CN210810804U - 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 an accommodating space is formed inside the inner hub assembly; an outer hub assembly rotatably connected to an exterior of the inner hub assembly; and the power supply assembly is arranged in the accommodating space of the inner hub assembly and is used for providing electric support for the sweeping robot. The utility model discloses a drive wheel and robot of sweeping floor through setting up power supply module in the drive wheel, has not only effectively utilized the space in the drive wheel, has also increased the frictional force that lands of drive wheel simultaneously, has strengthened the ability of hindering more of robot of sweeping floor, has improved the ability of robot adaptation operating mode environment of sweeping floor.

Description

Driving wheel and sweeping robot

Technical Field

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

Background

Along with the continuous development of the intelligent home industry, the requirements of the intelligent sweeper technology on the improvement of the working performance and the sweeping efficiency are higher and higher. The conventional sweeper wheel set system cannot meet sweeping tasks in complex environments, and the sweeper needs a wheel set system with high-efficiency obstacle crossing capability and capable of advancing in complex working condition environments urgently, so that a wide wheel grain/high-load wheel hub design is developed at the right moment. However, the wide hub occupies too much space inside the machine, so the reasonable layout of the hub becomes a problem to be solved. In addition, in order to ensure that the sweeper has enough endurance, a large-capacity battery is installed on the sweeper, and the large-capacity battery usually occupies a large amount of space of the sweeper body, so that the size of the sweeper body is large.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a driving wheel and a sweeping robot to solve the problem that the wide hub and the battery occupy too much space inside the robot.

The utility model discloses a 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 an accommodating space is formed inside the inner hub assembly; an outer hub assembly rotatably connected to an exterior of the inner hub assembly; and the power supply assembly is arranged in the accommodating space of the inner hub assembly and is used for providing electric support for the sweeping robot.

In one embodiment, the accommodating space of the inner hub assembly is further provided with a driving part, a transmission part and a partition board, the partition board divides the accommodating space into a first space and a second space, the first space is used for accommodating the driving part and the transmission part, and the second space is used for accommodating the power supply assembly.

In one embodiment, the power supply module is disposed in the second space in an arc shape, the partition includes a first arc, a second arc, and a third arc that are joined to each other, the first arc and the third arc are capable of abutting against both end regions of the power supply module, respectively, and the second arc is capable of abutting against a middle region of the power supply module, so that the power supply module is restricted in the second space.

In one embodiment, an axle is disposed in the inner hub assembly, a first axle hole is formed in the center of the outer hub assembly, the axle is inserted into the first axle hole, the outer hub assembly further includes a bearing, the center of the outer hub assembly extends toward the robot body to form a first boss, the first axle hole is formed in the first boss, the bearing is disposed in the first axle hole, when the axle is inserted into the first axle hole, the bearing is sleeved on the outside of the axle, a driven member is fixedly sleeved on the outside of the first boss, and a central axis of the driven member is coaxial with the first axle hole of the outer hub assembly.

In one embodiment, the driving member comprises a worm, the transmission member comprises a worm wheel and an output gear which are meshed with each other, the driven member is a driven gear, the worm is used for being meshed with the worm wheel, and the output gear is used for being meshed with the driven gear.

In one embodiment, the inner hub assembly includes a bracket, the bracket is a first cylinder having a first base plate, the first cylinder forms the receiving space inside, a central position of the first base plate extends and protrudes toward the inside of the first cylinder to form a second boss on the inner side of the first base plate and simultaneously form a recess on the outer side of the first base plate, the axle and the driven gear are located in the recess, the second boss is provided with a notch, and the output gear and the driven gear are engaged at the notch.

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

In one embodiment, the sweeping robot comprises two driving wheels, and the two driving wheels are respectively positioned at the opposite side edges of the robot main body.

In one embodiment, the end face of the inner hub assembly adjacent to the main body is provided with a rotating shaft, the main body is provided with a second shaft hole, and the rotating shaft can be matched with the second shaft hole, so that the driving wheel is connected to the side edge of the main body.

In one embodiment, a control board is disposed in the robot main body, a first through hole is disposed in the rotating shaft along an axial direction, a power line and/or a data line is led out from the power supply assembly, and the power line and/or the data line can pass through the first through hole to be connected with the control board, so that the control board is electrically connected with the power supply assembly.

The utility model discloses a drive wheel and robot of sweeping floor through set up power supply module in the drive wheel, has not only effectively utilized the space in the drive wheel, has also retrencied the volume of robot main part of sweeping floor simultaneously.

Drawings

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

FIG. 2 is a schematic illustration of a disassembled structure of main parts of a 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 main body in one embodiment.

Fig. 5 is a disassembled structural schematic diagram of main parts of a driving wheel in another embodiment.

FIG. 6 is a schematic structural view of the inner hub assembly and the outer hub assembly in one embodiment.

FIG. 7 is a front view of an embodiment of the inner hub assembly with the outer hub assembly shown with the inner cover hidden.

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

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

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.

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, driver 310, worm 311; a transmission member 320, a worm gear 321, a first worm gear 322, a first gear 323, an output gear 324, a first output gear 325, a second output gear 326; an inner lid 330, a rotation shaft 331, a first through hole 332, a flange 333; the support 340, the first bottom plate 341, the second boss 342, the recess 343, the gap 344, the partition 370, the first arc 371, the second arc 372, the third arc 373, the first space 346, the second space 347, and the first cylinder 348; an axle 350; a power supply component 360; 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 a drive wheel and robot of sweeping floor, wherein, the drive wheel is used for the drive robot motion of sweeping floor, as shown in fig. 1 and fig. 2, fig. 1 is the overall structure schematic diagram of robot, and fig. 2 is the drive wheel 20's of robot structural schematic diagram. 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; as can be seen from fig. 2, the driving wheel 20 includes an inner hub assembly 300, an outer hub assembly 400, and a power supply assembly 360, wherein the inner hub assembly 300 is connected with the body 10, and an inner portion of the inner hub assembly 300 is provided with an accommodating space; outer hub assembly 400 is disposed outside inner hub assembly 300 and is rotatably connected to inner hub assembly 300, when driving wheel 20 rotates, only outer hub assembly 400 rotates, inner hub assembly 300 and main body 10 do not rotate along with rotation of outer hub assembly 400, power supply assembly 360 is disposed in the accommodating space of inner hub assembly 300 in a circular arc shape, and power supply assembly is used for providing electric support for a sweeping robot (hereinafter referred to as "robot").

In addition, it should be noted that 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, in some embodiments, a supporting wheel 30 may be further disposed below the main body 10, and according to the principle that three points form a plane, the supporting wheel 30 and the driving wheels 20 at two outer sides of the robot can enable the robot to stably walk on the ground. It will be appreciated that in other embodiments, the support wheels 30 may not be provided, and the sweeping robot may seek balance during walking.

In one embodiment, as shown in fig. 2, the inner hub assembly 300 includes a bracket 340, an inner cover 330 combined with the bracket 340, and an axle 350 disposed at a central position of the bracket 340, the inner cover 330 is used for connecting with the main body 10, the bracket 340 is a first cylinder 348 having a first bottom plate 341, the inner cover 330 is connected with a free end of the first cylinder 348 to close an accommodating space in the bracket 340, and the power supply assembly 360 is disposed in the accommodating space of the bracket 340 in a circular arc shape. In particular embodiments, the inner cover 330 and/or the bracket 340 are made of a metal material, which is designed to facilitate heat dissipation from the power module. In addition, as shown in fig. 1 and 2, two driving wheels 20 are respectively arranged at two opposite sides of the main body 10, and a power supply assembly 360 is arranged in each driving wheel 20, so that the balance of the weight of the two opposite sides of the main body 10 is ensured, and the ground gripping capability of the driving wheels 20 during the traveling process of the sweeping robot is enhanced.

Further, as shown in fig. 2 and 3, a rotating shaft 331 is provided on an end surface of the inner cover 330 of the driving wheel 20 close to the main body 10, and as shown in fig. 3, 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 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 an 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.

Further, as shown in fig. 5-7, the driving member 310 and the transmission member 320 are disposed in the inner hub assembly 300, the partition plate 370 is disposed in the bracket 340, the partition plate 370 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. By adopting the design, the electrical distance between the power supply assembly 360 and the driving member 310 and the transmission member 320 is effectively ensured, and the electrical safety interval is improved. In a specific embodiment, as shown in fig. 7, the power supply assembly comprises four rechargeable lithium batteries, the four rechargeable lithium batteries are shaped into an arc shape with the coaxial center of the first cylinder as a reference, the partition 370 comprises a first arc 371, a second arc 372 and a third arc 373 which are connected with each other, the shaped power supply assembly 360 is arranged in a second space 347 defined by the partition 370 and the inner wall of the first cylinder, wherein the first arc 371 and the third arc 373 can respectively abut and wrap batteries at two ends of the power supply assembly 360, and the second arc 372 can abut two batteries in the middle of the power supply assembly 360, so that the power supply assembly 360 is limited in the second space 347 defined by the partition 370 and the inner wall of the first cylinder. It is understood that in other embodiments, the power module 360 is not limited to four batteries, and the number of batteries may be other, as long as the partition 370 is capable of retaining the power module 360 in the second space 347.

In one embodiment, the driving member 310 is electrically connected to a power supply assembly 360, and the power supply assembly 360 is used for providing power input to the driving member 310. In addition, a control board (not shown) is disposed in the main body 10, a first through hole 332 is disposed in the rotation shaft 331 along the axial direction, as shown in fig. 3, a power line and/or a data line is led out from the power module, and the power 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 module. 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.

In addition, as shown in fig. 6 and 11, 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, a first shaft hole 420 is formed in the center of the second bottom plate 410, a wheel skin is wrapped on the outer side of the second cylinder 450, a first boss 460 is formed by extending the center of the second bottom plate 410 toward the bracket 340, the first shaft hole 420 is disposed on the first boss 460, a 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. 11, the axle 350 is inserted into the first axle 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, the driven member is fixedly disposed outside the first boss 460, the driving member 310 transmits the torque force to the driven member through the transmission member 320, and the driven member drives the outer hub assembly 400 to rotate relative to the inner hub assembly 300.

Further, as shown in fig. 6, the driving member 310 is embodied as a motor, an 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 which are engaged with each other, the worm 311 is engaged with the worm wheel 321, so that the motor can transmit a torque to the output gear 324 through the worm 311 and the worm wheel 321, a 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, a 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. 6, 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 311 is engaged with the first worm gear 322, the first gear 323 is engaged with the first output gear 325, the first worm gear 322 is driven by the worm 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. 5, 6 and 11, 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, as shown in fig. 7-11, where the second output gear 326 and the driven gear 440 are engaged at the notch 344. Fig. 7 is a front view of the inner hub assembly 300 and the outer hub assembly 400 with the inner cover 330 hidden, 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 schematic structural view of the bracket 340 and the outer hub assembly 400 in fig. 8 and 9, respectively, 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.

The utility model discloses a drive wheel and robot of sweeping floor through setting up power supply module in the drive wheel, has not only effectively utilized the space in the drive wheel, has also increased the frictional force that lands of drive wheel simultaneously, has strengthened the ability of hindering more of robot of sweeping floor, has improved the ability of robot adaptation operating mode environment of sweeping floor, has extended product efficiency effectively.

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 an accommodating space is formed inside the inner hub assembly;

an outer hub assembly rotatably connected to an exterior of the inner hub assembly; and

the power supply assembly is arranged in the accommodating space of the inner hub assembly and used for providing electric support for the sweeping robot.

2. A drive wheel as claimed in claim 1 wherein the interior hub assembly further includes a drive member, a drive member and a partition dividing the interior hub assembly into a first space for receiving the drive member and a second space for receiving the power supply assembly.

3. The drive wheel according to claim 2, wherein the power supply unit is provided in the second space in an arc shape, and the partition includes a first arc, a second arc, and a third arc that are connected to each other, the first arc and the third arc being capable of abutting against both end regions of the power supply unit, respectively, and the second arc being capable of abutting against a middle region of the power supply unit, so that the power supply unit is restricted in the second space.

4. The driving wheel as set forth in claim 2, wherein an axle is disposed in the inner hub assembly, a first axle hole is formed at a center of the outer hub assembly, the axle is inserted into the first axle hole, the outer hub assembly further comprises a bearing, the center of the outer hub assembly extends toward the robot body to form a first boss, the first axle hole is formed in the first boss, the bearing is disposed in the first axle hole, when the axle is inserted into the first axle hole, the bearing is disposed on an outer portion of the axle, a driven member is fixedly disposed on an outer portion of the first boss, and a central axis of the driven member is coaxial with the first axle hole of the outer hub assembly.

5. A drive wheel according to claim 4 wherein said drive member comprises a worm, said drive member comprises a worm gear and an output gear in mesh with each other, said driven member is a driven gear, said worm is adapted to mesh with the worm gear, and said output gear is adapted to mesh with said driven gear.

6. The drive wheel as set forth in claim 5, wherein the inner hub assembly includes a bracket formed as a first cylinder having a first bottom plate, the first cylinder forming the receiving space therein, a center of the first bottom plate being protruded toward an inside of the first cylinder to form a second boss at an inside of the first bottom plate and simultaneously forming a recess at an outside of the first bottom plate, the axle and the driven gear being located in the recess, the second boss having a notch, the output gear being engaged with the driven gear at the notch.

7. A sweeping robot, which is characterized by comprising a robot main body and the driving wheel as claimed in any one of claims 1 to 6, wherein the driving wheel is connected to the side edge of the robot main body.

8. The sweeping robot of claim 7, comprising two of said drive wheels respectively located on opposite sides of said robot body.

9. The robot cleaner of claim 7, wherein the end surface of the inner hub assembly adjacent to the main body is provided with a rotating shaft, the main body is provided with a second shaft hole, and the rotating shaft can be matched with the second shaft hole, so that the driving wheel is connected to the side edge of the main body.

10. The sweeping robot of claim 9, wherein a control panel is disposed in the robot body, a first through hole is disposed in the rotating shaft along an axial direction, a power line and/or a data line is led out from the power supply assembly, and the power line and/or the data line can pass through the first through hole to be connected with the control panel, so that the control panel is electrically connected with the power supply assembly.

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