CN118316245A

CN118316245A - Speed reducer for sweeping robot and sweeping robot

Info

Publication number: CN118316245A
Application number: CN202410477495.0A
Authority: CN
Inventors: 李汉江
Original assignee: Shenzhen Qichilong Technology Co ltd
Current assignee: Shenzhen Qichilong Technology Co ltd
Priority date: 2023-05-19
Filing date: 2023-05-19
Publication date: 2024-07-09
Also published as: CN116526748A

Abstract

The invention discloses a speed reducer for a sweeping robot and the sweeping robot, comprising: the motor shell is provided with an inner gear ring; the motor shaft is arranged on the motor shell and is in a static state in the circumferential direction relative to the motor shell; the stator is installed in the motor casing, and the rotor is installed in the motor casing. The sun gear is movably sleeved outside the motor shaft; the sun gear is coaxially connected with the rotor and rotates with the rotor. At least one primary double tooth, the primary double tooth having a primary big tooth and a primary small tooth, the primary big tooth being meshed with the sun tooth; the primary large teeth and the primary small teeth are sequentially arranged along the first direction. At least one secondary duplex tooth having a secondary major tooth and a secondary minor tooth; the primary small teeth mesh with the secondary large teeth. The secondary small teeth and the secondary large teeth are sequentially arranged along the first direction; the secondary small teeth are meshed with the inner gear ring; the rotary shell is provided with a primary center column which is inserted into an inner hole of the primary duplex tooth. Which further reduces the height dimension of the sweeping robot to make it more miniaturized.

Description

Speed reducer for sweeping robot and sweeping robot

The application relates to a Chinese patent application with the application number 202310573534.2, the name of a speed reducer for a sweeping robot and a sweeping robot, which are filed on 19 days of 2023, 05 and the divisional application of the Chinese patent application.

Technical Field

The invention relates to the technical field of sweeping robots, in particular to a speed reducer for a sweeping robot and the sweeping robot.

Background

The motor of the sweeping robot is generally configured with a speed reducer to reduce the rotation speed of the sweeping robot, and the current sweeping robot is very mature in function, however, in order to achieve miniaturization design, how to further reduce the height size of the current sweeping robot on the basis of ensuring the running stability of the current sweeping robot is one of the important points in the current research and development.

Therefore, the speed reduction device for the sweeping robot and the sweeping robot described in the patent application document 202320963956.6, which belongs to the same applicant as the present inventor, further reduce the height dimension of the sweeping robot so as to make it more compact. However, the technical means is not unique, that is, other technical concepts still exist to solve the technical problems to be solved, and the technical effects can be achieved.

Disclosure of Invention

In order to overcome the disadvantages of the prior art, it is an object of the present invention to provide a reduction gear for a sweeping robot, which further reduces the height dimension of the sweeping robot to make it more miniaturized.

In order to overcome the defects of the prior art, the invention aims at providing a two-step sweeping robot.

One of the purposes of the invention is realized by adopting the following technical scheme:

a speed reduction device for a sweeping robot, comprising:

a motor casing provided with an inner gear ring;

A motor shaft which is arranged on the motor casing and is in a static state in the circumferential direction relative to the motor casing;

a stator mounted to the motor housing and disposed around the motor shaft;

A rotor disposed around the motor shaft;

sun gear, the activity cup joints outside the said motor shaft, in order to can carry on the circumferential rotation relative to the said motor shaft; the sun gear is coaxially connected with the rotor and rotates along with the rotor;

at least one primary duplex tooth having a primary large tooth and a primary small tooth, the primary large tooth being in mesh with the sun tooth; the primary big teeth and the primary small teeth are sequentially arranged along the first direction;

At least one secondary duplex tooth having a secondary large tooth and a secondary small tooth; the primary small teeth are meshed with the secondary large teeth; the secondary small teeth and the secondary large teeth are sequentially arranged along a first direction; the secondary pinion is meshed with the ring gear.

Further, the speed reducer for the sweeping robot further comprises a rotating shell, wherein the rotating shell is provided with a primary center post, and the primary center post is inserted into an inner hole of the primary duplex tooth so as to rotate along with the primary duplex tooth around the circumference of the motor shaft.

Further, the secondary duplex teeth are provided with at least two, and the primary small teeth are positioned between and meshed with two of the secondary big teeth.

Further, the axis of the primary double teeth, the axis of the secondary double teeth and the axis of the motor shaft are arranged in parallel; the primary duplex teeth are provided with at least two, and the secondary duplex teeth are provided with at least four; the primary big teeth of the two primary double teeth are oppositely arranged on two horizontally opposite sides of the sun gear, the four secondary double teeth are distributed around the axis of the motor shaft, and the two secondary double teeth meshed with the same primary double teeth are symmetrically distributed around the primary double teeth.

Further, the sun gear is a helical gear.

Further, the sun gear is connected with the motor shaft through a first bearing.

Further, the middle part of the rotary shell is provided with a containing groove along the wall thickness direction of the rotary shell, the containing groove is connected with a second bearing, and the second bearing is sleeved outside the motor shaft.

Further, be equipped with first arcwall face in the rotation casing, be equipped with the second arcwall face outward the motor casing, first arcwall face with the second arcwall face encloses and closes and form circular passageway, circular passageway holding has a plurality of balls.

Further, the rotary housing includes a rotary upper housing and a rotary lower housing that are detachably covered.

Further, the first arc-shaped surface is arranged on the rotary lower shell; the primary center post is arranged on the rotary upper shell.

Further, the rotary upper shell and the rotary lower shell are fixed through screws.

The second purpose of the invention is realized by adopting the following technical scheme:

the sweeping robot comprises the speed reducing device for the sweeping robot.

Drawings

Fig. 1 is a schematic structural view of a reduction gear for a sweeping robot according to the present invention;

Fig. 2 is a top view of the hidden rotary top case of fig. 1.

In the figure: 1. a motor housing; 11. an inner gear ring; 2. a motor shaft; 3. a stator; 4. a rotor; 5. sun gear; 6. primary duplex teeth; 61. primary large teeth; 62. primary small teeth; 7. secondary duplex teeth; 71. secondary large teeth; 8. rotating the housing; 81. rotating the upper shell; 811. a primary center post; 812. a receiving groove; 82. rotating the lower shell; 91. a first bearing; 92. a second bearing; 93. a circular channel; 94. and (3) rolling balls.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The use of "vertical," "horizontal," "left," "right," and similar expressions are for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 2 show a reduction gear for a robot cleaner according to a preferred embodiment of the present invention, comprising: motor housing 1, motor shaft 2, stator 3, rotor 4, sun gear 5, at least one primary double tooth 6, at least two secondary double teeth 7 and rotary housing 8. The motor casing 1 is provided with an inner gear ring 11. The motor shaft 2 is arranged on the motor casing 1 and is in a static state in the circumferential direction relative to the motor casing 1; in the embodiment, the end part of the motor shaft 2 is provided with a threaded hole, and the motor shell 1 and the motor shaft 2 are fixed together by matching the countersunk head screw with the threaded hole; in this way, the motor shaft 2 is in a stationary state relative to the motor housing 1, i.e. the motor shaft 2 is stationary all the time, unlike a conventional motor. To achieve this concept, it is necessary: the stator 3 is mounted to (e.g., fixed to) the motor casing 1 and is disposed around the motor shaft 2. The rotor 4 is mounted to the motor housing 1 and is disposed around the motor shaft 2. The sun gear 5 is movably sleeved outside the motor shaft 2 so as to be capable of rotating circumferentially relative to the motor shaft 2 (i.e. based on the fact that the motor shaft 2 is fixed relative to the motor casing 1, the sun gear 5 must be capable of rotating circumferentially relative to the motor shaft 2). Further, the sun gear 5 is coaxially sleeved in the rotor 4 and rotates along with the rotor 4; that is, the sun gear 5 is rotated by the rotor 4, and then torque is output. The primary double teeth 6 have primary large teeth 61 and primary small teeth 62, and the primary large teeth 61 mesh with the sun teeth 5. The secondary duplex tooth 7 has a secondary large tooth 71 and a secondary small tooth; the primary small teeth 62 are located between two of the secondary large teeth 71 and mesh with the two secondary large teeth 71; the secondary small teeth are meshed with the inner gear ring 11; in this way, based on the motor casing 1 being a stationary member, the secondary pinion is forced to be driven while the ring gear 11 is engaged on the ring gear 11 by the reaction force provided by the ring gear 11 of the motor casing 1, while the secondary double teeth 7 need to be rotated circumferentially around the motor shaft 2. Thus, referring to FIG. 2, primary teeth 6 are forced to rotate circumferentially about motor shaft 2 by secondary teeth 7 based on primary teeth 62 meshing with secondary teeth 71. On this basis, further, referring to fig. 1, the rotary housing 8 is provided with a primary center post 811, and the primary center post 811 is inserted into an inner hole of the primary double teeth 6 to rotate around the circumference of the motor shaft 2 following the primary double teeth 6. At this time, the housing 8 may be rotated as an output turntable. In actual products, the rotary shell 8 is sleeved with an anti-skid rubber wheel.

Obviously, through installing motor shaft 2 circumference fixedly in motor casing 1 to cup joint outside motor shaft 2 through sun tooth 5 activity, and through cup jointing sun tooth 5 in rotor 4, when making rotor 4 by stator 3 drive and rotate, it is that sun tooth 5 rotates and not motor shaft 2 rotates to drive, compares current robot of sweeping the floor, realizes the conception difference. In this way, the motor shaft 2 is not easy to wear, and the sun gear 5 belongs to gears and is not easy to wear, so that the service life of the speed reducer for the sweeping robot is prolonged. In addition, based on the arrangement of at least one primary duplex tooth 6 and at least two secondary duplex teeth 7, and the primary small teeth 62 are positioned between two secondary big teeth 71 and meshed with the two secondary big teeth 71, the height dimension of the speed reducer for the sweeping robot is reduced, namely, the technical effects of the speed reducer for the sweeping robot and the sweeping robot described in the patent application document with the application number 202320963956.6 are also realized. In addition, the primary double teeth 6 and the secondary double teeth 7 are also engaged in a different manner than the output principle of the planet carrier, in particular by the engagement of the secondary double teeth 7 with the inner gear ring 11 to provide a counter force, so that the primary double teeth 6 are forced to rotate around the sun gear 5. In addition, the secondary duplex teeth 7 are added on the basis of the primary duplex teeth 6, so that the gear ratio can be easily adjusted to a required gear ratio, and the sizes of various teeth are smaller.

Preferably, the axis of the primary double teeth 6, the axis of the secondary double teeth 7 and the axis of the motor shaft 2 are arranged in parallel; the primary duplex teeth 6 are provided with at least two, and the secondary duplex teeth 7 are provided with at least four; the primary large teeth 61 of the two primary double teeth 6 are oppositely disposed on horizontally opposite sides of the sun gear 5, four secondary double teeth 7 are distributed around the axis of the motor shaft 2, and two secondary double teeth 7 meshed with the same primary double tooth 6 are symmetrically distributed about the primary double tooth 6. The arrangement is that the primary small teeth 62 are accommodated by utilizing the gaps between the secondary large teeth 71, so that the speed reduction device for the sweeping robot can be ensured to have a compact height dimension on the basis of improving the transmission stability of the power component.

Preferably, in order to improve the transmission stability of the sun gear 5, the sun gear 5 is a helical gear. And, the sun gear 5 is connected to the motor shaft 2 through the first bearing 91.

Preferably, in order to further improve the operation stability of the speed reducer for the sweeping robot and rationally limit the height thereof, the middle part of the rotary housing 8 is provided with a receiving groove 812 along the wall thickness direction thereof, the receiving groove 812 is connected with a second bearing 92, and the second bearing 92 is sleeved outside the motor shaft 2.

Preferably, a first arc-shaped surface is arranged in the rotary shell 8, a second arc-shaped surface is arranged outside the motor shell 1, a circular channel 93 is formed by encircling the first arc-shaped surface and the second arc-shaped surface, and a plurality of balls 94 are accommodated in the circular channel 93. The arrangement is such that by rotating the housing 8 to form a circular channel 93 in the motor housing 1 and placing the ball 94 in the circular channel 93, a force transfer between the two is enabled and the relative movement between the two is also made smoother.

At this time, to facilitate the installation of the balls 94, the rotary housing 8 includes a rotary upper case 81 and a rotary lower case 82 that are detachably covered. Preferably, the rotary upper case 81 and the rotary lower case 82 are fixed by screws. Of course, screws may be replaced by snap-fit structures.

In this embodiment, the first arcuate surface is provided on the rotary lower case 82; a primary center post 811 is provided to the rotary upper case 81. In addition, it is preferable that a secondary center post is added to the rotary upper case 81 (of course, a new rotary disc may be added and the new rotary disc and the rotary upper case 81 coaxially rotate in linkage), and the secondary center post is inserted into the inner hole of the secondary double teeth 7, so that the secondary double teeth 7 can maintain a stable rotation state.

Preferably, the total gear ratio of the speed reduction device for the sweeping robot is between 40 and 100.

The invention also discloses a sweeping robot, which comprises a speed reducer for the sweeping robot.

The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.

Claims

1. A decelerator for sweeping robot, its characterized in that includes:

A motor casing (1) provided with an inner gear ring (11);

A motor shaft (2) which is arranged on the motor casing (1) and is in a static state in the circumferential direction relative to the motor casing (1);

a stator (3) mounted on the motor casing (1) and disposed around the motor shaft (2);

a rotor (4) disposed around the motor shaft (2);

The sun gear (5) is movably sleeved outside the motor shaft (2) so as to be capable of rotating circumferentially relative to the motor shaft (2); the sun gear (5) is coaxially connected with the rotor (4) and rotates along with the rotor (4);

At least one primary double tooth (6), the primary double tooth (6) having a primary big tooth (61) and a primary small tooth (62), the primary big tooth (61) being meshed with the sun tooth (5); primary big teeth (61) and primary small teeth (62) are sequentially arranged along a first direction;

At least one secondary duplex tooth (7), the secondary duplex tooth (7) having a secondary large tooth (71) and a secondary small tooth; the primary small teeth (62) mesh with the secondary large teeth (71); the secondary small teeth and the secondary large teeth (71) are sequentially arranged along a first direction; the secondary small teeth are meshed with the inner gear ring (11).

2. The speed reducer for a sweeping robot according to claim 1, further comprising a rotating housing (8), wherein the rotating housing (8) is provided with a primary center post (811), and the primary center post (811) is inserted into an inner hole of the primary duplex tooth (6) so as to rotate around the circumference of the motor shaft (2) following the primary duplex tooth (6).

3. A reduction device for a sweeping robot according to claim 1, characterized in that said secondary double teeth (7) are provided with at least two, said primary small teeth (62) being located between two of said secondary large teeth (71) and being engaged with both of said secondary large teeth (71).

4. A reduction gear for a sweeping robot according to claim 3, wherein: the axis of the primary duplex tooth (6), the axis of the secondary duplex tooth (7) and the axis of the motor shaft (2) are arranged in parallel; the primary duplex teeth (6) are provided with at least two, and the secondary duplex teeth (7) are provided with at least four; the primary big teeth (61) of two primary double teeth (6) are oppositely arranged on two horizontally opposite sides of the sun gear (5), four secondary double teeth (7) are distributed around the axis of the motor shaft (2), and two secondary double teeth (7) meshed with the same primary double teeth (6) are symmetrically distributed about the primary double teeth (6).

5. The reduction gear for a sweeping robot according to claim 1, wherein: the sun gear (5) is a bevel gear.

6. The reduction gear for a sweeping robot according to claim 1, wherein: the sun gear (5) is connected with the motor shaft (2) through a first bearing (91).

7. The reduction gear for a sweeping robot according to claim 2, wherein: the middle part of the rotary shell (8) is provided with a containing groove (812) along the wall thickness direction of the rotary shell, the containing groove (812) is connected with a second bearing (92), and the second bearing (92) is sleeved outside the motor shaft (2).

8. The reduction gear for a sweeping robot according to claim 2, wherein: the motor is characterized in that a first arc-shaped surface is arranged in the rotary shell (8), a second arc-shaped surface is arranged outside the motor shell (1), a circular channel (93) is formed by encircling the first arc-shaped surface and the second arc-shaped surface, and a plurality of balls (94) are accommodated in the circular channel (93).

9. The reduction gear for a sweeping robot of claim 8, wherein: the rotary shell (8) comprises a rotary upper shell (81) and a rotary lower shell (82) which are detachably covered;

The first arc-shaped surface is arranged on the rotary lower shell (82); the primary center column (811) is provided to the rotary upper case (81);

the rotary upper case (81) and the rotary lower case (82) are fixed by screws.

10. Sweeping robot, its characterized in that: comprising a reduction device for a sweeping robot according to any one of claims 1-9.