WO2021254196A1 - 应用直驱电机的动力轮及清洁机器人 - Google Patents

应用直驱电机的动力轮及清洁机器人 Download PDF

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Publication number
WO2021254196A1
WO2021254196A1 PCT/CN2021/098583 CN2021098583W WO2021254196A1 WO 2021254196 A1 WO2021254196 A1 WO 2021254196A1 CN 2021098583 W CN2021098583 W CN 2021098583W WO 2021254196 A1 WO2021254196 A1 WO 2021254196A1
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WO
WIPO (PCT)
Prior art keywords
drive motor
direct drive
power wheel
assembly
tread
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PCT/CN2021/098583
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English (en)
French (fr)
Inventor
张笛
朱志龙
钟志明
Original Assignee
东莞市本末科技有限公司
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Publication of WO2021254196A1 publication Critical patent/WO2021254196A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K27/00—AC commutator motors or generators having mechanical commutator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/50—Fastening of winding heads, equalising connectors, or connections thereto

Definitions

  • the invention belongs to the field of power wheels of cleaning robots, and in particular relates to a power wheel using a direct drive motor and a cleaning robot.
  • the power source of the cleaning robot nowadays is a brush motor, and the gearbox is used as a transmission device between the brush motor and the independently set tires to achieve the effect of reducing speed and increasing force, providing power for the walking of the sweeping robot.
  • Sweeping machines with brush motors and gearboxes have complex internal layout, high installation requirements, inconvenient disassembly and replacement, and additional design of wheels as tires, which increases the cost; the gearbox is noisy during operation, and there is still frictional resistance in the box And the resistance of grease, resulting in low power transmission efficiency and high power consumption.
  • a power wheel and a cleaning robot using a direct drive motor are provided.
  • a power wheel using a direct drive motor which is applied to a cleaning robot, includes a power wheel housing assembly and a direct drive motor.
  • the power wheel housing assembly is tightly fitted and installed with the outer edge of the direct drive motor; the power wheel
  • the housing assembly includes a gland and a tread, the tread is sleeved on the outer edge of the direct drive motor, and the tread is pressed against the direct drive motor by the gland.
  • a power wheel and a cleaning robot using a direct drive motor are provided.
  • a power wheel using a direct drive motor which is applied to a cleaning robot, includes a power wheel housing assembly and a direct drive motor.
  • the power wheel housing assembly is tightly fitted and installed with the outer edge of the direct drive motor; the power wheel
  • the housing assembly includes a gland and a tread, the tread is sleeved on the outer edge of the direct drive motor, and the tread is pressed against the direct drive motor by the gland.
  • Fig. 1 is a schematic diagram of a three-dimensional structure of a power wheel provided by Embodiment 1 of the present invention.
  • Fig. 2 is an exploded view of the structure of the power wheel provided by Embodiment 1 of the present invention.
  • Fig. 3 is a schematic cross-sectional view of a power wheel provided by Embodiment 1 of the present invention.
  • Embodiment 1 provides a power wheel using a direct drive motor.
  • the power wheel includes a power wheel housing assembly 1 and a direct drive motor 2.
  • the direct drive motor 2 serves as a hub, and the power wheel housing assembly 1 It is tightly fitted with the outer edge of the direct drive motor 2 to obtain a power wheel.
  • the solution of this embodiment replaces the traditional brushed motor with gearbox, cancels the gearbox, makes the layout of the power module simpler and more flexible, solves the problem of noise when the gearbox works, and the direct drive motor 2 replaces the traditional
  • the wheel hub of the tire can directly output power to the outside, reducing the parts of the wheel hub, saving costs and improving the power transmission efficiency.
  • the power wheel housing assembly 1 in this embodiment includes a gland 11 and a tread 12.
  • the tread 12 is made of rubber with a certain degree of elasticity, and the inner circle size of the tread 12 is smaller than straight.
  • the size of the outer edge of the drive motor 2 is such that the tread 12 is tightly sleeved on the outside of the direct drive motor 2, and then compressed by the gland 11 to achieve the purpose of axial positioning of the tread 12 on the direct drive motor 2.
  • the free disassembly and installation between the tread 12 and the direct drive motor 2 are realized.
  • the elastic material of the tread 12 includes but is not limited to rubber material.
  • the power wheel housing assembly 1 also includes fasteners 13.
  • the fasteners 13 are screws.
  • the gland 11 is fixedly connected to the direct drive by screws.
  • the fixed connection on the motor 2 is a threaded connection, which realizes the axial limit of the tread 12 on the direct drive motor 2 and can freely install and disassemble the tread 12 at the same time.
  • a first groove 121 is provided on the upper edge of the inner side of the tread 12, and the first groove 121 fits with the edge of the gland 11.
  • the groove 121 cooperates with the gland 11 to compress the edge of the tread 12 on the side of the direct drive motor 2, and at the same time, the gland 11 is locked on the direct drive motor 2 by the fastener 13 screw.
  • the direct drive motor 2 includes a rotor assembly 21 and a rear cover assembly 22.
  • the rotor assembly 21 and the rear cover assembly 22 are firmly connected to form a motor cavity 23.
  • the gland 11 is screwed with the upper cover 211 in the rotor assembly 21 to fix the gland 11 on the motor; and in order to define the tread 12, a second groove 122 is provided on the inner and lower edge of the tread 12.
  • the second groove 122 fits with the edge of the rear cover assembly 22, and the second groove 122 cooperates with the rear cover assembly 22 to press the edge of the tread 12 on the side of the direct drive motor 2.
  • the first groove 121 and the gland 11 make the tread 12 tightly fixed on the direct drive motor 2.
  • the fastening connection of the rotor assembly 21 and the back cover assembly 22 is interference connection.
  • a motor cavity 23 is formed.
  • the motor cavity 23 contains various motor parts and is interference interference.
  • the connection can play a sealing role to protect the various parts and circuits of the motor.
  • the direct drive motor 2 further includes a stator assembly 24 and an outlet card assembly 25, the stator assembly 24 is located inside the motor cavity 23, and the stator assembly 24 and the outlet card assembly 25 are tightly connected.
  • stator assembly 24 and the outlet card assembly 25 are fastened and connected in an interference connection, and the outlet card assembly 25 is used to protect the outlet.
  • the joint between the outlet card assembly 25 and the rear cover assembly 22 is axially provided with a sealing groove 221, and a sealing ring 222 is installed in the sealing groove 221 to combine
  • the illustrated sealing relationship between the rotor assembly 21 and the rear cover assembly 22 achieves the purpose of sealing the direct drive motor 2 and solves the problem of poor sealing performance of the traditional power wheel.
  • Embodiment 2 provides a cleaning robot using a direct drive motor, which includes a robot body and a power wheel using the direct drive motor described in Embodiment 1.
  • the power wheel using the direct drive motor is connected to the power module as a power module.
  • the cleaning robot may be a sweeper or a mopping machine.
  • the power wheel using the direct drive motor replaces the power wheel module formed by the traditional cleaning robot through the cooperation of a brush motor, a reducer and a tire.
  • This embodiment eliminates the reduction box, making the layout of the power module simpler and more flexible.
  • the problem of noise generated when the gearbox is working is solved; the direct drive motor replaces the hub of the traditional tire, which can directly output power, reduces the parts of the hub, saves the cost and improves the power transmission efficiency; and the tread and direct drive
  • the detachable design of the motor facilitates easy installation and disassembly of the power wheel after wear or aging.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

一种应用直驱电机的动力轮及清洁机器人，该动力轮包括动力轮外壳组件（1）和直驱电机（2），动力轮外壳组件（1）与直驱电机（2）的外缘紧配安装；动力轮外壳组件（1）包括压盖（11）和胎面（12），胎面（12）套设在直驱电机（2）外缘，胎面（12）通过压盖（11）压紧在直驱电机（2）上。上述结构方案通过将直驱电机（2）作为轮毂和动力轮外壳组件（1）相紧配得到动力轮，使得布局更加简单灵活，应用到清洁机器人时能够直接对外输出动力，减少了轮毂的零件，节约了成本的同时提升了动力的传输效率；通过动力轮外壳组件（1）和直驱电机（2）的配合实现对动力轮的安装，使得动力轮易安装和拆卸。

Description

应用直驱电机的动力轮及清洁机器人
相关申请的交叉引用。
本申请要求于2020年06月19日提交中国专利局，申请号为202010569037.1，发明名称为“应用直驱电机的动力轮及清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明属于清洁机器人动力轮领域，尤其涉及一种应用直驱电机的动力轮及清洁机器人。
 背景技术
随着人们生活水平的提升，清洁机器人逐渐融入大众的家庭生活。然而现如今清洁机器人的动力源为有刷电机，有刷电机与独立设置的轮胎之间将减速箱作为传动装置，实现降速增力的作用，对扫地机器人的行走提供动力。
 技术问题
采用有刷电机和减速箱的扫地机内布局复杂，安装要求高，不方便拆卸更换，且需要另外设计轮毂作为轮胎，增加了成本；减速箱在运作过程中噪声大，箱内还存在摩擦阻力和润滑脂的阻力，导致动力的传递效率低，功耗大。
 技术解决方案
根据本申请的各种实施例，提供一种应用直驱电机的动力轮及清洁机器人。
上述目的可采用下列技术方案来实现。
一种应用直驱电机的动力轮，其应用于清洁机器人，其包括动力轮外壳组件和直驱电机，所述动力轮外壳组件与所述直驱电机的外缘紧配安装；所述动力轮外壳组件包括压盖和胎面，所述胎面套设在所述直驱电机外缘，所述胎面通过所述压盖压紧在所述直驱电机上。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 有益效果
根据本申请的各种实施例，提供一种应用直驱电机的动力轮及清洁机器人。
上述目的可采用下列技术方案来实现。
一种应用直驱电机的动力轮，其应用于清洁机器人，其包括动力轮外壳组件和直驱电机，所述动力轮外壳组件与所述直驱电机的外缘紧配安装；所述动力轮外壳组件包括压盖和胎面，所述胎面套设在所述直驱电机外缘，所述胎面通过所述压盖压紧在所述直驱电机上。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
在附图中。
图1为本发明实施例1提供的动力轮的立体结构示意图。
图2为本发明实施例1提供的的动力轮的结构爆炸图。
图3为本发明实施例1提供的动力轮的截面示意图。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
实施例1。
实施例1提供一种应用直驱电机的动力轮，如图1的立体结构图所示，动力轮包括动力轮外壳组件1和直驱电机2，直驱电机2作为轮毂，动力轮外壳组件1与直驱电机2的外缘紧配安装得到动力轮。
本实施例的方案替代了传统的有刷电机搭配减速箱的方案，取消了减速箱，使得动力模组布局更加简单灵活，解决了减速箱工作时产生噪音的问题，且直驱电机2替代传统的轮胎的轮毂，能够直接对外输出动力，减少了轮毂的零件，节约了成本的同时提升了动力的传输效率。
从图2的结构爆炸图可以看出，本实施例中动力轮外壳组件1包括压盖11和胎面12，胎面12是具有一定弹性的橡胶材质，且胎面12的内圆尺寸小于直驱电机2的外缘尺寸，使得胎面12紧密套设在直驱电机2的外部，之后通过压盖11压紧达到胎面12轴向定位在直驱电机2上的目的，以此还能实现胎面12与直驱电机2之间的自由拆卸和安装。
当然，胎面12的弹性材料包括但不限于橡胶材质。
如图2的结构爆炸图所示，动力轮外壳组件1还包括紧固件13，在其中一个实施例中，紧固件13采用的是螺钉，所示压盖11通过螺钉固定连接在直驱电机2上，固定连接的方式为螺纹连接，实现胎面12在直驱电机2上的轴向限位，同时能够对胎面12自由安装和拆卸。
在此基础上，如图3的截面图所示，所述胎面12内侧上边缘设有第一凹槽121，所述第一凹槽121与所述压盖11的边缘相契合，第一凹槽121配合压盖11起到对胎面12在直驱电机2一侧的边沿压紧的作用，同时通过紧固件13螺钉将压盖11锁紧在直驱电机2上。
如图3的截面图所示，所述的直驱电机2包括转子组件21和后盖组件22，所述转子组件21和所述后盖组件22之间紧固连接，构成电机腔体23。
压盖11通过螺钉螺纹连接的是转子组件21中的上盖211，以此将压盖11固定在电机上；且为了限定胎面12，胎面12内侧下边缘设有第二凹槽122，所述第二凹槽122与所述后盖组件22的边缘相契合，第二凹槽122配合后盖组件22起到对胎面12在直驱电机2一侧的边沿压紧的作用，配合第一凹槽121和压盖11使得胎面12紧紧固定在直驱电机2上。
进一步地，在本实施例中转子组件21和后盖组件22的紧固连接方式为过盈连接，过盈连接过后形成电机腔体23，电机腔体23容纳各种电机的零件，且过盈连接能够起到密封的作用，保护电机的各个零件和线路。
直驱电机2还包括定子组件24和出线卡组件25，所述定子组件24位于所述电机腔体23内部，所述定子组件24和所述出线卡组件25之间紧固连接。
本实施例中定子组件24和出线卡组件25的紧固连接方式为过盈连接，出线卡组件25用于保护出线。
具体地，如图3所示的截面图，所述出线卡组件25与所述后盖组件22衔接处轴向设有密封凹槽221，所述密封凹槽221内安装有密封圈222，结合所示转子组件21和后盖组件22之间的密封关系，达到密封直驱电机2的目的，解决了传统动力轮密封性差的问题。
实施例2。
实施例2提供一种应用直驱电机的清洁机器人，其包括机器人主体及实施例1所述的应用直驱电机的动力轮，所述应用直驱电机的动力轮作为动力模组连接到所述机器人主体上。在其他的实施例中，所述清洁机器人可以是扫地机，也可以是拖地机。
这样，应用直驱电机的动力轮替代了传统清洁机器人通过有刷电机、减速器和轮胎相配合形成的动力轮模组，本实施例取消了减速箱，使得动力模组布局更加简单灵活，解决了减速箱工作时产生噪音的问题；直驱电机替代传统的轮胎的轮毂，能够直接对外输出动力，减少了轮毂的零件，节约了成本的同时提升了动力的传输效率；并且胎面和直驱电机的可拆卸设计方便了动力轮磨损或老化后容易安装和拆卸。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种应用直驱电机的动力轮，其应用于清洁机器人，其特征在于：其包括动力轮外壳组件和直驱电机，所述动力轮外壳组件与所述直驱电机的外缘紧配安装；
    所述动力轮外壳组件包括压盖和胎面，所述胎面套设在所述直驱电机外缘，所述胎面通过所述压盖压紧在所述直驱电机上。
  2. 根据权利要求1所述的应用直驱电机的动力轮，其特征在于：
    所述动力轮外壳组件还包括紧固件，所述压盖通过所述紧固件固定连接在所述直驱电机上。
  3. 根据权利要求2所述的应用直驱电机的动力轮，其特征在于：
    所述直驱电机包括转子组件、后盖组件、电机腔体、定子组件以及出线卡组件，所述转子组件和所述后盖组件之间紧固连接，构成密封的电机腔体；所述定子组件位于所述电机腔体内部，所述定子组件和所述出线卡组件之间紧固连接。
  4. 根据权利要求3所述的应用直驱电机的动力轮，其特征在于：
    所述转子组件包括上盖，所述上盖与所述动力轮外壳组件的压盖之间通过所述紧固件固定连接。
  5. 根据权利要求3所述的应用直驱电机的动力轮，其特征在于：
    所述后盖组件与所述出线卡组件衔接处轴向设有密封凹槽，所述密封凹槽内安装有密封圈。
  6. 根据权利要求1-5任一项所述的应用直驱电机的动力轮，其特征在于：所述胎面内侧上边缘设有第一凹槽，所述第一凹槽与所述压盖的边缘相契合。
  7. 根据权利要求6所述的应用直驱电机的动力轮，其特征在于：
    所述胎面内侧下边缘设有第二凹槽，所述第二凹槽与所述后盖组件的边缘相契合。
  8. 一种应用直驱电机的清洁机器人，其特征在于：其包括机器人主体和权利要求1-7任一项所述的应用直驱电机的动力轮，所述应用直驱电机的动力轮作为动力模组连接到所述机器人主体上。
PCT/CN2021/098583 2020-06-19 2021-06-07 应用直驱电机的动力轮及清洁机器人 WO2021254196A1 (zh)

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