CN210810802U - Driving wheel and sweeping robot - Google Patents

Abstract

The utility model relates to a drive wheel and robot of sweeping floor, wherein, the drive wheel is used for the motion of drive robot, and the drive wheel includes: the inner hub assembly is connected to the side edge of the robot main body, an accommodating space is formed in the inner hub assembly, a driving piece and an output gear are arranged in the accommodating space, and the driving piece drives the output gear to rotate; outer wheel hub subassembly rotates the outside that sets up at inner wheel hub subassembly, and outer wheel hub subassembly is provided with driven gear, and the driven gear center pin is coaxial with outer wheel hub subassembly's rotation axis, and output gear is connected with the driven gear transmission to wheel hub subassembly rotates in the relative of drive outer wheel hub subassembly. The utility model discloses the drive wheel is not only the outward appearance piece, also is the function piece simultaneously, and the robot main part is inside need not set up the driving piece to the side in the robot main part can not occupy the space of robot main part in the connection of drive wheel, has reduced the volume of robot main part, makes the overall structure of robot compact, and the volume is less.

Description

Driving wheel and sweeping robot

Technical Field

The utility model relates to a robot field of sweeping the floor especially relates to a drive wheel and robot of sweeping the floor.

Background

Along with the continuous development of the intelligent home industry, intelligent robots such as intelligent floor sweepers and intelligent mowers have higher and higher requirements on the improvement of working skills and the sweeping efficiency. The driving wheel of traditional intelligence machine of sweeping floor or intelligent lawn mower can't accomplish under the complicated ground condition and clean or the work of mowing, needs a driving system that has high-efficient obstacle-surmounting ability urgently. In the conventional technical means, in order to improve the obstacle crossing capability of the driving wheels, a wide-wheel-pattern or high-load wheel set system is generally adopted, but the driving wheels with wide wheel patterns lead to a large overall volume of the robot. In addition, the driving structure of the driving wheel of the existing sweeping robot is arranged outside the driving wheel, so that the structure of the driving wheel is complex, and the efficiency of the main body is low during production and assembly.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a driving wheel and a sweeping robot, which solve the problem that the driving wheel with wide wheel patterns causes a large overall size of the robot.

The utility model discloses the drive wheel for the motion of robot of sweeping the floor is driven, the drive wheel includes: the inner hub assembly is connected to the side edge of the robot main body and provided with an accommodating space, a driving piece and an output gear are arranged in the accommodating space, and the driving piece drives the output gear to rotate; the outer hub assembly is rotatably arranged outside the inner hub assembly, a driven gear is arranged on the outer hub assembly, the central shaft of the driven gear is coaxial with the rotating shaft of the outer hub assembly, and the output gear is in transmission connection with the driven gear so as to drive the outer hub assembly to rotate relative to the inner hub assembly.

In one embodiment, the inner hub assembly further comprises a power supply assembly for providing electrical support to the robot.

In one embodiment, an axle is disposed on the inner hub assembly, a first axle hole is formed in the center of the outer hub assembly, and the axle is inserted into the first axle hole, and the outer hub assembly rotates around the axle.

In one embodiment, the outer hub assembly further includes a bearing, the outer hub assembly extends toward the inner hub assembly to form a first boss, the first shaft hole is disposed on the first boss, the bearing is disposed in the first shaft hole, when the axle is inserted into the first shaft hole, the bearing is sleeved on the exterior of the axle, and the driven gear is fixedly sleeved on the exterior of the first boss.

In one embodiment, the inner hub assembly comprises a bracket, the bracket is a first cylinder body with a first base plate, a containing space is formed in the first cylinder body, the first base plate extends and protrudes towards the inside of the containing space to form a second boss on the inner side of the first base plate, a recess is simultaneously formed on the outer side of the first base plate, the axle and the driven gear are located in the recess, a notch is arranged on the second boss, and the output gear is meshed with the driven gear at the notch.

In one embodiment, the inner hub assembly is provided with a rotating shaft on an end surface close to the robot main body, so that the driving wheel is connected to the side edge of the robot main body.

In one embodiment, a first through hole is formed in the rotating shaft along the axis direction, a power line and/or a data line is led out of the driving part, and the power line and/or the data line can penetrate through the first through hole to be connected with the robot main body.

In one embodiment, the outer hub assembly comprises a second cylinder body with a second bottom plate, a containing cavity for containing the inner hub assembly is formed in the second cylinder body, the first shaft hole is formed in the center of the second bottom plate, and a wheel skin is wrapped outside the second cylinder body.

In one embodiment, the inner hub assembly further comprises a fixing member, the axle passes through the first axle hole to form a protruding end, and the fixing member is fixedly arranged on the protruding end to keep the axle in the first axle hole.

The utility model discloses still provide a robot of sweeping floor, include the robot main part is arbitrary with the higher authority the drive wheel, the drive wheel is connected the side of robot main part.

The utility model discloses drive wheel and robot of sweeping floor, through the inner structure of rational design drive wheel, the inside space of make full use of drive wheel sets up driving piece, output gear and driven gear in the drive wheel, makes the utility model discloses a drive wheel is not only outward appearance piece, also is the function piece simultaneously, and the robot main part is inside need not set up driving piece, output gear and driven gear to the side in the robot main part can not occupy the space of robot main part at the drive wheel connection, has reduced the volume of robot main part, makes and uses the utility model discloses the robot overall structure of drive wheel is compact, and the volume is less.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot in one embodiment.

Fig. 2 is a disassembled structural view of main parts of the driving wheel in one embodiment.

Fig. 3 is a schematic disassembled structure diagram of main parts of the robot in one embodiment.

Fig. 4 is a schematic view of a connection structure of a driving wheel and a robot main body in one embodiment.

FIG. 5 is a schematic structural view of the inner hub assembly and the outer hub assembly in one embodiment.

FIG. 6 is a perspective view of an embodiment of an inner hub assembly with an outer hub assembly shown assembled with an inner cover hidden therein.

Fig. 7 is a top view of the drive wheel of fig. 6.

Fig. 8 is a partial cross-sectional view of the stent at section a-a in fig. 7.

Figure 9 is a partial cross-sectional view of the outer hub assembly at section a-a in figure 7.

Figure 10 is a schematic view of the carrier of figure 8 and the outer hub assembly of figure 9 assembled together.

Fig. 11 is a cross-sectional view of the drive wheel of fig. 7 at section B-B.

Fig. 12 is a schematic view of an exploded structure of the driving wheel.

Reference numerals:

the robot comprises a robot main body 10, a machine body upper cover 11, a machine body lower cover 12, a second shaft hole 13, a first clamp 14 and a second clamp 15; a drive wheel 20; inner hub assembly 300, drive 310, scroll 311; the transmission member 320, the worm gear 321, the first worm gear 322, the first gear 323, the output gear 324, the first output gear 325, and the second output gear 326; an inner lid 330, a rotation shaft 331, a first through hole 332, a flange 333; a bracket 340, a first bottom plate 341, a second boss 342, a recess 343, a notch 344, a partition 345, a first space 346, a second space 347, a first cylinder 348; axle 350, second through hole 351, protruding end 352; a side-detecting component 360; an outer cover 370; a fixing member 380; outer hub assembly 400, second base plate 410, first shaft bore 420, bearing 430, driven gear 440, second cylinder 450, first boss 460.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured 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 also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

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 herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The utility model discloses the drive wheel for the motion of the robot is swept in the drive, as shown in fig. 1 and 2, fig. 1 is the overall structure schematic diagram of robot, and fig. 2 is the schematic structure diagram of the drive wheel 20 of robot of sweeping the floor.

As can be seen from fig. 1, the sweeping robot (hereinafter referred to as "robot") comprises a robot main body 10 and driving wheels 20, wherein the driving wheels 20 are arranged at the side edges of the robot main body 10 and are used for driving the robot main body 10 to move; as can be seen from fig. 2, the driving wheel 20 includes an inner hub assembly 300, an outer hub assembly 400, a driving member 310 and a transmission member 320, wherein the inner hub assembly 300 is used for being connected with the robot body 10, such that the driving wheel 20 is disposed outside the robot body 10, and an accommodating space is provided therein; outer hub assembly 400 is disposed outside of inner hub assembly 300 and is rotatably coupled to inner hub assembly 300; the driving element 310 and the transmission element 320 are both disposed in the accommodating space of the inner hub assembly 300, one end of the transmission element 320 is in transmission connection with the driving element 310, the other end of the transmission element 320 is in transmission connection with the outer hub assembly 400, and the driving element 310 transmits the torque force to the outer hub assembly 400 through the transmission element 320, so that the outer hub assembly 400 can rotate relative to the inner hub assembly 300 and the robot body 10, and then the robot is driven to move. In addition, in the embodiment shown in fig. 1, the robot includes two driving wheels 20 respectively located at two outer sides of the robot main body 10, and it is understood that, in order to improve the stability of the operation of the robot, a supporting wheel (not shown) may be further provided below the robot main body 10, and the supporting wheel and the driving wheels 20 at two outer sides of the robot can make the robot stably walk on the ground according to the principle that three points form one plane.

In one embodiment, as shown in fig. 2, the inner hub assembly 300 includes a bracket 340, an inner cover 330 provided in combination with the bracket 340, and an axle 350 provided at a central position of the bracket 340, the inner cover 330 being used to be coupled with the robot main body 10. Further, as shown in fig. 2 and 3, the inner cover 330 of the driving wheel 20 is provided with a rotating shaft 331 on an end surface thereof adjacent to the main body 10, and as shown in fig. 3, the robot main body (hereinafter, referred to as "main body") includes a body upper cover 11 and a body lower cover 12, and after the body upper cover 11 and the body lower cover 12 are fitted together, a second shaft hole 13 can be formed at a corresponding position for cooperating with the rotating shaft 331 so that the driving wheel 20 is coupled to the outside of the main body 10. In addition, in order to prevent the driving wheel 20 from being separated from the main body 10, as shown in fig. 4, after the rotating shaft 331 of the driving wheel 20 is inserted into the second shaft hole 13, a first clip 14 and a second clip 15 are further disposed on the rotating shaft 331 for fixing the rotating shaft 331 to the lower housing cover 12, wherein a flange 333 is further disposed at an end of the rotating shaft 331 near the inner cover 330, the first clip 14 is disposed between the flange 333 and the inner cover 330 for preventing the driving wheel 20 from being separated from the main body 10, and the second clip 15 is disposed between an end of the rotating shaft 331 far from the inner cover 330 and the lower housing cover 12 for fixing the rotating shaft 331, thereby improving stability of the rotational connection between the driving wheel 20 and the main body. It will be appreciated that, in addition to providing the first and second clips 14, 15 on the spindle 331, in other embodiments, other limiting members may be provided on the spindle 331 and/or the main body for fixing the spindle 331 to the main body and preventing the driving wheel 20 from being disengaged from the main body.

In addition, as shown in fig. 2, 5, 6 and 11, the accommodating space is disposed in the bracket 340, the driving element 310 and the transmission element 320 are both disposed in the accommodating space of the bracket 340, the axle 350 is disposed at the central position of the bracket 340, the outer hub assembly 400 includes a second cylinder 450 having a second bottom plate 410, the second bottom plate 410 and the second cylinder 450 enclose an accommodating cavity for accommodating the inner hub assembly, the central position of the second bottom plate 410 is provided with a first axle hole 420, and the outer side of the second cylinder 150 wraps the wheel skin. The center of the second base plate 410 extends toward the bracket 340 to form a first boss 460, the first shaft hole 420 is disposed on the first boss 460, the bearing 430 is fixedly disposed in the first shaft hole 420, when the inner hub assembly 300 and the outer hub assembly 400 are assembled together, as shown in fig. 9, the axle 350 is inserted into the first axle hole 420, and the bearing 430 is fitted over the exterior of the axle 350, so that the outer hub assembly 400 is rotatably connected to the inner hub assembly 300, the driven gear 440 is fixedly disposed outside the first boss 460, and the central axis of the driven gear 440 is coaxial with the rotation axis of the outer hub assembly 400, it can be understood that, since the outer hub assembly 400 is rotatably connected to the inner hub assembly 300, the rotation axis of the outer hub assembly 400 is referred to as the axle 350 in the bracket 340, and the driving member 310 transmits the torque to the driven gear 440 via the transmission member 320, so that the driven gear 440 rotates the outer hub assembly 400 relative to the inner hub assembly 300.

Further, as shown in fig. 5, the driving member 310 is embodied as a motor, the output end of the driving member 310 includes a worm rod 311, the transmission member 320 includes a worm gear 321 and an output gear 324, the worm rod 311 is engaged with the worm gear 321, so that the motor can transmit a torque force to the output gear 324 through the worm rod 311 and the worm gear 321, the output gear 324 is engaged with the driven gear 440, so that the output gear 324 can transmit the torque force to the driven gear 440, and the driven gear 440 drives the outer hub assembly 400 to rotate relative to the inner hub assembly 300. As can be further seen from fig. 5, the worm gear 321 includes a first worm gear 322 and a first gear 323 which rotate coaxially, the output gear 324 includes a first output gear 325 and a second output gear 326 which rotate coaxially, the worm wheel 311 is meshed with the first worm gear 322, the first gear 323 is meshed with the first output gear 325, the first worm gear 322 is driven by the worm wheel 311, the first gear 323 rotates coaxially with the first worm gear 322 and can drive the first output gear 325 to rotate, and the second output gear 326 rotates coaxially with the first output gear 325 and can drive the driven gear 440 to rotate.

Further, as shown in fig. 2, 5 and 11, the bracket 340 is a first cylinder 348 having a first base plate 341, the inner cover 330 is connected to a free end of the first cylinder 348 to close a space in the bracket 340, a center position of the first base plate 341 extends and protrudes toward the inner cover 330, such that the first base plate 341 is formed with a second boss 342 and a recess 343 at a side close to the inner cover 330 (i.e., an inner side of the first base plate 341) and a side away from the inner cover 330 (i.e., an outer side of the first base plate 341), respectively, the driven gear 440 and the bearing 430 of the outer hub assembly 400 are located in the recess 343, the driving member 310 and the transmission member 320 are located between the inner cover 330 and the first base plate 341, and the second boss 342 is formed with a notch 344, where the second output gear 326 and the driven gear 440 are engaged, as shown in fig. 6-11. Fig. 6 is a perspective view of the inner hub assembly 300 and the outer hub assembly 400 with the inner cover 330 hidden, fig. 7 is a top view of the driving wheel 20 in fig. 6, fig. 8 and 9 are partial sectional views of the bracket 340 and the outer hub assembly 400 taken along the line a-a in fig. 7, respectively, fig. 10 is a view of the bracket 340 and the outer hub assembly 400 taken along the line a-a in fig. 8, fig. 11 is a sectional view of the driving wheel 20 taken along the line B-B in fig. 7, and it can be seen from fig. 10 that when the bracket 340 and the outer hub assembly 400 are assembled, the driven gear 440 of the outer hub assembly 400 can be exposed from the gap 344 and can be engaged with the second output gear 326. As can be seen in fig. 11, the driver 310 transmits the torque to the driven gear 440 of the outer hub assembly 400 through the second output gear 326 at the notch 344, and a bearing 430 is disposed between the driven gear 440 of the outer hub assembly 400 and the axle 350 in the bracket 340, so that the driven gear 440 can rotate the outer hub assembly 400 relative to the inner hub assembly 300 under the action of the driver 310 and the transmission member 320.

Further, the inner hub assembly 300 further includes a power supply assembly (not shown) for providing electrical support to the robot; as shown in fig. 5 and 6, a partition 345 is further disposed in the bracket 340, the partition 345 divides the space in the bracket 340 into a first space 346 and a second space 347, the first space 346 is used for accommodating the driving member 310 and the driving member 320, and the second space 347 is used for accommodating the power supply assembly. The driving member 310 is electrically connected to a power supply assembly, which is used for providing power input to the driving member 310. In one embodiment, a control board (not shown) is disposed in the main body 10, and a first through hole 332 is disposed in the shaft 331 along the axial direction, as shown in fig. 3, a power supply line and/or a data line is led out from the power supply assembly, and the power supply line and/or the data line can pass through the first through hole 332 to be connected with the control board, so that the control board is electrically connected with the power supply assembly. In one embodiment, the driving member is also electrically connected to the control board through the first through hole 332 and operates under the control of the control board.

Further, the exploded structure of the driving wheel 20 is shown in fig. 12, and as can be seen from fig. 11 and 12, the inner hub assembly 300 further includes a side probe assembly 360 for detecting a distance between the driving wheel and an external obstacle, the axle 350 passing through the first axle hole 420 and extending and protruding from the second base plate 410 away from the bracket 340 to form a protruding end 352, and the side probe assembly 360 being connected to the protruding end 352. Further, a second through hole 351 is axially formed in the axle 350 for inserting a power line and/or a data line, so that the edge detecting assembly 360 is electrically connected to the control board. Since only the outer hub assembly 400 rotates during operation of the robot, the bracket 340 and the axle 350 of the inner hub assembly 300 do not rotate, and therefore, the edge finder assembly 360 is connected to the protruding end 352 of the axle 350, which can improve the detection accuracy of the edge finder assembly 360.

Additionally, as can be seen in FIG. 11, after the edge probe assembly 360 is attached to the protruding end 352 of the axle 350, a fastener 380 is also provided on the protruding end 352 to secure the edge probe assembly 360 to the protruding end 352 while also retaining the axle 350 within the first axle bore 420. In one embodiment, as shown in FIG. 11, the protruding end 352 of the axle 350 is further provided with external threads and the fastener 380 is a nut that is tightened onto the external threads of the protruding end 352 after the edge finder assembly 360 is attached to the protruding end 352 of the axle 350, thereby securing the edge finder assembly 360 to the protruding end 352 while also retaining the axle 350 within the first axle bore 420.

In one embodiment, as shown in fig. 2, 11 and 12, the inner hub assembly 300 further includes an outer cover 370 that covers the edge probe assembly 360 from the outside, and as can be seen in fig. 2, 11 and 12, the outer cover 370 is disposed on a side of the edge probe assembly 360 away from the second base plate 410. It will be appreciated that on the side of the second base plate 410 of the outer hub assembly 400 remote from the body 10, the projecting end 352 of the axle 350 passing through the second base plate 410 of the outer hub assembly 400 does not rotate with the outer hub assembly 400, except that the edge finder assembly 360 does not rotate with the outer hub assembly 400, and therefore, in other embodiments, the outer cover 370 may be provided on the projecting end 352 of the axle 350.

The robot of sweeping the floor in the embodiment above, through setting up the drive wheel at the side of robot main part for the driving piece can not occupy the space of robot main part, in addition, the utility model discloses a set up driving piece, output gear and driven gear in the drive wheel, make the utility model discloses the drive wheel of robot is not only the outward appearance piece of robot, also is the function piece simultaneously, and then makes the utility model discloses a robot structure is compacter, and whole volume is littleer.

The utility model discloses a drive wheel, through the inner structure of rational design drive wheel, the inside space of make full use of drive wheel sets up driving piece, output gear and driven gear in the drive wheel, makes the utility model discloses a drive wheel is not only outward appearance piece, also is the function piece simultaneously, and the robot main part is inside need not set up driving piece, output gear and driven gear to the side in the robot main part is connected to the drive wheel, can not occupy the space of robot main part, has reduced the volume of robot main part, makes the use the utility model discloses the robot overall structure of drive wheel is compact, and the volume is less.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A drive wheel for driving a sweeping robot in motion, the drive wheel comprising:

the inner hub assembly is connected to the side edge of the robot main body and provided with an accommodating space, a driving piece and an output gear are arranged in the accommodating space, and the driving piece drives the output gear to rotate;

the outer hub assembly is rotatably arranged outside the inner hub assembly, a driven gear is arranged on the outer hub assembly, the central shaft of the driven gear is coaxial with the rotating shaft of the outer hub assembly, and the output gear is in transmission connection with the driven gear so as to drive the outer hub assembly to rotate relative to the inner hub assembly.

2. The drive wheel as set forth in claim 1, wherein said inner hub assembly further includes a power supply assembly for providing electrical support to said robot.

3. The drive wheel as set forth in claim 1, wherein said inner hub assembly is provided with an axle, and said outer hub assembly is centrally provided with a first axle hole through which said axle is inserted, said outer hub assembly being rotatable about said axle.

4. The drive wheel as set forth in claim 3, wherein the outer hub assembly further includes a bearing, the outer hub assembly extends toward the inner hub assembly to form a first boss, the first shaft hole is disposed on the first boss, the bearing is disposed in the first shaft hole, when the axle is inserted into the first shaft hole, the bearing is disposed on an outer portion of the axle, and the driven gear is fixedly disposed on an outer portion of the first boss.

5. The drive wheel as set forth in claim 4, wherein the inner hub assembly includes a bracket which is a first cylinder having a first bottom plate, the first cylinder forming a receiving space therein, the first bottom plate extending and protruding toward the inside of the receiving space to form a second boss on an inner side of the first bottom plate and simultaneously forming a recess on an outer side of the first bottom plate, the axle and the driven gear being located in the recess, the second boss being provided with a notch, the output gear being engaged with the driven gear at the notch.

6. The drive wheel as claimed in claim 1, wherein the inner hub assembly has a shaft on an end surface thereof adjacent to the robot body for connecting the drive wheel to a side of the robot body.

7. The driving wheel as claimed in claim 6, wherein a first through hole is formed in the shaft along the axial direction, a power line and/or a data line is led out from the driving member, and the power line and/or the data line can pass through the first through hole to be connected with the robot body.

8. The drive wheel as set forth in claim 3, wherein the outer hub assembly includes a second cylinder having a second bottom plate, the second cylinder defining a cavity therein for receiving the inner hub assembly, the first axle hole being formed at a central location of the second bottom plate, and the second cylinder being wrapped around the wheel skin.

9. The drive wheel of claim 3 wherein said inner hub assembly further comprises a fastener, said axle extending through said first axle bore to form a protruding end, said fastener being fixedly disposed on said protruding end to retain said axle within said first axle bore.

10. A sweeping robot, comprising the robot main body and the driving wheel as claimed in any one of claims 1 to 9, wherein the driving wheel is connected to a side edge of the robot main body.

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