33 in a rotational symmetry manner, specifically, the three key slots 332 and the three circular arc segments 334 are 120 ° in a rotational symmetry manner with respect to the central axis of the elastic frame 33. In other embodiments, when a greater number (for example, N, where N is an integer greater than 4) of key slots 332 and circular arc segments 334 are provided, N key slots 332 and N circular arc segments 334 are also preferably arranged in an angular rotational symmetry arrangement of 360 ° N on the elastic frame 33.

In this embodiment, referring to fig. 3 to 5, a rotating shaft 313 is disposed at a center position of the receiving groove 311 of the first sub gear 31, a through hole 336 adapted to the rotating shaft 313 is disposed at a center position of the elastic frame 33, and the rotating shaft 313 is inserted into the through hole 336, so that the mutual assembly between the first sub gear 31 and the elastic frame 33 is more stable.

Based on the transmission device 100 provided in the above embodiment, the embodiment of the present invention also provides a cleaning robot. Referring to fig. 1 and 6, the cleaning robot includes a body 400, a motor 200, a transmission 100, and a moving member 300. Wherein, the motor 200 and the transmission device 100 are rotatably arranged inside the machine body 400, the moving member 300 is arranged outside the machine body 400, and the transmission device 100 transmits the driving force output by the motor 200 to the moving member 300 to drive the moving member 300 to move correspondingly.

In this embodiment, the moving member 300 is specifically an edge brush assembly 301. When the cleaning robot performs a cleaning operation, the edge brush assembly 301 is easily wound by linear garbage such as hair and silk threads, so that the movement is blocked and the rotation is stopped, and therefore, the transmission device 100 in the embodiment is further required to be in transmission connection with the motor 200, so that the transmission device 100 and the motor 200 can be effectively protected when the edge brush assembly 301 is blocked and the rotation is stopped.

Further, as shown in fig. 6, in the present embodiment, the moving member 300 assembled outside the cleaning robot body 400 further includes a rolling brush assembly 302 and a moving wheel set 303, and the rolling brush assembly 302 and the moving wheel set 303 are respectively in transmission connection with a corresponding motor through one transmission device 100.

In summary, according to the transmission device and the corresponding cleaning robot provided by the embodiments of the present invention, when the output arm of the transmission device is blocked and stops moving, the torque input from the front end of the transmission device can be absorbed and released by the force releasing gear, so that the transmission device and the motor can be effectively protected, and the risks of gear breakdown, battery loss, motor burnout and the like in the transmission device can be greatly reduced or even avoided.

While the invention has been shown and described with reference to certain embodiments, those skilled in the art will understand that: various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (10)

1. A transmission device is characterized by comprising a plurality of gears which are sequentially in transmission connection between a motor and a moving component, wherein at least one of the gears is a force releasing gear; the force releasing gear comprises a first sub gear serving as a power input end and a second sub gear serving as a power output end which are coaxially arranged, and the second sub gear is connected to the first sub gear in a clamping mode through an elastic frame;

wherein, when the second sub-gear is blocked from running, the elastic frame can slide relative to the first sub-gear to avoid the first sub-gear from stopping rotating.

2. The transmission device according to claim 1, wherein a circular receiving groove is formed in the first sub-gear, inner teeth are arranged on a side wall of the receiving groove, the elastic frame is circular, outer teeth are arranged on a side wall of the elastic frame, and the elastic frame is engaged and connected in the receiving groove; the second sub-gear is connected to the front surface of a base, a plurality of clamping keys are arranged on the rear surface of the base, key grooves which are matched with the clamping keys and correspond to the clamping keys one to one are formed in the elastic support, and the clamping keys are connected to the key grooves in a clamping mode; when the second sub gear is blocked from running, the elastic frame deforms so that the outer teeth can slide relative to the inner teeth.

3. The transmission of claim 2, wherein the number of external teeth is several times less than the number of internal teeth.

4. The transmission device according to claim 3, wherein a notch is formed on an outer side wall of the key groove so as to divide the side wall of the elastic frame into a plurality of arc sections which are spaced in sequence, and at least one external tooth is connected to each arc section.

5. The transmission device according to claim 4, wherein the number of the locking keys is three, the number of the key grooves is three, and the notches formed on the outer side walls of the three key grooves divide the side walls of the elastic frame into three arc sections which are sequentially spaced.

6. The transmission of claim 2, wherein the first sub-gear is larger than the second sub-gear.

7. The transmission device according to claim 2, wherein a rotation shaft is disposed at a central position of the receiving groove, a through hole adapted to the rotation shaft is disposed at a central position of the elastic frame, and the rotation shaft is inserted in the through hole.

8. The transmission of any one of claims 1-7, wherein the plurality of gears includes a drive gear, an output gear, and the force release gear; wherein the transmission gear is used for being in transmission coupling with a power output end of the motor, the output gear is used for being in transmission coupling with the moving component, and the force releasing gear is in transmission coupling between the transmission gear and the output gear.

9. The transmission device according to claim 8, wherein the transmission gear comprises a first stage transmission gear and a second stage transmission gear, the first stage transmission gear is connected to the power output end of the motor, the second stage transmission gear is a duplicate gear, a large gear of the duplicate gear is meshed with the first stage transmission gear, and a small gear of the duplicate gear is meshed with the force releasing gear.

10. A cleaning robot comprising a motor, a transmission device and a moving member, the transmission device transmitting a driving force output from the motor to the moving member to drive the moving member to move, characterized in that the transmission device is the transmission device according to any one of claims 1 to 9.

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