CN209203157U - Clean robot - Google Patents
Clean robot Download PDFInfo
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- CN209203157U CN209203157U CN201821335219.7U CN201821335219U CN209203157U CN 209203157 U CN209203157 U CN 209203157U CN 201821335219 U CN201821335219 U CN 201821335219U CN 209203157 U CN209203157 U CN 209203157U
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- clean robot
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Abstract
The utility model relates to a kind of clean robots, comprising: body；Walking mechanism, driving wheel and driven wheel including being set to the organism bottom, the driving wheel includes wheel rim and hub motor, and the hub motor is connect with the inner ring of the wheel rim；Driving mechanism is set in the body, and the driving mechanism includes driving circuit, and the driving circuit is connect with the hub motor；And cleaning mechanism, set on the bottom of the body, the cleaning mechanism is for cleaning rubbish.The utility model clean robot drives the driving wheel of clean robot by hub motor, substantially prolongs life of product, improves reliability, reduces after cost.
Description
Technical field
The utility model relates to mobile robot fields, more particularly to a kind of clean robot.
Background technique
With the development of science and technology and requirement of the people to quality of the life is higher and higher, and clean robot starts to be widely applied
In places such as family, hotel and markets, but the problems such as traditional clean robot is short there are the service life and noise is big.
Utility model content
Based on this, it is necessary to which problem short for the clean robot service life and big noise provides a kind of clean robot.
A kind of clean robot, comprising:
Body；
Walking mechanism, driving wheel and driven wheel including being set to the organism bottom, the driving wheel includes wheel rim and wheel
Hub motor, the hub motor are connect with the inner ring of the wheel rim；
Driving mechanism is set in the body, and the driving mechanism includes driving circuit, the driving circuit and the wheel
The connection of hub motor；And
Cleaning mechanism, set on the bottom of the body, the cleaning mechanism is for cleaning rubbish.
It in one of the embodiments, include sinusoidal wave controller in the driving circuit.
The quantity of the driving wheel is multiple in one of the embodiments, and at least two driving wheels are about described
The central axes of body are symmetrical.
The hub motor includes stator, rotor and connecting shaft in one of the embodiments, and the stator sleeve is set to
In the connecting shaft, the stator is connect with the driving circuit, and the rotor is set in the outside of the stator, and described turn
The sub inner ring with the wheel rim is connect.
In one of the embodiments, the stator include it is multiple interval be set to the connecting shaft outer ring on stators around
Group, the stator winding are connect with the driving circuit；
The multiple that the quantity of the stator winding is three, every three stator winding mutually are connected in series to form three-phase windings,
The angle of the two neighboring stator winding in the three-phase windings is 120 °, and the driving circuit can drive each described three
At most two stator winding electrifyings in phase winding.
The Hall sensor for electronic commutation is equipped in the hub motor in one of the embodiments,.
The clean robot further includes multiple elastic components set on the internal body in one of the embodiments,
Each elastic component is connect with the driving wheel respectively；
When the driving wheel when being contacted with ground, the elastic component can keep the driving wheel and the ground tight by elastic force
Patch.
The clean robot further includes detection module in one of the embodiments, the elastic component and the detection
Module connection, the detection module is for detecting whether the driving wheel contacts with the ground.
The detection module is pressure sensor, Hall sensor, mechanical switch or photoelectricity in one of the embodiments,
Switch.
The cleaning mechanism includes being set to the brush assembly of the organism bottom and being set in one of the embodiments,
The intracorporal storage box of machine, the brush assembly are used for refuse sweeping into the storage box.
The clean robot further includes Ce Zhang mechanism in one of the embodiments, and the Ce Zhang mechanism is for obtaining
The distance between barrier and the body information, and the range information is passed into the driving mechanism.
In clean robot field, the driving motor of low-speed big is needed.The revolving speed of usual brush motor is up to
6000rpm or so, it is necessary to reduction gearbox is equipped with to slow down, structure is complicated, and it is with high costs, moreover, the service life of brush motor is in 500-
3000 hours.And the driving wheel of clean robot is driven by hub motor, the service life can be improved to 30,000 hours ranks, greatly
Life of product is extended greatly, reliability is improved, reduces after cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the clean robot of one embodiment of the utility model；
Fig. 2 is the bottom view of Fig. 1；
Fig. 3 is the structural schematic diagram of hub motor in Fig. 1；
Fig. 4 is the structure principle chart of three-phase windings in Fig. 3；
Fig. 5 is the circuit connection diagram of three-phase windings in Fig. 4；
Fig. 6 is the schematic diagram that Fig. 4 controls three-phase windings using sine wave；
Fig. 7 is sine wave time history plot in Fig. 6；
Fig. 8 is magnetomotive polar plot that three-phase windings generate in Fig. 6；
Fig. 9 is driving wheel and the structural schematic diagram after ground face contact in Fig. 1；
Figure 10 is driving wheel and the structural schematic diagram after ground separation in Fig. 1.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific implementation opened.
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.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specifically embodiment, it is not intended that in limitation the utility model.Term " and or " used herein includes
Any and all combinations of one or more related listed items.
As shown in Figures 1 and 2, the clean robot 10 of one embodiment of the utility model, including body 100, vehicle with walking machine
Structure 200, driving mechanism and cleaning mechanism 400.Body 100 is walking mechanism 200, driving mechanism and cleaning mechanism 400
Supporting body.
Walking mechanism 200 includes the driving wheel 210 and driven wheel 220 set on 100 bottom of body.The quantity of driving wheel 210
To be multiple, wherein at least two driving wheel 210 is symmetrical about the central axes 20 of body 100, so that clean robot 10 can edge
It walks the central axes 20 of body 100.Specifically, in the present embodiment, the quantity of driving wheel 210 is two and about body
100 central axes 20 are symmetrical.The quantity of driven wheel 220 is at least one, when the quantity of driven wheel 220 is one, driven wheel
On 220 central axes 20 in body 100, when the quantity of driven wheel 220 is multiple, wherein at least two driven wheel 220
In the two sides of the central axes of body 100 20.Specifically, in the present embodiment, the quantity of driven wheel 220 is one and is set to machine
On the central axes 20 of body 100, and driven wheel 220 is located at the front side of body 100.It is appreciated that in other embodiments, it is driven
Wheel 220 can also be located at the rear side of body 100.
With reference to Fig. 3, driving wheel 210 includes wheel rim (not shown) and hub motor 240, and hub motor 240 is interior with wheel rim
Circle connection, the outer ring of wheel rim is arranged with tire (not shown).Specifically, in the present embodiment, hub motor 240 includes stator
241, rotor 242 and connecting shaft 243, stator 241 are sheathed in connecting shaft 243, and stator 241 and driving circuit (it is not shown, see
It hereafter) connects, rotor 242 is set in the outside of stator 241, and rotor 242 is connect with the inner ring of wheel rim.
In the present embodiment, stator 241 include bracket 244 and stator winding 245, bracket 244 with 243 sets of connecting shaft
Connect, the quantity of stator winding 245 be it is multiple, multiple intervals of stator winding 245 are set on the outer ring of bracket 244.Wherein, per certain
Sub- winding 245 includes iron core 2451 and the coil 2452 being set around on iron core 2451, the outer ring company of iron core 2451 and bracket 244
It connecing, coil 2452 is set around on iron core 2451, it insulate between above-mentioned iron core 2451 and coil 2452, the stator winding 245 of each phase
Between insulate, coil 2452 is connect with driving circuit.Rotor 242 includes permanent magnet 246 and magnetic yoke 247, magnetic yoke 247 and wheel rim
Inner ring connection, magnetic yoke 247 is sheathed on bracket 244, the number of permanent magnet 246 be it is multiple, multiple intervals of permanent magnets 246 are set to
On the inner sidewall of magnetic yoke 247, and two adjacent permanent magnets 246 magnetic pole on the contrary, permanent magnet 246 and stator winding 245 quantity
It is equal.
Driving mechanism is set in body 100, and driving mechanism drives driving wheel 210 to rotate for drive hub motor 240.Tool
Body, it includes sinusoidal wave controller in driving circuit that in the present embodiment, driving mechanism, which includes driving circuit, driving electricity
Road is connect with hub motor 240, so that stator winding 245 can generate the magnetic field of consecutive variations, in 246 magnetic pole of permanent magnet
Active force under driving rotor 242 rotate.
Cleaning mechanism 400 is set to the bottom of body 100, and cleaning mechanism 400 is for cleaning rubbish.Specifically, with reference to Fig. 2 institute
Show, in the present embodiment, cleaning mechanism 400 include set on 100 bottom of body brush assembly 410 and be set to machine it is intracorporal
Storage box 420, brush assembly 410 are used for refuse sweeping into storage box 420.
In above-mentioned clean robot 10, the driving wheel 210 of clean robot 10 is driven by hub motor 240, greatly
Life of product is extended greatly, reliability is improved, reduces after cost.In addition, the sinusoidal wave controller in driving circuit can
To be operated using sine wave algorithm control hub motor 240, so that 240 rotation process of hub motor is more steady, thus effectively
Reduce by 10 running noise of clean robot.
Further, in the present embodiment, the multiple that the quantity of stator winding 245 is three, every three stator winding 245 are mutual
It is connected in series to form three-phase windings, the angle of the two neighboring stator winding 245 in three-phase windings is 120 °.In this way, can produce
Stronger rotating excitation field, so that the rotation process of hub motor 240 is more steady.And driving circuit can drive each three-phase
At most two stator winding 245 are powered in winding.In this way, when being powered to one of stator winding 245 in three-phase windings,
Driving wheel 210 can be locked a position.Using this characteristic, the sweeping robot 10 can be allowed to stop in specific position
Extraneous disturbance is not easily susceptible to when only and shift position, consequently facilitating carrying out fixed point scanning and building figure, charging or lifted by user to remove
The operation such as fortune.When being powered to the wherein two stator winding 245 in three-phase windings, with reference to Fig. 8, according to Vector modulation principle
(seeing below) can form rotating excitation field.
With reference to Fig. 4, in other embodiments, the quantity of stator winding 245 is three, three formation of stator winding 245
Three-phase windings, at most two stator winding 245 are connect with driving circuit.
Further, in the present embodiment, the Hall sensor for electronic commutation is equipped in hub motor 240.Specifically
Ground, in the present embodiment, Hall sensor need at least two paths of signals to judge forward and reverse letter of 210 real-world operation of driving wheel
Stator winding connection in breath namely Hall sensor and at least two driving wheels 210.In this way, signal all the way wherein
It is interfered or when the error occurs, can normally be identified by another way signal.
Now by taking the structure of the three-phase windings of Fig. 4 as an example, and Fig. 5, Fig. 6, Fig. 7, Fig. 8 is combined to control hub motor to sine wave
The principle of 240 rotations is briefly described:
When phase stator winding 245 a certain in three-phase windings is passed through electric current, then the phase stator winding 245 can generate correspondence
Magnetomotive force, when being passed through reversed electric current, generate reversed magnetomotive force.With reference to Fig. 8, if three-phase winding is identified as A, B, C, often
A moment at most allows two-phase to be powered, and according to Vector modulation principle, different conductive currents can synthesize different magnetomotive force, attracts
The magnetic pole of rotor 242 moves therewith.Select different power-up sequences, it can change the direction of motion of rotating excitation field.
Three road hall signals can be combined into 6 kinds of states by 0,1, be used to indicate the absolute of the rotor 242 of hub motor 240
Position, refering to what is shown in Fig. 8, six kinds of states are F respectivelyC(0,0,1), FBC(0,1,1), FB(0,1,0), FAB(1,1,0), FA
(1,0,0), FAC(1,0,1).Wherein, FC(0,0,1) forward current, F are passed through to the road A stator winding forBC(0,1,1) for A
Road and the road B stator winding are passed through forward current, FB、FAB、FA、FACSimilarly.In the operation process of motor, above-mentioned six kinds of states are total
It is continuous circular flow, it is impossible to jump.If FBCNext state of (0,1,1) is not FC(0,0,1) or FB(0,1,
0), then can determine that mistake occurs in signal, for example there is F in subsequent timeA(1,0,0) is not just a normal successive value.
Furthermore (0,0,0) and (1,1,1) is also the error signal that can not occur, because without electricity in (0,0,0) corresponding stator winding 245
Stream passes through, and the magnetic field that (1,1,1) corresponding stator winding 245 generates can be cancelled out each other by the superposition of vector, in addition, when corresponding to
When line terminal falls off, can also it report an error.Similarly, when the road A, B, C stator winding current is reversed, can also occur following six kinds
State Suddenly using above-mentioned three tunnel
That signal, can play the role that the effect of 1, Hall sensor meter mileage and speed, and the clean robot 10 can be made quasi-
Really traveling a distance even makes the driving wheel 210 accurate rotational certain angle under the drive of hub motor 240；2, judgement is driven
The positive and negative rotation direction of driving wheel 210 namely the positive and negative rotation direction of rotor 242；3. if there is a phase signals inside three-phase hall signal
It is out of joint, it can be come out by logic judgment, and accurately report an error, be not in that driving wheel 240 flies nonstop to the situation for turning out of control.
It is this not allow requirement out of control most important in the running environment of sweeper.
Further, in the present embodiment, in conjunction with shown in Fig. 9 and Figure 10, clean robot 10 further includes being set to body 100
Internal multiple elastic component (not shown), each elastic component are connect with driving wheel 210 respectively.When driving wheel and ground disengage
When, elastic component can be such that driving wheel pops up to far from direction below body by elastic force, when driving wheel when being contacted with ground, elastic component
By elastic force and machine own wt driving wheel can be close to ground.In this way, elastic component can make the clean robot 10
When the ground run of out-of-flatness, 210 close proximity to ground of driving wheel can be made by the elastic force of elastic component, there is damping is anti-to beat
Sliding effect.It is appreciated that in other embodiments, elastic component also can be set on driven wheel 220.
Further, in the present embodiment, elastic component is equipped with detection module (not shown), and detection module drives for detecting
Whether driving wheel 210 contacts with ground.So, it is ensured that driving wheel 210 is close to ground, does not deviate by the position of normal operation
It sets.Wherein, above-mentioned detection module can be pressure sensor, Hall sensor, mechanical switch or optoelectronic switch etc..When the detection
When module is pressure sensor, it can judge whether driving wheel 210 completely attaches to ground by the elastic force of elastic component.When
When the detection module is Hall sensor, since Hall sensor has voltage output, the displacement of the voltage output and elastic component
Size is directly proportional, can then judge whether driving wheel 210 completely attaches to ground by the size of above-mentioned voltage.When the inspection
When survey module is mechanical switch, deformation achieved can be switched on or be closed with Crush trigger elastic component when being contacted with ground
Close, so as to as judge driving wheel 210 whether the reference with ground face contact.When the detection module is optoelectronic switch, bullet
Deformation achieved be able to enable optoelectronic switch incude ambient or lose induction to property part when being contacted with ground, so that photoelectricity
Switch can closure or openness, so as to as judge driving wheel 210 whether the reference with ground face contact.
Further, in the present embodiment, sinusoidal wave controller can generate the sine wave of 5-20KHz frequency.In this way, can
To allow stator winding 245 to generate the vibration of corresponding frequencies, by the amplification of 240 internal cavity of hub motor, it is audible to generate human ear
The sound arrived can not influence the normal operation of hub motor 240 when issuing the sound.Utilize 240 sounding of hub motor
Function, bright prompt tone can be provided, buzzer, the space of loudspeaker and cost are saved.
Further, in the present embodiment, clean robot 10 further includes Ce Zhang mechanism (not shown), and Ce Zhang mechanism is used for
The distance between barrier and body 100 information are obtained, and the range information is passed to the processor in driving mechanism.Such as
This, can collide to avoid the clean robot 10 with barrier, reduce service life.
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.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of clean robot characterized by comprising
Body；
Walking mechanism, driving wheel and driven wheel including being set to the organism bottom, the driving wheel include wheel rim and wheel hub electricity
Machine, the hub motor are connect with the inner ring of the wheel rim；
Driving mechanism is set in the body, and the driving mechanism includes driving circuit, the driving circuit and wheel hub electricity
Machine connection；And
Cleaning mechanism, set on the bottom of the body, the cleaning mechanism is for cleaning rubbish.
2. clean robot according to claim 1, which is characterized in that include sine wave control in the driving circuit
Device.
3. clean robot according to claim 1, which is characterized in that the quantity of the driving wheel be it is multiple, at least two
A driving wheel is symmetrical about the central axes of the body.
4. clean robot according to claim 1, which is characterized in that the hub motor include stator, rotor and
Connecting shaft, the stator sleeve are set in the connecting shaft, and the stator is connect with the driving circuit, and the rotor is set in institute
The outside of stator is stated, and the rotor is connect with the inner ring of the wheel rim.
5. clean robot according to claim 4, which is characterized in that the stator includes that multiple intervals are set to the company
Stator winding on spindle outer ring, the stator winding are connect with the driving circuit；
The multiple that the quantity of the stator winding is three, every three stator winding are mutually connected in series to form three-phase windings, described
The angle of the two neighboring stator winding in three-phase windings is 120 °, the driving circuit can drive each three-phase around
At most two stator winding electrifyings in group.
6. clean robot according to claim 1, which is characterized in that be equipped in the hub motor and be used for electronic commutation
Hall sensor.
7. clean robot according to claim 1, which is characterized in that the clean robot further includes being set to the machine
Multiple elastic components in internal portion, each elastic component are connect with the driving wheel respectively；
When the driving wheel when being contacted with ground, the elastic component can be such that the driving wheel is close to the ground by elastic force.
8. clean robot according to claim 7, which is characterized in that the clean robot further includes detection module,
The elastic component is connect with the detection module, and the detection module is for detecting whether the driving wheel connects with the ground
Touching.
9. clean robot according to claim 8, which is characterized in that the detection module is pressure sensor, Hall
Sensor, mechanical switch or optoelectronic switch.
10. clean robot according to claim 1, which is characterized in that the cleaning mechanism includes being set to the body
The brush assembly of bottom and it is set to the intracorporal storage box of the machine, the brush assembly is used for refuse sweeping to the storage
In box；And/or
The clean robot further includes Ce Zhang mechanism, the Ce Zhang mechanism be used for obtain between barrier and the body away from
The driving mechanism is passed to from information, and by the range information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821335219.7U CN209203157U (en) | 2018-08-17 | 2018-08-17 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821335219.7U CN209203157U (en) | 2018-08-17 | 2018-08-17 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209203157U true CN209203157U (en) | 2019-08-06 |
Family
ID=67452966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821335219.7U Active CN209203157U (en) | 2018-08-17 | 2018-08-17 | Clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209203157U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859824A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Ground self-moving robot and prompt sound control method |
| WO2021254196A1 (en) * | 2020-06-19 | 2021-12-23 | 东莞市本末科技有限公司 | Power wheel using direct drive motor and cleaning robot |
-
2018
- 2018-08-17 CN CN201821335219.7U patent/CN209203157U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859824A (en) * | 2019-11-12 | 2021-05-28 | 苏州宝时得电动工具有限公司 | Ground self-moving robot and prompt sound control method |
| CN112859824B (en) * | 2019-11-12 | 2023-02-21 | 苏州宝时得电动工具有限公司 | Ground self-moving robot and prompt sound control method |
| WO2021254196A1 (en) * | 2020-06-19 | 2021-12-23 | 东莞市本末科技有限公司 | Power wheel using direct drive motor and cleaning robot |
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| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518055, 16, B1 building, Nanshan Zhiyuan 1001, Taoyuan Road, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |
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