CN203736123U

CN203736123U - Self-moving device

Info

Publication number: CN203736123U
Application number: CN201420083757.7U
Authority: CN
Inventors: 王寿木
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2014-02-26
Filing date: 2014-02-26
Publication date: 2014-07-30
Anticipated expiration: 2024-02-26

Abstract

The utility model relates to a self-moving device. The self-moving device comprises a device body (21), a control unit (25), drive units (24) and walking units (23), wherein the control unit (25) and the drive units (24) are placed on the device body (21), and the walking units (23) are placed at the bottom of the device body (21). The drive units (24) drive the walking units (23) to walk, the drive units (24) comprise drive motors (241), and the drive motors (241) are connected with the control unit (25). The self-moving device is characterized in that the rotating central axis of the walking units (23) and the rotating central axis of the drive motors (241) are set with an included angle C, and the included angle is larger than zero degree and smaller than 90 degrees. The self-moving device is reasonable in internal layout, and the working space inside the self-moving device is increased.

Description

Self-moving device

Technical field

The utility model relates to a kind of self-moving device, belongs to daily small household appliances manufacturing technology field.

Background technology

Self-moving device structure of the prior art as shown in Figure 1, it includes: travel wheel 12 and driver element, described driver element comprises motor 13, wherein the central axis of travel wheel 12 is parallel or overlapping with the central axis of motor 13, such structure has been pushed the space of self-moving device housing 11 inside, for example as shown in Figure 1, dirt box 14 in housing 11 inside between two travel wheel 12, due to the position of arranging of motor 13, make remaining space between two travel wheel become very little, thereby limit the setting of miscellaneous part, for example need be arranged on body middle part for loading the dirt box 14 of dust, dirt box 14 is compelled to do little because of the restriction in space, and the size of dirt box 14 has directly determined to inhale the ability of ash amount, affect the operating efficiency of self-moving device.

Utility model content

Technical problem to be solved in the utility model is, provides the working space that a kind of self-moving device makes self-moving device inside to increase for the deficiencies in the prior art, improves the space availability ratio of self-moving device.

Technical problem to be solved in the utility model is achieved by the following technical solution:

The utility model provides a kind of self-moving device, comprise device body, be positioned at control module and driver element on device body, and be positioned at device body bottom walking unit, drive unit drives walking unit walking, driver element comprises drive motors, drive motors is connected with control module, the pivot axis of described walking unit and the pivot axis of drive motors are angle C and arrange, and described angle is greater than 0 ° and be less than 90 °.

Preferably, the span of described angle C is 40 °～70 °.

Described drive motors is positioned on the straight line of direct of travel at walking place, unit at least partly.

The intersection point of the pivot axis of described walking finite element rotation central axis and drive motors is positioned at inner side or the outside of walking unit.

For pivot axis and the drive motors of the unit that makes to walk form angle, and reduce the output speed of drive motors, described driver element also comprises the synchronous pulley being connected with drive motors output, the bevel gear being connected with synchronous pulley by Timing Belt, and the train of reduction gears engaging with bevel gear, described walking unit is connected to the output of train of reduction gears.

Or, described driver element also comprises the first helical gear being connected with drive motors output, and train of reduction gears, in described train of reduction gears, at least comprising second helical gear engaging with the first helical gear, described walking unit is connected to the output of train of reduction gears.

Described walking unit adopts driving wheel or creeper undercarriage.

In specific embodiment, described driving wheel is 2, is symmetricly set on the left and right sides of device body.

In the time that self-moving device is sweeper, in order to allow self-moving device have better pick-up performance, device body bottom is provided with suction port, is also provided with dust storage chamber in device body, described suction port is communicated with dust storage chamber, and described dust storage chamber is arranged between 2 driving wheels.

Arranging rationally in self-moving device of the present utility model inside, has increased self-moving device internal work space.

Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.

Brief description of the drawings

Fig. 1 is the internal structure schematic diagram of self-moving device in prior art;

Fig. 2 is the internal structure schematic diagram of the utility model embodiment mono-self-moving device;

Fig. 3 is the internal structure schematic diagram of the utility model embodiment bis-self-moving devices;

Fig. 4 is the utility model self-moving device control block diagram;

Fig. 5 is the structural representation of the utility model self-moving device drive unit embodiment one;

Fig. 6 is the structural representation of the utility model self-moving device drive unit embodiment two.

Detailed description of the invention

Embodiment mono-

As shown in Figure 2 and Figure 4, self-moving device of the present utility model comprises: device body 21 and be arranged on driver element 24 and the control module 25 on device body 21, and be positioned at the walking unit 23 of device body 21 bottoms.Drive motors 241 is connected with control module 25, and driver element 24 drives walking unit 23 to walk.In the present embodiment, walking unit 23 adopts driving wheel or creeper undercarriage, and this driving wheel or creeper undercarriage be 2, is symmetricly set on the left and right sides of device body.Wherein, driver element comprises drive motors 241, and walking the pivot axis of unit 23 and the pivot axis of drive motors 241 are obliquely installed, and two pivot axis angle C are arranged to be greater than 0 ° and be less than 90 °.In other words, the walking pivot axis of unit 23 and the not parallel also out of plumb of the pivot axis of drive motors 241.It is pointed out that the angle that the utility model is described gets the little angle in the angle that two pivot axis become, this two pivots axis can coplanar or antarafacial.

As shown in Figure 2, taking self-moving device direction of travel A as longitudinal, the pivot axis of two driving wheels is laterally, and in the time that the pivot axis of drive motors 241 and driving wheel is angle and arranges, drive motors 241 and driving wheel can longitudinally be arranged on the body of self-moving device.Also, driver element 24 occupies two horizontal spaces between driving wheel and diminishes.Drive motors 241 is positioned on the straight line of direct of travel at driving wheel place at least partly, driving wheel and drive motors self-moving device longitudinally on while partly overlapping, can further reduce driver element 24 and occupy two horizontal spaces between driving wheel.

Concrete, please refer to Fig. 2, the intersection point of the pivot axis of driving wheel pivot axis and drive motors 241 is positioned at the outside of driving wheel 23, and the functional block 27 between two driving wheels can be done very greatly.The span of angle C exists in the present embodiment: 40 °～70 °, preferably the value of angle C is 55 °.If the pivot axis angle of driving wheel and drive motors 241 too little (approaching 0 degree), driver element 24 still can occupy the larger horizontal space between two driving wheels; If the pivot axis angle of driving wheel and drive motors 241 excessive (approaching 90 degree), the pivot axis of drive motors is substantially vertical with the pivot axis of drive motors 241, easily causes the transmission performance variation of driver element.And in the time that the housing of self-moving device is rounded, angle C is arranged on 40 °～70 °, driving wheel and drive motors 241 are just positioned at the end of arc shell, and the space of self-moving device body is farthest utilized.

It should be noted that, the angle C between the walking pivot axis of unit 23 and the pivot axis of drive motors 241, can, according to actual need, as the space etc. of arranging of the profile of body or other functional module, arrange the value of concrete angle C.For pivot axis and the drive motors 241 of the unit 23 that makes to walk form angle, and reduce the output speed of drive motors 241, adopt gear reduction as shown in Figure 5.Concrete, driver element 24 also comprises the synchronous pulley 242 being connected with drive motors 241 outputs, the bevel gear 244 being connected with synchronous pulley 242 by Timing Belt 243, and the train of reduction gears 245 engaging with bevel gear 244, the unit 23 of wherein walking is connected on the output of train of reduction gears 245.But the structure of driver element 24 is not as restriction, those of ordinary skill in the art can be according to actual needs, revise or convert the structure of driver element 24 and be equal to each element of replacing in driver element 24, for example, adopting gear assembly or Hooks coupling universal coupling to replace Timing Belt.Except adopting bevel gear 244, also can adopt helical gear to replace, specifically, as shown in Figure 6, driver element 24 also comprises the first helical gear 242 ' being connected with drive motors 241 outputs, and train of reduction gears 245 '.Train of reduction gears 245 ' at least comprises second helical gear 243 ' engaging with the first helical gear 242 ', in order to reduce noise, also comprise the 3rd helical gear 244 ' engaging with the second helical gear 243 ', the 3rd helical gear 244 ' bag helical teeth portion 2441 ' and straight-tooth portion 2442 ', helical teeth portion 2441 ' engages with the second helical gear 243 ', straight-tooth portion 2442 ' engages with next stage spur gear 246 ', the needs of setting according to speed reducing ratio, described next stage spur gear 246 ' rear end also can connect multistage spur gear; Described walking unit 23 is connected to the output of train of reduction gears 245 '.

For instance, in the time that self-moving device is sweeper, its also comprise be arranged on two driving wheels between dust storage chamber 27, dust storage chamber 27 is communicated with the suction port 26 that is arranged on device body 21 bottoms by dust absorption passage.

In the self-moving device course of work, suction port 26 is collected dust granule and is dropped in dust storage chamber 27 by dust absorption passage; Due to the increase in self-moving device internal work space, therefore make the volume of dust storage chamber 27 also increase thereupon, in cleaning course, the dust-loaded amount of dust storage chamber 27 also just increases thereupon like this, has so greatly improved operating efficiency and the cleaning effect of self-moving device.

Embodiment bis-

Fig. 3 is the internal structure schematic diagram of the utility model embodiment bis-self-moving devices, as shown in Figure 3, self-moving device internal structure in the self-moving device that the present embodiment provides and embodiment mono-is roughly the same, difference is, walking unit 23 pivot axis and the intersection point of the pivot axis of drive motors 241 are positioned at the inner side of the unit 23 of walking.Its course of work is consistent with the course of work of embodiment mono-, does not repeat them here.

To sum up, arrange rationally in self-moving device of the present utility model inside, increased self-moving device internal work space.Above-described embodiment is only illustrated with sweeper, and self-moving device can also be air cleaning unit, Wax polishing device, mop etc.

Claims

1. a self-moving device, comprise device body (21), be positioned at control module (25) and driver element (24) on device body (21), and be positioned at device body (21) bottom walking unit (23), driver element (24) drives walking unit (23) walking, described driver element (24) comprises drive motors (241), described drive motors (241) is connected with control module (25), it is characterized in that, the pivot axis of the pivot axis of described walking unit (23) and drive motors (241) is angle C and arranges, described angle is greater than 0 ° and be less than 90 °.

2. self-moving device as claimed in claim 1, is characterized in that, the span of described angle C is 40 °～70 °.

3. self-moving device as claimed in claim 1, is characterized in that, described drive motors (241) is positioned on the straight line of direct of travel at walking place, unit (23) at least partly.

4. self-moving device as claimed in claim 3, is characterized in that, the intersection point of the pivot axis of described walking unit (23) pivot axis and drive motors (241) is positioned at inner side or the outside of walking unit (23).

5. self-moving device as claimed in claim 1, it is characterized in that, described driver element (24) also comprises the synchronous pulley (242) being connected with drive motors (241) output, the bevel gear (244) being connected with synchronous pulley (242) by Timing Belt (243), and the train of reduction gears (245) engaging with bevel gear (244), described walking unit (23) is connected to the output of train of reduction gears (245).

6. self-moving device as claimed in claim 1, it is characterized in that, described driver element (24) also comprises the first helical gear (242 ') being connected with drive motors (241) output, and train of reduction gears (245 '), in described train of reduction gears (245 '), at least comprise second helical gear (243 ') engaging with the first helical gear (242 '), described walking unit (23) is connected to the output of train of reduction gears (245 ').

7. the self-moving device as described in claim 1-6 any one, is characterized in that, described walking unit (23) adopts driving wheel or creeper undercarriage.

8. self-moving device as claimed in claim 7, is characterized in that, described driving wheel is 2, is symmetricly set on the left and right sides of device body (21).

9. self-moving device as claimed in claim 8, it is characterized in that, device body (21) bottom is provided with suction port (26), in device body, (21) are also provided with dust storage chamber (27), described suction port (26) is communicated with dust storage chamber (27), and described dust storage chamber (27) is arranged between 2 driving wheels.