CN215502710U

CN215502710U - Cleaning robot wheelset structure and cleaning robot

Info

Publication number: CN215502710U
Application number: CN202121474024.2U
Authority: CN
Inventors: 谢林明; 刘旭野; 刘俊涛; 郑卓斌; 王立磊
Original assignee: Guangzhou Coayu Robot Co Ltd
Current assignee: Guangzhou Coayu Robot Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-01-14
Anticipated expiration: 2031-06-30

Abstract

The utility model discloses a cleaning robot wheel set structure and a cleaning robot, and belongs to the technical field of cleaning robots. The cleaning robot wheel set structure comprises a driving wheel, a driven wheel and a belt sleeved on the driving wheel and the driven wheel; the driving wheel with all be provided with the boss from the driving wheel, set up on the belt with boss complex recess, the boss card is gone into in the recess, the boss with the both sides of driving wheel and the equal distance of both sides from the driving wheel is predetermined distance. The utility model discloses a can improve belt damage, extension wheelset life's cleaning machines people wheelset structure and cleaning machines people.

Description

Cleaning robot wheelset structure and cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robots, in particular to a wheel set structure of a cleaning robot and the cleaning robot.

Background

A window cleaning robot is a small robot for cleaning windows. The bottom of the window cleaning robot is provided with a wheel set structure, so that the window cleaning robot can walk on window glass, and the wheel set structure is an important part of the window cleaning robot. As shown in fig. 1, the wheel set structure of the window cleaning robot mainly includes a driving wheel 110 ', a driven wheel and a belt 130'. In the prior art, as shown in fig. 2, the belt 130 ' is easily extruded to the side wall 112 ' on one side of the wheel, which results in damage to the belt 130 ' and affects the service life of the whole wheel set structure.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the utility model provides a cleaning robot wheel set structure and a cleaning robot, wherein the cleaning robot wheel set structure can improve belt damage and prolong the service life of a wheel set.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a cleaning robot wheel set structure comprises a driving wheel, a driven wheel and a belt sleeved on the driving wheel and the driven wheel; the driving wheel with all be provided with the boss from the driving wheel, set up on the belt with boss complex recess, the boss card is gone into in the recess, the boss with the both sides of driving wheel and the equal distance of both sides from the driving wheel is predetermined distance.

As an alternative of the above wheel set structure of the cleaning robot, the driving wheel and the driven wheel are provided with a plurality of external teeth, the external teeth form the boss, and the external teeth extend along the axial direction of the driving wheel and the driven wheel.

As an alternative to the above-described wheel set structure of the cleaning robot, the boss is a ring-shaped boss extending in a circumferential direction of the driving wheel and the driven wheel.

As an alternative of the above wheel set structure of the cleaning robot, the boss is an annular boss extending in the circumferential direction of the driving wheel and the driven wheel, and the annular boss is plural and is provided at intervals in the axial direction of the driving wheel and the driven wheel.

As an alternative to the above-described wheel set structure of the cleaning robot, end faces of both ends of the boss in the axial direction of the driving wheel and the driven wheel are inclined surfaces.

As an alternative to the above-described wheel set structure of the cleaning robot, the inclined plane has an inclination angle of 32 ° to 78 °.

As an alternative to the above-described wheel set structure of the cleaning robot, the height of the boss is smaller than the thickness of the belt.

As an alternative to the above-described wheel set structure of the cleaning robot, the height of the boss is 1/3 to 2/3 of the thickness of the belt.

As an alternative of the wheel set structure of the cleaning robot, side coamings are arranged on the two axial sides of the driving wheel and the driven wheel, and the belt is abutted against the side coamings on the two sides along the two axial ends of the driving wheel and the driven wheel respectively.

The cleaning robot comprises a robot main body and the cleaning robot wheel set structure, wherein the cleaning robot wheel set structure is arranged at the bottom of the robot main body.

The utility model has the advantages that: the belt wheel comprises a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are provided with bosses, the belt is provided with grooves matched with the bosses, the bosses on the wheel body are clamped into the grooves on the belt, the bosses are away from the two sides of the wheel body by a preset distance, and when the belt has a tendency of moving to one side of the wheel body, the bosses can be blocked by the bosses, so that the belt is prevented from extruding side wall plates on the two sides of the wheel body, the belt damage is improved, and the service life of the wheel group is prolonged.

Drawings

FIG. 1 is a schematic structural diagram of a wheel set structure of a cleaning robot in the prior art;

FIG. 2 is a schematic view illustrating a structure in which a belt of a wheel set structure of a cleaning robot according to the related art is pressed to one side;

FIG. 3 is a schematic structural diagram of a first embodiment of a wheel set structure of a cleaning robot according to the present invention;

FIG. 4 is an exploded view of a wheel set structure of a cleaning robot according to a first embodiment of the present invention;

FIG. 5 is a partial structural view of a first embodiment of a wheel set structure of a cleaning robot according to the present invention;

FIG. 6 is a schematic cross-sectional view illustrating a wheel set structure of a cleaning robot according to a first embodiment of the present invention;

FIG. 7 is a schematic view illustrating a structure in which a belt of a wheel set structure of a cleaning robot according to the present invention is pressed to one side;

FIG. 8 is an exploded view of a wheel set structure of a cleaning robot according to a second embodiment of the present invention;

FIG. 9 is an exploded view of a third embodiment of a wheel set structure of a cleaning robot in accordance with the present invention;

FIG. 10 is a schematic structural view of an embodiment of the cleaning robot of the present invention;

fig. 11 is a schematic structural view of another perspective of the cleaning robot according to the embodiment of the present invention.

In the figure:

100-cleaning robot wheel set structure; 200-a cleaning robot; 210-a robot body;

110. 110' -a driving wheel; 111-boss; 1111-inclined plane; 112. 112' -side coaming;

120-a driven wheel;

130. 130' -a belt; 131-grooves.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The utility model provides a wheel set structure of a cleaning robot. As shown in fig. 3 and 4, the wheel set structure 100 of the cleaning robot includes a driving wheel 110, a driven wheel 120, and a belt 130. The belt 130 is sleeved on the driving wheel 110 and the driven wheel 120, the driving wheel 110 is connected to a driving member, the driving member may be a motor, and the motor drives the driving wheel 110 to rotate, so that the driving wheel 110 drives the belt 130 sleeved thereon to rotate.

In the present invention, as shown in fig. 3 to 7, the driving pulley 110 and the driven pulley 120 are both provided with a boss 111, the belt 130 is provided with a groove 131 engaged with the boss 111, and the boss 111 is engaged in the groove 131. As shown in fig. 6, the bosses 111 are both spaced apart from both sides of the driving wheel 110 and both sides of the driven wheel 120 by a predetermined distance d, that is, the bosses 111 on the driving wheel 110 are spaced apart from both sides of the driving wheel 110 by the predetermined distance d, the bosses 111 on the driven wheel 120 are also spaced apart from both sides of the driven wheel 120 by the predetermined distance d, and the bosses 111 are disposed at the middle positions of the driving wheel 110 and the driven wheel 120 along the axial direction thereof, so that when the belt 130 tends to move to one side, the belt 130 can be blocked by the bosses 111 (as shown in fig. 7), thereby preventing the belt 130 from extruding the side wall plates 112 (refer to fig. 2) at both sides of the wheel body, thereby improving or avoiding the damage of the belt 130, and prolonging the service life of the wheel set.

The shape and structure of the boss 111 may be varied, as shown in fig. 6, as long as the sections of the driving pulley 110 and the driven pulley 120 are "convex" and the section of the belt 130 is "concave". In one embodiment, the bosses 111 are external teeth formed on the driving pulley 110 and the driven pulley 120. As shown in fig. 3 and 4, the driving wheel 110 and the driven wheel 120 are provided with a plurality of external teeth, the external teeth extend along the axial direction of the driving wheel 110 and the driven wheel 120, and the external teeth are distributed at intervals along the circumferential direction of the driving wheel 110 and the driven wheel 120. Of course, as shown in fig. 8, the boss 111 may also be an annular boss extending in the circumferential direction of the driving wheel 110 and the driven wheel 120.

When the boss 111 is the external tooth formed on the driving wheel 110 and the driven wheel 120, the external tooth can limit the axial displacement of the belt 130 along the wheel body, so that the belt 130 is prevented from extruding the side enclosing plate 112 to one side in the moving process of the robot, the belt 130 is prevented from being damaged, the external tooth can be matched with the groove 131 on the belt 130, the belt 130 is further driven to rotate, the meshing force between the wheel body and the belt 130 is enhanced, and the reliability of assembly is ensured.

It can be understood that, since the grooves 131 on the belt 130 are matched with the bosses 111 on the driving wheel 110 and the driven wheel 120, when the bosses 111 are a plurality of external teeth formed on the driving wheel 110 and the driven wheel 120, as shown in fig. 4, the grooves 131 on the belt 130 are correspondingly a plurality and extend in the axial direction of the belt 130, and the plurality of grooves 131 are arranged at intervals in the circumferential direction of the belt 130. When the boss 111 is an annular boss extending in the circumferential direction of the driving pulley 110 and the driven pulley 120, as shown in fig. 8, the groove 131 in the belt 130 is also correspondingly an annular groove extending in the circumferential direction of the belt 130.

In addition, when the bosses 111 on the driving wheel 110 and the driven wheel 120 are annular bosses, as shown in fig. 8, the bosses 111 may be provided with only one turn, or may be provided with several turns as shown in fig. 9. That is, the driving wheel 110 and the driven wheel 120 have a plurality of annular bosses, and as shown in fig. 9, the plurality of annular bosses are provided at intervals in the axial direction of the driving wheel 110 and the driven wheel 120. Correspondingly, the belt 130 has a plurality of annular grooves corresponding to the annular bosses one by one.

As shown in fig. 7, the end surfaces of the bosses 111 along the axial direction of the driving pulley 110 and the driven pulley 120 are inclined surfaces 1111, and the inclined surfaces 1111 may play a role in guiding, so as to facilitate the bosses 111 on the pulley body to be clamped into the grooves 131 on the belt 130 when the belt 130 is sleeved on the driving pulley 110 and the driven pulley 120. It will be appreciated that the inclined surface 1111 is inclined towards the middle of the wheel body in the axial direction, that is, the inclined surface 1111 is arranged so that the cross section of the boss 111 is a trapezoid with a narrow top and a wide bottom.

Further, referring to fig. 7, the inclined surface 1111 is inclined at an angle α of 32 ° to 78 °. Too small an angle of inclination α may cause the belt 130 to easily pass over the boss 111, and the blocking force is insufficient; too large an angle of inclination α will cause the inclined surface 1111 to be nearly vertical and the boss 111 will not easily snap into the groove 131 in the belt 130. Therefore, it is preferable to select the inclination angle α to be between 32 ° and 78 °.

Preferably, as shown in fig. 7, the height h of the boss 111 is smaller than the thickness e of the belt 130, so that the boss 111 is only inserted a short distance into the belt 130 and does not penetrate the belt 130, and the belt 130 can have a sufficient thickness without affecting the structural strength of the belt 130. In fact, the belt 130 of the present invention is thickened on both sides of the belt 130 relative to the belt 130 ' of the prior art, i.e., the overall thickness of the belt 130 of the present invention is the same as that of the belt 130 ' of the prior art, and the thickness of the belt 130 of the present invention is increased compared to that of the belt 130 ' of the prior art, which makes the belt 130 of the present invention stronger and less prone to damage, as shown in fig. 7. The thickening of the strap 130 on both sides is achieved in the present invention by the cooperation of the lands 111 and grooves 131. Further, the height h of the boss 111 is 1/3 to 2/3 of the thickness e of the belt 130.

As shown in fig. 4 and 6, the driving pulley 110 and the driven pulley 120 are provided with side surrounding plates 112 on both axial sides, and both ends of the belt 130 along the axial direction of the driving pulley 110 and the driven pulley 120 are respectively abutted against the side surrounding plates 112 on both sides. So that the side wall plate 112 limits the belt 130 and the belt 130 is enclosed on the driving wheel 110 and the driven wheel 120. The side enclosing plate 112 may be integrally formed on the wheel body, or may be separately formed and mounted on the wheel body by screws, which is not limited herein.

As shown in fig. 10 and 11, the cleaning robot 200 includes a robot main body 210 and the above-mentioned cleaning robot wheel set structure 100. The cleaning robot wheel set structure 100 is disposed at the bottom of the robot main body 210. It is understood that the cleaning robot 200 further includes other components necessary for the cleaning robot 200, and detailed description thereof is omitted. In the cleaning robot 200 of the present invention, two sets of cleaning robot wheel set structures 100 are employed, and the two sets of cleaning robot wheel set structures 100 are respectively disposed at the left and right sides of the robot main body 210, so that the cleaning robot 200 travels smoothly. The cleaning robot 200 of the present invention at least has the beneficial effects of the cleaning robot wheel set structure 100 due to the adoption of the cleaning robot wheel set structure 100, and the description thereof is not repeated herein.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the utility model. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cleaning robot wheel set structure is characterized by comprising a driving wheel (110), a driven wheel (120) and a belt (130) sleeved on the driving wheel (110) and the driven wheel (120); the driving wheel (110) and the driven wheel (120) are provided with bosses (111), the belt (130) is provided with grooves (131) matched with the bosses (111), the bosses (111) are clamped into the grooves (131), and the bosses (111) are arranged on two sides of the driving wheel (110) and two sides of the driven wheel (120) at a preset distance.

2. The structure of a wheel set of a cleaning robot according to claim 1, wherein the driving wheel (110) and the driven wheel (120) are provided with external teeth, the external teeth forming the boss (111), the external teeth extending in an axial direction of the driving wheel (110) and the driven wheel (120).

3. The cleaning robot wheel set structure according to claim 1, wherein the boss (111) is a ring-shaped boss extending in a circumferential direction of the driving wheel (110) and the driven wheel (120).

4. The structure of a wheel set for a cleaning robot according to claim 1, wherein the protrusions (111) are a plurality of annular protrusions extending in a circumferential direction of the driving wheel (110) and the driven wheel (120), and the plurality of annular protrusions are provided at intervals in an axial direction of the driving wheel (110) and the driven wheel (120).

5. The structure of a wheel set for a cleaning robot according to claim 1, wherein both end surfaces of the boss (111) in the axial direction of the driving wheel (110) and the driven wheel (120) are inclined surfaces (1111).

6. The cleaning robot wheel set structure of claim 5, wherein the inclined surface (1111) is inclined at an angle of 32 ° to 78 °.

7. The cleaning robot wheel set structure of claim 1, wherein the height of the boss (111) is less than the thickness of the belt (130).

8. The cleaning robot wheel set structure of claim 1, wherein the height of the boss (111) is 1/3 to 2/3 of the thickness of the belt (130).

9. The wheel set structure of a cleaning robot as claimed in any one of claims 1 to 8, wherein side panels (112) are disposed at two axial sides of the driving wheel (110) and the driven wheel (120), and the belt (130) abuts against the side panels (112) at two axial ends of the driving wheel (110) and the driven wheel (120), respectively.

10. A cleaning robot comprising a robot main body (210), and a cleaning robot wheel set structure according to any one of claims 1 to 9, the cleaning robot wheel set structure being provided at a bottom of the robot main body (210).