Gear motor and sweeping robot

Abstract

The utility model discloses a gear motor and a sweeping robot, and the gear motor comprises a stator assembly, an inner gear ring, a rotor, a central shaft, a sun gear, a primary duplex gear, a secondary duplex gear, and a rotating support. The stator assembly has a support sleeve. The inner gear ring is mounted on the stator assembly; the rotor is arranged around the axis of the supporting sleeve; the central shaft is in linkage connection with the rotor; the sun gear is connected with the central shaft and rotates along with the central shaft; the primary duplex gear is provided with a primary large gear and a primary small gear, and the primary large gear of the primary duplex gear is in transmission connection with the sun gear; the secondary duplex tooth is provided with a secondary large tooth and a secondary small tooth; the sun gear, the primary duplex gear and the secondary duplex gear are sequentially arranged in the radial direction of the sun gear. The secondary large gear is in transmission connection with the primary small gear; the secondary small teeth are in transmission connection with the inner gear ring; the rotary bracket is in linkage connection with the secondary duplex gear; the rotary support is movably connected to the supporting sleeve in a sleeved mode. And the shell connection strength requirement and the transmission ratio requirement can be met simultaneously.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a reduction motor and a sweeping robot. Background Art

[0002] The design of the sweeping robot gives priority to power, then takes into account the transmission ratio, and finally optimizes the size. Therefore, in order to make the sweeping robot meet the requirements, the current improved sweeping robot is preferably able to arrange two-stage double-linked teeth.

[0003] In the reduction device for a sweeping robot and a sweeping robot disclosed in the patent application document with patent application number 202310573534.2, the rotating upper shell and the rotating lower shell can be fixed by an axial screw. Since both the secondary large teeth and the axial screw rotate with the rotating upper shell, although the axial screw is located on the circular motion trajectory of the secondary large teeth, the axial screw also rotates in a circular motion along the axis of the rotating upper shell, so that the axial screw and the secondary large teeth rotate synchronously without mutual spatial interference. However, its motor shaft (the motor shaft is fixed and will not rotate) needs to bear the load of external rotating parts, which leads to a larger shaft diameter, which in turn forces the primary double-tooth shaft diameter to be larger, and thus forces the transmission ratio to be unable to be optimized. The patent application document with patent application number 202310438135.5 discloses a reduction device for a sweeping robot and a sweeping robot, in which the output shaft of the motor moves with the rotating shaft, so the output shaft does not need to bear the load of the external rotating parts, that is, the shaft diameter of the output shaft of the motor is allowed to be reduced; however, its secondary large teeth rotate instead of revolving, that is, they do not make circular motion relative to the output shaft of the motor (that is, the center axis of the rotating outer cover), so that the rotating outer cover and the rotating inner cover can only be fixed by clamping, and cannot be fixed between the rotating outer cover and the rotating inner cover by an axial screw (unless the trajectory of the axial screw's revolving motion is outside the second large tooth and does not collide with the second large tooth, but this obviously increases the radial size of the rotating outer cover and the rotating inner cover, which does not meet product requirements).

[0004] That is to say, after the current reduction motor is installed with the rotating upper shell and the rotating lower shell, if you do not want to use the clamping with weak connection strength, you must consider using axial screw connection. However, if the rotating upper shell and the rotating lower shell are fixed with axial screws, the motor shaft must be unable to rotate like the reduction device for sweeping robots and the sweeping robots disclosed in the patent application document with patent application number 202310573534.2, which ultimately forces the transmission ratio to be unable to be optimized.

[0005] Therefore, there is room for improvement in how to reconcile the connection strength between the reduction motor and the shell of the sweeping robot (that is, it is hoped that the rotating upper shell and the rotating lower shell have a basis for fixing with axial screws) and take the transmission ratio into consideration. Utility Model Content

[0006] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a reduction motor which, when used in a sweeping robot, can simultaneously meet the requirements of the shell connection strength and the transmission ratio.

[0007] A second purpose of the present invention is to provide a sweeping robot.

[0008] One of the purposes of the utility model is achieved by the following technical solution:

[0009] Gear motor, including:

[0010] a stator assembly having a support sleeve;

[0011] An inner gear ring mounted on the stator assembly;

[0012] A rotor, arranged around the axis of the support sleeve;

[0013] A central shaft is linked to the rotor and movably penetrates the support sleeve;

[0014] A sun gear connected to the central shaft and rotating along with the central shaft;

[0015] A primary duplex tooth, comprising a primary large tooth and a primary small tooth, wherein the primary large tooth of the primary duplex tooth is drivingly connected to the sun tooth;

[0016] The secondary duplex teeth have secondary large teeth and secondary small teeth; the sun gear, the primary duplex teeth and the secondary duplex teeth are sequentially arranged along the radial direction of the sun gear; the secondary large teeth are drivingly connected to the primary small teeth; the secondary small teeth are drivingly connected to the inner gear ring;

[0017] The rotating bracket is linked to the secondary double-linked teeth; the rotating bracket is movably sleeved on the supporting sleeve.

[0018] Furthermore, the reduction motor also includes a tightening frame, which is movably sleeved on the supporting sleeve and connected to the rotating bracket to support the rotating bracket.

[0019] Furthermore, the rotating bracket is connected with a first epicyclic shaft, and the first epicyclic shaft is movably inserted into the primary duplex teeth; two ends of the first epicyclic shaft are respectively connected to the rotating bracket and the tightening frame.

[0020] Furthermore, the rotating bracket is connected with a second epicyclic shaft, and the second epicyclic shaft is movably inserted into the secondary double-linked teeth; two ends of the second epicyclic shaft are respectively connected to the rotating bracket and the tightening frame.

[0021] Furthermore, the stator assembly comprises a stator housing and a stator body, the stator body and the rotor are both located in the stator housing, and the inner gear ring is arranged on the stator housing.

[0022] Furthermore, the stator body, the tightening frame and the sun gear are sequentially arranged along the axial direction of the central axis.

[0023] Further, the tightening frame is connected to a linkage frame, and the linkage frame and the primary double teeth are arranged at intervals along the circumferential direction of the central axis; the primary large teeth and the primary small teeth are arranged in sequence along the first direction, and the secondary large teeth and the secondary small teeth are arranged in sequence along the first direction; one side of the linkage frame is connected to the rotating bracket, and the other side of the linkage frame is connected to the tightening frame; the tightening frame and the primary small teeth are located at the same axial height of the central axis.

[0024] Furthermore, the tightening frame is connected to a linkage frame, and the linkage frame and the primary double teeth are arranged at intervals along the circumferential direction of the central axis; the primary large teeth and the primary small teeth are arranged in sequence along the first direction, and the secondary small teeth and the secondary large teeth are arranged in sequence along the first direction; one side of the linkage frame is connected to the rotating bracket, and the other side of the linkage frame is connected to the tightening frame.

[0025] Furthermore, the reduction motor also includes a rotating outer cover, the rotating bracket and the rotating outer cover are jointly wrapped around the periphery of the stator assembly, the rotating bracket and the rotating outer cover are connected by a plurality of axial screws, and the axial screws are located within the radius of the rotational motion of the secondary large tooth; the rotating bracket is connected to the stator assembly through a first bearing, and the rotating outer cover is connected to the stator assembly through a second bearing.

[0026] The second purpose of the utility model is achieved by the following technical solution:

[0027] A sweeping robot comprises the reduction motor.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] Based on the linkage between the center shaft and the rotor, the center shaft does not need to bear the load of the external rotating parts, that is, the shaft diameter of the center shaft of the motor is allowed to be reduced, so the primary double teeth and the secondary double teeth can be designed to meet the transmission ratio and meet the radial small size requirements. On this basis, the rotating bracket is movably sleeved with the support sleeve so that it can be supported stably. Importantly, based on the inner gear ring fixed to the stator assembly, the rotating bracket rotates with the primary double teeth and the secondary double teeth, so that the rotating bracket and the rotating outer cover can be fixed by the axial screw, and even if the axial screw is located within the radius of the secondary large teeth for rotation, the axial screw rotates with the rotating bracket, so it will not collide or interfere with the secondary small teeth, that is, there is no need to increase the outer diameter of the rotating bracket, and the reliable fixation of the rotating outer cover can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the reduction motor of the first embodiment of the utility model;

[0031] Figure 2 This is a schematic structural diagram of a reduction motor according to a second embodiment of the utility model;

[0032] Figure 3 It is a schematic structural diagram of a reduction motor according to the third embodiment of the utility model.

[0033] In the figure: 10, stator assembly; 101, stator housing; 102, stator body; 20, support sleeve; 30, inner gear ring; 40, rotor; 50, center shaft; 60, sun gear; 70, primary double gear; 701, primary large gear; 702, primary small gear; 80, secondary double gear; 801, secondary large gear; 802, secondary small gear; 90, rotating bracket; 100, tightening frame; 110, first rotating shaft; 120, second rotating shaft; 130, linkage frame; 140, second rolling bearing. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element, or there may be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element, or there may be an element centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0036] Unless otherwise defined, all technical terms and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0037] First embodiment:

[0038] See also Figure 1 The reduction motor of this embodiment includes: a stator assembly 10, an inner gear ring 30, a rotor 40, a central shaft 50, a sun gear 60, a primary duplex gear 70, a secondary duplex gear 80 and a rotating bracket 90.

[0039] The stator assembly 10 has a support sleeve 20 . Specifically, the stator assembly 10 includes a stator and the support sleeve 20 . The stator is fixedly connected to the support sleeve 20 , so that the stationary stator supports the support sleeve 20 .

[0040] The inner gear ring 30 is installed on the stator assembly 10 , that is, the inner gear ring 30 is also stationary relative to the stator. Specifically, the inner gear ring 30 is fixed to the support sleeve 20 .

[0041] The rotor 40 is disposed around the axis of the support sleeve 20 . The rotor 40 cooperates with the stator assembly 10 and rotates around the stator of the stator assembly 10 .

[0042] The central shaft 50 is linked to the rotor 40 and movably penetrates the support sleeve 20 , so that the central shaft 50 does not serve as a main load-bearing structure and can output the power of the rotor 40 to the outside.

[0043] The sun gear 60 is connected to the central shaft 50 and rotates along with the central shaft 50 to continue to output the power of the rotor 40 to the outside.

[0044] The primary duplex tooth 70 comprises a primary large tooth 701 and a primary small tooth 702 . The primary large tooth 701 of the primary duplex tooth 70 is transmission-connected with the sun tooth 60 (preferably directly meshed) to meet the required transmission ratio requirement.

[0045] The secondary duplex teeth 80 have secondary large teeth 801 and secondary small teeth 802; the sun tooth 60, the primary duplex teeth 70 and the secondary duplex teeth 80 are arranged in sequence along the radial direction of the sun tooth 60 and their respective axes are parallel to each other; the secondary large teeth 801 are transmission connected to the primary small teeth 702 (preferably directly meshed); the secondary small teeth 802 are transmission connected to the inner gear ring 30 (preferably directly meshed); in this way, it is ensured that the secondary duplex teeth 80 have the required transmission ratio requirements.

[0046] The rotating bracket 90 is linked to the secondary double-linked teeth 80 ; the rotating bracket 90 is movably sleeved on the supporting sleeve 20 so that the rotating bracket 90 is supported by the supporting sleeve 20 .

[0047] There are multiple primary duplex teeth 70 and multiple secondary duplex teeth 80. In this embodiment, there are two primary duplex teeth 70 and four secondary duplex teeth 80, and each primary duplex tooth 70 is meshed with two secondary duplex teeth 80 at the same time. Of course, it can be: In another embodiment, there are four primary duplex teeth 70 and four secondary duplex teeth 80, and each primary duplex tooth 70 is meshed with each secondary duplex tooth 80 in a one-to-one correspondence.

[0048] During operation, the stator assembly 10 drives the rotor 40 to rotate, the rotor 40 is linked to the central shaft 50 to rotate, the central shaft 50 drives the sun gear 60 to rotate, the sun gear 60 drives the primary double gear 70 to make planetary motion, the primary double gear 70 drives the secondary double gear 80 to make planetary motion, and finally drives the rotating bracket 90 to move. The rotating bracket 90 is sleeved with a second rolling bearing 140, and the second rolling bearing 140 is sleeved on the stator housing 101 of the stator assembly 10, so that the load of the rotating bracket 90 acts on the stator housing 101 of the stator assembly 10. Among them, the transmission relationship is: rotor 40→central shaft 50→sun gear 60→primary double gear 70→secondary double gear 80→rotating bracket 90.

[0049] Obviously, based on the linkage between the central shaft 50 and the rotor 40, the central shaft 50 does not need to bear the load of the external rotating parts, that is, the shaft diameter of the central shaft 50 of the motor is allowed to be reduced, so the primary double teeth 70 and the secondary double teeth 80 can be designed to meet the transmission ratio and meet the radial small size requirements. On this basis, the rotating bracket 90 is movably sleeved with the support sleeve 20 so that it can be supported stably. Importantly, based on the inner gear ring 30 being fixed to the stator assembly 10, the rotating bracket 90 rotates with the primary double teeth 70 and the secondary double teeth 80, so that the rotating bracket 90 and the rotating outer cover can be fixed by the axial screw, and even if the axial screw is located within the radius of the secondary large teeth 801 for the rotational motion, the axial screw rotates with the rotating bracket 90, so that it will not collide or interfere with the secondary small teeth 802, that is, there is no need to increase the outer diameter of the rotating bracket 90, and the reliable fixation of the rotating outer cover can be achieved.

[0050] In this embodiment, in order to improve the connection stability of the rotating bracket 90, preferably, the reduction motor further comprises a tightening frame 100, which is movably sleeved on the supporting sleeve 20, connected to the rotating bracket 90, and supports the rotating bracket 90.

[0051] Preferably, in order to further improve the movement stability of the rotating bracket 90, in this embodiment, the rotating bracket 90 is connected to a first rotating shaft 110, and the first rotating shaft 110 is movably inserted into the primary double teeth 70; the two ends of the first rotating shaft 110 are respectively connected to the rotating bracket 90 and the tightening frame 100.

[0052] Preferably, in order to further improve the movement stability of the rotating bracket 90, in this embodiment, the rotating bracket 90 is connected to a second rotating shaft 120, and the second rotating shaft 120 is movably inserted into the secondary double teeth 80; the two ends of the second rotating shaft 120 are respectively connected to the rotating bracket 90 and the tightening frame 100.

[0053] In this embodiment, in order to improve the concealment of the stator and the rotor 40 , preferably, the stator assembly 10 includes a stator housing 101 and a stator body 102 , the stator body 102 and the rotor 40 are both located in the stator housing 101 , and the inner gear ring 30 is disposed in the stator housing 101 .

[0054] In this embodiment, preferably, the stator body 102, the tightening frame 100 and the sun gear 60 are sequentially arranged along the axial direction of the central axis 50. In this arrangement, although the overall axial dimension is increased due to the addition of the tightening frame 100, the installation stability of the tightening frame 100 is further improved.

[0055] In this embodiment, preferably, the reduction motor further includes a rotating outer cover, the rotating bracket 90 and the rotating outer cover are wrapped around the periphery of the stator assembly 10, the rotating bracket 90 and the rotating outer cover are connected by a plurality of axial screws, and the axial screws are located within the radius of the secondary large teeth 801 for the rotational motion; the rotating bracket 90 is connected to the stator assembly 10 through the first bearing (i.e., the first rolling bearing), and the rotating outer cover is connected to the stator assembly 10 through the second bearing (preferably the second rolling bearing 140). This arrangement allows the rotating outer cover and the rotating bracket 90 to rotate synchronously, and both have a small radial dimension.

[0056] The utility model also discloses a sweeping robot, comprising the reduction motor.

[0057] Second embodiment:

[0058] See also Figure 2The second embodiment includes the first embodiment, and the difference between the second embodiment and the first embodiment is that: in the present embodiment, preferably, the tightening frame 100 is connected with the linkage frame 130, and the linkage frame 130 and the primary double teeth 70 are arranged at intervals along the circumference of the central axis 50; the primary large teeth 701 and the primary small teeth 702 are arranged in sequence along the first direction, and the secondary large teeth 801 and the secondary small teeth 802 are arranged in sequence along the first direction; one side of the linkage frame 130 is connected to the rotating bracket 90, and the other side of the linkage frame 130 is connected to the tightening frame 100; the tightening frame 100 and the primary small teeth 702 are located at the same axial height of the central axis 50, and the tightening frame 100 is located in the gap between two adjacent primary small teeth 702. In this arrangement, there is no need to support and connect with the support sleeve 20 through the first and second epicyclic axes 110 and 120, but the gap between adjacent primary small teeth 702 is used to avoid the tightening frame 100. In this way, the connection between the tightening frame 100 and the central shaft 50 can be as close to the sun gear 60 as possible. Since the entire system supports the rotating bracket 90 in a cantilever beam manner, the closer the connection between the tightening frame 100 and the central shaft 50 is to the sun gear 60, the higher the support stability. In addition, since the inner gear ring 30 and the secondary small teeth 802 can be located in the axial groove of the stator housing 101, and the tightening frame 100 can be installed in the gap between adjacent primary small teeth 702, it can also avoid increasing the overall axial size. Among them, the tightening frame 100 and the linkage frame 130 can be molded together as one part, or they can be molded separately.

[0059] Third embodiment:

[0060] See also Figure 3 The third embodiment includes the second embodiment, and the difference between the third embodiment and the second embodiment is that: in the present embodiment, preferably, the sleeve frame 100 is connected with a linkage frame 130, and the linkage frame 130 and the primary double-linked teeth 70 are arranged at intervals along the circumferential direction of the central axis 50; the primary large teeth 701 and the primary small teeth 702 are arranged in sequence along the first direction, and the secondary small teeth 802 and the secondary large teeth 801 are arranged in sequence along the first direction; one side of the linkage frame 130 is connected to the rotating bracket 90, and the other side of the linkage frame 130 is connected to the sleeve frame 100. In this arrangement, compared with the second embodiment, although the overall axial size is reduced by the opposite installation direction of the primary double-linked teeth 70 and the secondary double-linked teeth 80, the space occupied by the sleeve frame 100 increases the overall axial size, making the overall size close to that of the second embodiment.

[0061] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A reduction motor, characterized in that: include: A stator assembly (10) having a support sleeve (20); An inner gear ring (30) mounted on the stator assembly (10); A rotor (40) is arranged around the axis of the support sleeve (20); A central shaft (50) is linked to the rotor (40) and movably penetrates the support sleeve (20); A sun gear (60) connected to the central shaft (50) and rotating along with the central shaft (50); A primary duplex tooth (70) comprising a primary large tooth (701) and a primary small tooth (702), wherein the primary large tooth (701) of the primary duplex tooth (70) is drivingly connected to the sun tooth (60); The secondary duplex tooth (80) comprises a secondary large tooth (801) and a secondary small tooth (802); the sun tooth (60), the primary duplex tooth (70) and the secondary duplex tooth (80) are sequentially arranged along the radial direction of the sun tooth (60); the secondary large tooth (801) is transmission-connected to the primary small tooth (702); and the secondary small tooth (802) is transmission-connected to the inner gear ring (30); The rotating bracket (90) is linked to the secondary double-linked teeth (80); the rotating bracket (90) is movably sleeved on the supporting sleeve (20).

2. The reduction motor according to claim 1, characterized in that: The reduction motor further comprises a tightening frame (100), the tightening frame (100) being movably sleeved on the support sleeve (20), connected to the rotating bracket (90), and supporting the rotating bracket (90).

3. The reduction motor according to claim 2, characterized in that: The rotating bracket (90) is connected to a first epicyclic shaft (110), and the first epicyclic shaft (110) is movably plugged into the primary duplex teeth (70); two ends of the first epicyclic shaft (110) are respectively connected to the rotating bracket (90) and the tightening frame (100).

4. The reduction motor according to claim 2, characterized in that: The rotating bracket (90) is connected to a second epicyclic shaft (120), and the second epicyclic shaft (120) is movably plugged into the secondary double-linked teeth (80); two ends of the second epicyclic shaft (120) are respectively connected to the rotating bracket (90) and the tightening frame (100).

5. The reduction motor according to claim 2, characterized in that: The stator assembly (10) comprises a stator housing (101) and a stator body (102); the stator body (102) and the rotor (40) are both located in the stator housing (101); and the inner gear ring (30) is arranged in the stator housing (101).

6. The reduction motor according to claim 5, characterized in that: The stator body (102), the tightening frame (100) and the sun gear (60) are arranged in sequence along the axial direction of the central axis (50).

7. The reduction motor according to claim 2, characterized in that: The tightening frame (100) is connected to a linkage frame (130), and the linkage frame (130) and the primary double teeth (70) are arranged at intervals along the circumference of the central axis (50); the primary large teeth (701) and the primary small teeth (702) are arranged in sequence along a first direction, and the secondary large teeth (801) and the secondary small teeth (802) are arranged in sequence along the first direction; one side of the linkage frame (130) is connected to the rotating bracket (90), and the other side of the linkage frame (130) is connected to the tightening frame (100); the tightening frame (100) and the primary small teeth (702) are located at the same axial height of the central axis (50).

8. The reduction motor according to claim 2, characterized in that: The tightening frame (100) is connected to a linkage frame (130), and the linkage frame (130) and the primary double teeth (70) are arranged at intervals along the circumference of the central axis (50); the primary large teeth (701) and the primary small teeth (702) are arranged in sequence along a first direction, and the secondary small teeth (802) and the secondary large teeth (801) are arranged in sequence along the first direction; one side of the linkage frame (130) is connected to the rotating bracket (90), and the other side of the linkage frame (130) is connected to the tightening frame (100).

9. The reduction motor according to claim 1, characterized in that: The reduction motor further comprises a rotating outer cover, the rotating bracket (90) and the rotating outer cover are wrapped together around the periphery of the stator assembly (10), the rotating bracket (90) and the rotating outer cover are connected via a plurality of axial screws, the axial screws being located within a radius of rotation of the secondary large teeth (801); the rotating bracket (90) is connected to the stator assembly (10) via a first bearing, and the rotating outer cover is connected to the stator assembly (10) via a second bearing.

10. A sweeping robot, characterized in that: A reduction motor comprising any one of claims 1-9.

Images