Motor detachable structure and cleaning robot

Abstract

The invention belongs to the field of photovoltaic cleaning, and particularly relates to a motor detachable structure and a cleaning robot, the motor detachable structure comprises a cleaning robot body, the cleaning robot body comprises a main machine shell and a motor cover plate, a containing cavity is formed in the main machine shell, a motor mounting groove is formed in the side face of the main machine shell, and the main machine shell is further provided with a tooth joint notch communicating with the containing cavity and the motor mounting groove; the motor cover plate is detachably connected to the main case and is used for covering the motor mounting groove; the transmission structure is mounted in the accommodating cavity and is provided with a driven gear; the driving module is mounted in the motor mounting groove and comprises a driving motor and a driving gear connected to an output shaft of the driving motor, and the driving motor is detachably connected to the motor mounting groove; and the driving gear and the driven gear are meshed at the toothing notch. The problem that a driving motor is inconvenient to take out is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of photovoltaic cleaning, and particularly relates to a detachable motor structure and a cleaning robot. BACKGROUND

[0002] The cleaning robot belongs to one kind of extreme operation robots, and is mainly applied to inclined wall surfaces and photovoltaic panels, and can realize cleaning of the wall surfaces and the photovoltaic panels by carrying a cleaning roller brush.

[0003] At present, the core components such as driving motors, transmission mechanisms and detection units of such robots are usually highly integrated in the body. The transmission mechanism generally includes gears, transmission shafts and the like; and the detection assembly is usually integrated with an encoder and a matching gear and the like. Although this design realizes compact structure, it brings great inconvenience to maintenance of the key components, especially replacement of the driving motor.

[0004] The driving motor is a key power source and a vulnerable part of the cleaning robot, and has a relatively high failure rate. However, the existing maintenance process is extremely complicated: when the driving motor fails, the maintenance personnel must first disassemble the upper cover of the robot, and then successively remove a plurality of associated components such as a circuit board, a sensor bracket, a power line bundle adapter plate and the like which are arranged in layers on the driving motor removal path. The complex disassembly process leads to low maintenance efficiency, and in the repeated disassembly and assembly, the surrounding components are easily physically damaged, or are misassembled or missed in the reassembly.

[0005] And in view of the complexity of the above disassembly, ordinary users cannot complete the replacement of the driving motor by themselves, and the faulty equipment must be returned to the factory for maintenance. SUMMARY

[0006] The present application aims at the deficiencies of the prior art, and provides a detachable motor structure and a cleaning robot to solve the problem of inconvenient disassembly of the driving motor.

[0007] To solve the above problems, the present application provides a detachable motor structure, comprising: A cleaning robot body including a main shell and a motor cover plate, the main shell has a receiving cavity formed therein, and a motor mounting groove is formed in the side surface, the main shell also has a toothed opening which communicates the receiving cavity and the motor mounting groove, and the motor cover plate is detachably connected to the main shell and used for covering the motor mounting groove; A transmission structure installed in the receiving cavity and having a driven gear; A driving module installed in the motor mounting groove and including a driving motor and a driving gear connected to the output shaft of the driving motor, and the driving motor is detachably connected to the motor mounting groove; The driving gear and the driven gear are engaged at the toothed notch.

[0008] Optionally, the driving module further comprises a motor fixing frame. The driving motor is connected to the motor fixing frame. The motor fixing frame is detachably connected to the motor mounting slot.

[0009] Optionally, the driving motor is detachably connected to the motor fixing frame.

[0010] Optionally, an installation hole is formed in the accommodating cavity, and a pressing opening, which communicates with the motor mounting slot, is formed in a hole wall of the installation hole. The transmission structure further comprises a bearing and a transmission shaft, the bearing is arranged in the installation hole, the bearing is sleeved on the transmission shaft, and a diameter of the bearing is smaller than a hole diameter of the installation hole. The driven gear is connected to the transmission shaft and coaxially arranged. The motor fixing frame has a pressing portion capable of pressing the bearing in the installation hole at the pressing opening.

[0011] Optionally, a difference between the diameter of the bearing and the hole diameter of the installation hole is 0.1-0.2 mm.

[0012] Optionally, the pressing portion is formed with a circular-arc curved surface used for pressing the outer circumferential surface of the bearing, and a diameter of a circle corresponding to the circular-arc curved surface matches the diameter of the bearing.

[0013] Optionally, a central angle corresponding to a hole wall corresponding to the bearing in the installation hole is 270 degrees, and a central angle corresponding to the circular-arc curved surface is 90 degrees.

[0014] Optionally, the main machine shell comprises a plurality of structural members, and one of the structural members is a mounting support. The driving motor is detachably connected to the mounting support. The transmission structure is connected to the mounting support. The toothed notch and the installation hole are formed in the mounting support.

[0015] Optionally, the motor detachable structure further comprises a detection assembly. The detection assembly is arranged in the accommodating cavity and has an encoding gear and an encoder, and the encoding gear is engaged with the driven gear or the driving gear.

[0016] The application further provides a cleaning robot comprising the motor detachable structure.

[0017] Based on the structural design of the application, when the driving motor fails, i.e. needs to be disassembled, first, the connection between the motor cover plate and the main shell is released, then the connection between the driving motor and the main shell is released, and the driving module with the driving motor can be disassembled. When reassembly is required, reverse the disassembly process, so the process of taking out the driving motor can greatly reduce the parts that need to be removed, and the process is extremely simple, which can greatly improve the maintenance efficiency, solve the problem of inconvenient removal of the driving motor, and also avoid physical damage to other parts during disassembly and reassembly. And also can effectively avoid the situation of misassembly and missing parts. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a perspective view of the motor detachable structure provided by the embodiment of the present application; Figure 2 is a perspective view of the motor detachable structure provided by the embodiment of the present application, in which the motor cover plate is opened; Figure 3 is a perspective view of the motor detachable structure provided by the embodiment of the present application, in which the motor cover plate is opened and the driving module is taken out; Figure 4 is a partial structure perspective view of the motor detachable structure provided by the embodiment of the present application; Figure 5 is Figure 4 is an exploded view of Figure 6 is Figure 4 is a AA direction sectional view of Figure 7 is a perspective view of the mounting bracket in the motor detachable structure provided by the embodiment of the present application; Figure 8 is Figure 7 is another perspective view of Figure 9 is an exploded view of the driving module in the motor detachable structure provided by the embodiment of the present application; Figure 10 is a perspective view of the motor fixing frame in the motor detachable structure provided by the embodiment of the present application.

[0020] BRIEF DESCRIPTION OF DRAWINGS 100 robot body; 110 main shell; 111 installation support; 1101 motor installation slot; 1102 tooth joint opening; 1103 installation hole; 1104 compression opening; 120 motor cover plate; 200 transmission structure; 210 driven gear; 220 bearing; 230 transmission shaft; 300 drive module; 310 drive motor; 320 driving gear; 330 motor fixing frame; 331 compression part; 33101 arc curved surface; 400 detection assembly; 410 encoding gear; 420 encoder. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0022] In the embodiment of the present application, according to the XYZ rectangular coordinate system defined in the prior art Figure 1 In the embodiment of the present application, according to the XYZ rectangular coordinate system defined in the prior art

[0023] The motor detachable structure provided by the embodiment of the present application is used for a cleaning robot and belongs to a local structure of the cleaning robot. It should be particularly pointed out that the cleaning robot can be a photovoltaic cleaning robot or other wall surface cleaning robot.

[0024] Please refer to Figures 1 to 10 The motor detachable structure comprises a robot body 100, a transmission structure 200 and a drive module 300.

[0025] The robot body 100 comprises a main shell 110 and a motor cover plate 120. The main shell 110 has an accommodating cavity formed therein and a motor installation slot 1101 formed on the side surface thereof. The main shell 110 further has a tooth joint opening 1102 formed therein and communicating with the accommodating cavity and the motor installation slot 1101. It should be noted that in the embodiment of the present application, the motor installation slot 1101 is formed on the lower side surface of the main shell 110, and in other embodiments of the present application, it can be formed on other side surfaces according to requirements. The motor cover plate 120 is detachably connected to the main shell 110 and is used for covering the motor installation slot 1101. In the embodiment, the detachable connection between the motor cover plate 120 and the main shell 110 is fixed by screws, and in other embodiments, it can also be other structural forms, which will not be described in detail here.

[0026] The transmission structure 200 is installed in the accommodating cavity and has a driven gear 210; it is to be explained that the transmission structure 200 is used for transmitting torque to a target structure, that is, the transmission structure 200 receives torque output by the driving motor 310 through the driven gear 210 and then transmits the torque to the target structure according to requirements; in the embodiment, the target structure is a track, and in other embodiments of the application, the target structure can also be other structures that need to rotate, which are not limited here.

[0027] The driving module 300 is installed in the motor installation groove 1101 and includes the driving motor 310 and a driving gear 320 connected to an output shaft of the driving motor 310. The driving motor 310 is detachably connected to the main machine shell 110; in the embodiment, the detachable connection between the driving motor 310 and the main machine shell 110 is fixed by screws, and in other embodiments, it can also be other structural forms, which are not expanded here. It is to be explained here that the connection between the driving gear 320 and the driving motor 310 can be detachable or fixed.

[0028] The driving gear 320 and the driven gear 210 are engaged at the toothed notch 1102.

[0029] In specific use, the driving motor 310 drives the driving gear 320 to rotate through the output shaft, and since the driving gear 320 and the driven gear 210 are engaged, the driven gear 210 is driven to rotate, so as to transmit torque to the transmission structure 200, and then output to the target structure by the transmission structure 200.

[0030] Based on the structural design of the application, when the driving motor 310 fails, that is, the driving motor 310 needs to be disassembled, first, the connection between the motor cover plate 120 and the main machine shell 110 is released, as shown in Figure 2 , and then the connection between the driving motor 310 and the main machine shell 110 is released, that is, the driving module 300 with the driving motor 310 can be disassembled, as shown in Figure 3 , and when reassembly is required, reverse the disassembly process, that is, the process of taking out the driving motor 310 can greatly reduce the parts that need to be removed, and the process is extremely simple, which can greatly improve the maintenance efficiency, solve the problem of inconvenient removal of the driving motor 310, and also avoid physical damage to other parts during disassembly and reassembly, and effectively avoid the situation of misassembly and missing parts.

[0031] In addition, based on the simple disassembly feature, a common user can disassemble the drive module 300 by himself. If the driving gear 320 and the drive motor 310 cannot be disassembled, the drive module 300 can be sent to the repair point as a whole. If the driving gear 320 and the drive motor 310 can be disassembled, the drive motor 310 can be sent to the repair point alone. In both cases, the faulty equipment does not need to be sent to the repair point as a whole, which greatly facilitates the repair.

[0032] It should be further pointed out that in the embodiment of the application, the transmission structure 200 and the drive module 300 are provided in two groups and are symmetrically arranged on the left and right sides, and the motor mounting grooves 1101 corresponding to the two drive modules 300 are in communication with each other.

[0033] As shown in Figures 1-6 , Figures 9-10 In the embodiment of the application, the drive module 300 further comprises a motor fixing frame 330.

[0034] The drive motor 310 is connected to the motor fixing frame 330. The motor fixing frame 330 is detachably connected to the motor mounting groove 1101.

[0035] If the drive motor 310 is specially customized to adapt to the motor mounting groove 1101, the cost of the drive motor 310 will be high. By adding the motor fixing frame 330, the drive motor 310 is mounted to the motor mounting groove 1101 through the motor fixing frame 330, so that a special drive motor 310 is not needed, a more conventional motor structure or a standard designed motor can be used, which is beneficial to reduce the production cost.

[0036] As shown in Figure 1 In the embodiment of the application, the drive motor 310 and the motor fixing frame 330 are detachably connected. Based on this, the motor fixing frame 330 can be disassembled and sent to the repair point without the motor fixing frame 330.

[0037] As shown in Figure 3 , Figure 7 , Figure 8 In the embodiment of the application, the receiving cavity is formed with a mounting hole 1103, and the hole wall of the mounting hole 1103 is provided with a pressing opening 1104 communicating with the motor mounting groove 1101. The transmission structure 200 further comprises a bearing 220 and a transmission shaft 230, the bearing 220 is arranged in the mounting hole 1103, the bearing 220 is sleeved on the transmission shaft 230, and the diameter of the bearing 220 is smaller than the hole diameter of the mounting hole 1103. The driven gear 210 is connected to the transmission shaft 230 and coaxially arranged. The motor fixing frame 330 has a pressing portion 331 capable of pressing the bearing 220 to the mounting hole 1103 at the pressing opening 1104.

[0038] Based on the structural design, firstly, when assembling the transmission structure 200, i.e. installing the bearing 220, since the diameter of the bearing 220 is smaller than the hole diameter of the mounting hole 1103, the bearing 220 can be easily placed in the mounting hole 1103 without the need of a jig, after the motor fixing frame 330 is installed to the motor mounting groove 1101, the bearing 220 will be pressed in the mounting hole 1103 by the pressing part 331, and then the installation and fixation of the bearing 220 are completed, which improves the assembly efficiency of the transmission structure 200, secondly, since the driven gear 210 is connected to the transmission shaft 230 and coaxially arranged, the bearing 220 is also pressed by the pressing part 331, which is the process of calibrating the relative position of the installation shaft and the motor, so that the driving gear 320 and the driven gear 210 can be aligned and meshed, and finally, the motor fixing frame 330 serves as an intermediate structural part for installing the driving motor 310 in the motor mounting groove 1101, and also as a fixing part for pressing and fixing the bearing 220, which reduces the number of additional parts and also reduces the complexity of the overall structure.

[0039] Further, the difference between the diameter of the bearing 220 and the hole diameter of the mounting hole 1103 is 0.1-0.2mm. The gap of 0.1-0.2mm balances the convenience of installation and the reliability of fixation, and too large gap will cause the bearing 220 to shake, and too small gap will make it difficult to assemble.

[0040] In the embodiment of the present application, the transmission structure 200 further comprises a driving wheel (not labeled) Figures 1-3 which is connected to the transmission shaft 230 and coaxially arranged with the transmission shaft 230, and is used to drive the track capable of moving the robot body 100. Through the driving wheel, the torque of the driving motor 310 can be directly transmitted to the track to realize track driving.

[0041] In the embodiment of the present application, the difference between the diameter of the bearing 220 and the hole diameter of the mounting hole 1103 is preferably 0.1mm.

[0042] As shown in Figure 6 , Figure 10 In the embodiment of the present application, the pressing part 331 is formed with a circular arc surface 33101 for pressing the outer circumferential surface of the bearing 220, and the diameter of the circular arc surface 33101 corresponds to the diameter of the bearing 220. Based on this, firstly, the shape of the circular arc surface 33101 matches the shape of the bearing 220, which can be automatically centered, simplifying the assembly process and achieving uniform pressing without the need of accurate adjustment, secondly, the full contact of the circular arc surface 33101 with the outer circumferential surface of the bearing 220 disperses the pressing force and prevents local stress concentration.

[0043] As shown in Figure 6 , Figure 10As shown, in this embodiment of the invention, the central angle of the hole wall corresponding to the bearing 220 in the mounting hole 1103 is 270 degrees, and the central angle of the arc surface 33101 is 90 degrees. Based on this, firstly, the 270-degree mounting hole wall of the mounting hole 1103 provides the main support surface for the bearing 220, restricting most of the radial movement, while the 90-degree arc surface 33101 completes the remaining coverage, together forming a 360-degree enclosure, ensuring the stability and alignment of the bearing 220 during operation. Secondly, it allows the bearing 220 to be easily inserted during installation, while the force applied by the clamping part 331 is evenly distributed, avoiding loosening caused by vibration, thereby maintaining the smooth rotation of the drive shaft 230 and the accuracy of gear meshing.

[0044] like Figures 2-8 As shown, in this embodiment of the invention, the main unit housing 110 includes multiple structural components, one of which is a mounting bracket 111. That is, the main unit housing 110 is made of multiple structural components, and the structural components at different positions will be made of different materials according to the requirements of strength and structure.

[0045] The drive motor 310 is detachably connected to the mounting bracket 111, and the transmission structure 200 is connected to the mounting bracket 111.

[0046] The toothed notch 1102 and the mounting hole 1103 are formed on the mounting bracket 111.

[0047] Integrating the drive module 300, transmission structure 200, toothed notch 1102 and mounting hole 1103 onto the same mounting bracket 111 helps avoid the accumulation of positional tolerances and reduces vibration, noise and abnormal wear caused by the accumulation of positional tolerances.

[0048] like Figure 5 As shown, in this embodiment of the invention, the detachable motor structure further includes a detection component 400; The detection component 400 is disposed in the receiving cavity and has an encoding gear 410 and an encoder 420, the encoding gear 410 meshing with the driven gear 210.

[0049] The direct meshing of the encoder gear 410 and the driven gear 210 enables real-time monitoring of the motion state of the target structure.

[0050] In other embodiments, the encoding gear 410 meshes with the driving gear 320, which can also realize real-time monitoring of the motion state of the target structure.

[0051] The application further provides a cleaning robot comprising the motor detachable structure, the specific structure of which is referred to the above-mentioned embodiments. Since the cleaning robot adopts all the technical solutions of the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0052] The above only is the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement or improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A detachable motor structure, characterized in that, The utility model relates to a cleaning robot body, including main casing and motor cover plate, the main casing is formed with containing cavity in, and the side is equipped with motor installation groove, the main casing is also equipped with the tooth joint gap of intercommunication containing cavity and motor installation groove, motor cover plate detachable connection in main casing is used for covering motor installation groove, Transmission structure is installed in containing cavity and has driven gear, Drive module is installed in motor installation groove and includes drive motor and driving gear connected to drive motor output shaft, drive motor is detachable connected to motor installation groove, Wherein, the driving gear and the driven gear are engaged at the tooth joint gap. The drive module further includes a motor fixing frame; 2. The detachable structure of the electric machine according to claim 1, wherein, The drive motor is connected to the motor fixing frame; The motor fixing frame is detachably connected to the motor installation slot. The drive motor and the motor fixing frame are detachably connected.

3. The motor detachable structure according to claim 2, wherein The installation hole is formed in the containing cavity, and a pressing opening is formed in the hole wall of the installation hole and communicated with the motor installation slot; 4. The motor detachable structure according to claim 2, wherein The transmission structure further includes a bearing and a transmission shaft, the bearing is arranged in the installation hole, the bearing is sleeved on the transmission shaft, and the diameter of the bearing is smaller than the hole diameter of the installation hole; The driven gear is connected to the transmission shaft and coaxially arranged; The motor fixing frame has a pressing portion capable of pressing the bearing in the installation hole at the pressing opening. The difference between the diameter of the bearing and the hole diameter of the installation hole is 0.1-0.2mm.

5. The motor detachable structure according to claim 4, wherein The pressing portion is formed with a circular arc surface for pressing the outer circumferential surface of the bearing, and the diameter of the circular arc surface corresponding circle matches the diameter of the bearing.

6. The motor detachable structure according to claim 4, wherein The central angle corresponding to the hole wall corresponding to the bearing in the installation hole is 270 degrees, and the central angle corresponding to the circular arc surface is 90 degrees.

7. The motor detachable structure according to claim 6, wherein The main casing includes a plurality of structural members, one of which is a mounting bracket; 8. The motor detachable structure according to claim 4, wherein The drive motor is detachably connected to the mounting bracket; The transmission structure is connected to the mounting bracket; The tooth joint gap and the installation hole are formed in the mounting bracket. The motor detachable structure further includes a detection assembly; 9. The motor detachable structure according to claim 1, wherein The detection assembly is arranged in the containing cavity and has an encoder gear and an encoder, the encoder gear is engaged with the driven gear or the driving gear. The utility model relates to a cleaning robot body, including main casing and motor cover plate, the main casing is formed with containing cavity in, and the side is equipped with motor installation groove, the main casing is also equipped with the tooth joint gap of intercommunication containing cavity and motor installation groove, motor cover plate detachable connection in main casing is used for covering motor installation groove, 10. A cleaning robot, characterized in that, ​

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