CN210810803U - 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 drive robot motion of sweeping floor, and the drive wheel includes: the inner hub assembly is used for being connected with the robot main body, and a driving piece and a transmission piece are arranged in the inner hub assembly; the outer hub component is rotationally arranged outside the inner hub component, one end of the transmission component is in transmission connection with the driving component, and the other end of the transmission component is in transmission connection with the outer hub component; and the dustproof piece is arranged between the inner hub assembly and the outer hub assembly and used for preventing external dust from entering the driving wheel. The utility model discloses a drive wheel and robot of sweeping floor through rotating outer wheel hub subassembly and connecting in the outside of wheel hub subassembly, when the robot motion, only outer wheel hub subassembly rotates to avoided the whole problem of rotating the energy waste that leads to of drive wheel, and through including, set up the dust keeper between the outer wheel hub subassembly, can avoid outside dust to get into and cause the pollution in the drive wheel.

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

With the continuous development of the smart home industry, the degree of intellectualization and miniaturization of the sweeper is higher and higher, and how to effectively utilize the internal space of the sweeper becomes more important. The driving structure of the driving wheel of the existing sweeping robot is arranged outside the driving wheel, so that the driving wheel is complex in structure, the whole volume of the sweeping machine is large, and the main body of the sweeping machine is low in efficiency during production and assembly. If the drive structure is arranged inside the drive wheel in order to overcome the above-mentioned problems, this will however lead to problems with the rotation of the drive wheel and with dust protection.

SUMMERY OF THE UTILITY MODEL

Accordingly, it is necessary to provide a driving wheel and a floor cleaning robot, which are directed to the problems of rotation and dust prevention of the driving wheel when the driving wheel is built in the driving structure.

The utility model discloses a drive wheel, the drive wheel is used for the drive robot motion of sweeping the floor, the drive wheel includes: the inner hub assembly is used for being connected with the robot main body, and a driving piece and a transmission piece are arranged inside the inner hub assembly; the outer hub assembly is rotatably arranged outside the inner hub assembly, one end of the transmission piece is in transmission connection with the driving piece, and the other end of the transmission piece is in transmission connection with the outer hub assembly; and the dustproof piece is arranged between the inner hub assembly and the outer hub assembly and used for preventing external dust from entering the driving wheel.

In one embodiment, the dust guard includes a fixed portion and a dust guard portion connected to each other, the fixed portion being connected to either the inner hub assembly or the outer hub assembly, the dust guard portion being located between the inner hub assembly and the outer hub assembly.

In one embodiment, the dust prevention portion comprises a brush.

In one embodiment, the inner hub assembly includes an inner cover and a bracket coupled to the inner cover, and the fixing portion is fixedly disposed at a coupling portion of the inner cover and the bracket.

In one embodiment, the position where the fixing portion is combined with the inner cover and/or the bracket is provided with an ear, and the position where the inner cover and/or the bracket is combined with the fixing portion is provided with a groove capable of accommodating the ear.

In one embodiment, the inner cover and/or the bracket is provided with an ear portion at a position where the inner cover and/or the bracket is combined with the fixing portion, and a groove capable of accommodating the ear portion is provided at a position where the fixing portion is combined with the inner cover and/or the bracket.

In one embodiment, the axle is disposed within the frame, the inner hub assembly is a first cylindrical body having a cylindrical shape, the outer hub assembly is a second cylindrical body having a cylindrical shape, the inner hub assembly is received within the outer hub assembly, and an outer wall of the first cylindrical body is disposed opposite an inner wall of the second cylindrical body.

In one embodiment, an annular gap is formed between the outer wall of the first cylinder and the inner wall of the second cylinder, and the dustproof piece is annularly arranged in the gap.

In one embodiment, the first cylinder body is provided with a first bottom plate, the second cylinder body is provided with a second bottom plate, the first bottom plate and the second bottom plate are arranged oppositely, a wheel shaft extends out of the center of the first bottom plate, a first shaft hole is correspondingly arranged in the center of the second bottom plate, and the wheel shaft is inserted into the first shaft hole.

The utility model discloses still provide a robot of sweeping floor, including robot main part and the above-mentioned arbitrary the drive wheel, the drive wheel is connected the side of robot main part is used for the drive the robot main part motion.

The utility model discloses a drive wheel and robot of sweeping floor is provided with driving piece and driving medium in the drive wheel, through rotating outer hub subassembly and connecting in the outside of outer hub subassembly, when the robot motion, only outer hub subassembly rotates, and inner hub subassembly and main part do not all rotate along with the rotation of outer hub subassembly to avoided the whole problem of rotating the energy waste that leads to of drive wheel, and the utility model discloses a gap sets up the dust keeper between inner hub subassembly and outer hub subassembly, can avoid outside dust to get into and pollute internals in the drive wheel.

Drawings

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

Fig. 2 is a schematic diagram of an exploded structure of a driving wheel in one embodiment.

FIG. 3 is a front view of an embodiment of the inner hub assembly with the outer hub assembly shown with the inner cover hidden.

Fig. 4 is a cross-sectional view of the drive wheel of fig. 3 at section a-a.

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

Fig. 6 is a partial cross-sectional view of a stent at section B-B in fig. 3 in one embodiment.

Figure 7 is a partial cross-sectional view of the outer hub assembly at section B-B of figure 3 in one embodiment.

Figure 8 is a schematic view of the carrier of figure 6 and the outer hub assembly of figure 7 assembled together.

Fig. 9 is a schematic disassembled structure diagram of main parts of the robot in one embodiment.

FIG. 10 is a schematic view of a connection structure of a driving wheel and a main body in one embodiment.

Reference numerals:

the machine body comprises a main body 10, an upper machine body cover 11, a lower machine body 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 cover 330, a rotating shaft 331, a first through hole 332, a flange 333, a groove 334; 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; an axle 350; a power supply component 390; outer hub assembly 400, second base plate 410, first shaft hole 420, bearing 430, driven gear 440, second cylinder 450, first boss 460; dust proof 600, fixed part 610, ear 611, dust proof 620.

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 provides a drive wheel and robot of sweeping floor (hereinafter referred to as "robot"), wherein, the drive wheel is used for driving the robot motion, as shown in fig. 1 and fig. 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 floor. As can be seen from fig. 1, the robot includes a robot main body 10 (hereinafter referred to as "main body 10") and a driving wheel 20, the driving wheel 20 being disposed at a side of the main body 10 for driving the main body 10 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 main body 10, and it is understood that, in order to improve the stability of the operation of the robot, a supporting wheel 30 may be further disposed below the robot main body 10, and the supporting wheel 30 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.

As shown in fig. 2, the driving wheel 20 includes an inner hub assembly 300 and an outer hub assembly 400, a driving member 310, a transmission member 320, a power source assembly 390 and an axle 350 are disposed in the inner hub assembly 300, the power source assembly 390 is used for providing electric support for the driving member 310, a first axle hole 420 for the axle 350 to be inserted is formed in a central position of the outer hub assembly 400, the outer hub assembly 400 is rotatably connected to the outside of the inner hub assembly 300, one end of the transmission member 320 is connected to the driving member 310, the other end of the transmission member is connected to the outer hub assembly 400, the driving member 310 transmits a torque to the outer hub assembly 400 through the transmission member 320, so that the outer hub assembly 400 can rotate relative to the inner hub assembly 300 and the robot body 10 to drive the.

In the above embodiment, since the driving element, the transmission element and the power supply element are arranged in the driving wheel, if the driving wheel rotates integrally, the rotational inertia is large, the rotation speed of the driving wheel is obviously reduced on the premise that the power of the driving element is limited, a large amount of energy is wasted, and unnecessary loads are brought to the driving element, the transmission element, the power supply element and other internal components by the rotation of the driving wheel, which affects the service life of each component.

However, in the above embodiment, since the outer hub assembly can rotate relative to the inner hub assembly, there must be a gap between the inner hub assembly and the outer hub assembly, from which dust is easily introduced to contaminate various components inside the driving wheel, and to solve this problem, in one embodiment, as shown in fig. 2 and 4, the driving wheel further includes a dust guard 310 connected to the inner hub assembly 300 and located between the inner hub assembly 300 and the outer hub assembly 400 for preventing external dust from entering the inside of the driving wheel. In a particular embodiment, as shown in fig. 2 and 4, the dust guard includes a fixing portion 610 and a dust guard portion 620 connected to each other, the fixing portion 610 is connected to the inner hub assembly 300, and the dust guard portion 620 is located between the inner hub assembly 300 and the outer hub assembly 400. Further, the dust-proof portion 620 includes a brush located between the inner hub assembly 300 and the outer hub assembly 400, and the brush is configured to block dust outside the driving wheel from entering the driving wheel and prevent the outer hub assembly 400 from rotating relative to the inner hub assembly 300. It will be appreciated that in other embodiments, dust guards 310 may also be attached to outer hub assembly 400 and located between inner hub assembly 300 and outer hub assembly 400 to prevent external dust from entering the interior of the drive wheel.

In one embodiment, as shown in fig. 2 and 4, the inner hub assembly 300 includes an inner cover 330 and a bracket 340 coupled to the inner cover 330, and a fixing portion 610 is fixedly disposed at a coupling portion of the inner cover 330 and the bracket 340. In a specific embodiment, the fixing portion 610 is further provided with an ear portion 611 at a position where the inner cover 330 and/or the bracket 340 are combined, the inner cover 330 and/or the bracket 340 is further provided with a groove 334 capable of accommodating the ear portion at a position where the fixing portion 610 is combined, and the fixing portion 610 is combined with the inner cover 330 and/or the bracket 340 more firmly by providing the ear portion 611 on the fixing portion 610. It will be appreciated that in other embodiments, the location of the ears and recesses may be reversed, i.e., ears may be provided where the inner cover and/or bracket are joined to the securing portion and recesses capable of receiving the ears may be provided where the securing portion is joined to the inner cover and/or bracket.

In one embodiment, as shown in fig. 5, 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 transmission member 320, and the second space 347 is used for accommodating the power supply assembly. In addition, as shown in fig. 2, 4 and 5, the bracket 340 is a first cylinder 348 having a first bottom plate 341, the inner cover 330 is connected to the free end of the first cylinder 348 to close the space in 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 a receiving cavity for receiving the inner hub assembly, the outer wall of the first cylinder 348 is disposed opposite to the inner wall of the second cylinder 450, an annular gap is formed between the outer wall of the first cylinder 348 and the inner wall of the second cylinder 450, and the dust-proof member 600 is annularly disposed in the gap. In addition, as shown in fig. 5, the first bottom plate 341 is disposed opposite to the second bottom plate 410, the axle 350 extends from the center of the first bottom plate 341, the first axle hole 420 is correspondingly disposed at the center of the second bottom plate 410, and the axle 350 is inserted into the first axle hole 420, so that a uniform annular gap can be formed between the outer wall of the first cylinder 348 and the inner wall of the second cylinder 450. In addition, as shown in fig. 5, the wheel skin is wrapped on the outer side of the second cylinder 450, the center of the second base plate 410 extends towards the bracket 340 to form a first boss 460, a first shaft hole 420 is formed in the first boss 460, a bearing 430 is fixedly arranged 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 shaft hole 420, and the bearing 430 is sleeved outside the axle 350, so that the outer hub assembly 400 is rotatably connected with the inner hub assembly 300, a driven member is fixedly arranged outside the first boss 460, and the driving member 310 transmits torque to the driven member through the transmission member 320, thereby driving the outer hub assembly 400 to rotate 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 311, the transmission member 320 includes a worm wheel 321 and an output gear 324, the worm 311 is engaged with the worm wheel 321, so that the motor can transmit the torque to the output gear 324 through the worm 311 and the worm wheel 321, the driven member on the outer hub assembly 400 includes a driven gear 440, the driven gear 440 is fixedly sleeved outside the first boss 460, the central axis of the driven gear 440 is coaxial with the first axial hole 420 of the outer hub assembly, the output gear 324 is engaged with the driven gear 440, so that the output gear 324 can transmit the torque 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, 4 and 5, a center position of the first base plate 341 is extended and protruded 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 driving 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, at which the second output gear 326 and the driven gear 440 are engaged, as shown in fig. 6-10 and 4. Fig. 6 and 7 are partial sectional views of the carrier 340 and the outer hub assembly 400 at section B-B of fig. 7, respectively, and fig. 8 is a structural schematic view of the carrier 340 of fig. 6 and the outer hub assembly 400 of fig. 7 assembled together, and it can be seen from fig. 8 that when the carrier 340 and the outer hub assembly 400 are assembled together, 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. 4, 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.

As shown in fig. 2 and 9, the inner cover 330 of the driving wheel 20 is provided with a rotation shaft 331 on an end surface thereof adjacent to the main body 10, the 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 coupled together, a second shaft hole 13 can be formed at a corresponding position for coupling with the rotation 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. 10, 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.

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 used for being connected with the robot main body, and a driving piece and a transmission piece are arranged inside the inner hub assembly;

the outer hub assembly is rotatably arranged outside the inner hub assembly, one end of the transmission piece is in transmission connection with the driving piece, and the other end of the transmission piece is in transmission connection with the outer hub assembly; and

and the dustproof piece is arranged between the inner hub assembly and the outer hub assembly and used for preventing external dust from entering the driving wheel.

2. The drive wheel of claim 1 wherein said dust guard includes an interconnecting fixed portion and a dust guard portion, said fixed portion being connected to either said inner hub assembly or said outer hub assembly, said dust guard portion being located between said inner hub assembly and said outer hub assembly.

3. A drive wheel according to claim 2, wherein said dust-proof portion comprises a brush.

4. The drive wheel as set forth in claim 2, wherein said inner hub assembly includes an inner cover and a bracket disposed in combination with said inner cover, said fixing portion being fixedly disposed at a combination of said inner cover and said bracket.

5. A drive wheel according to claim 4 wherein the fixing portion is provided with an ear portion at the location where it engages with the inner cover and/or the bracket, and wherein the inner cover and/or the bracket is provided with a recess capable of receiving the ear portion at the location where it engages with the fixing portion.

6. A drive wheel according to claim 4, characterized in that the inner cover and/or the bracket is provided with ears at the locations where it is joined to the fixing portion, and the fixing portion is provided with recesses capable of receiving the ears at the locations where it is joined to the inner cover and/or the bracket.

7. The drive wheel of claim 1 wherein said inner hub assembly is a first cylindrical body having a cylindrical shape and said outer hub assembly is a second cylindrical body having a cylindrical shape, said inner hub assembly being received within said outer hub assembly, an outer wall of said first cylindrical body being disposed opposite an inner wall of said second cylindrical body.

8. The drive wheel as claimed in claim 7, wherein an annular gap is formed between the outer wall of the first cylinder and the inner wall of the second cylinder, and the dust-proof member is annularly disposed in the gap.

9. The driving wheel as set forth in claim 7, wherein the first cylinder has a first bottom plate, the second cylinder has a second bottom plate, the first bottom plate is disposed opposite to the second bottom plate, a wheel axle extends from the center of the first bottom plate, a first axle hole is correspondingly disposed at the center of the second bottom plate, and the wheel axle is inserted into the first axle hole.

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

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