Gear motor and sweeping robot

Abstract

The utility model discloses a gear motor and a sweeping robot. The gear motor comprises a rotating shaft, a housing, a stator, a rotor, a sun gear, a transmission structure, a rotating disc, a first bearing and a second bearing. An inner ring of the first bearing is sleeved with the rotating shaft, and an outer ring of the first bearing is sleeved with the rotating disc; the sun gear sleeves the rotating shaft and is in linkage connection with the circumferential direction of the rotating shaft; the sun gear is in transmission connection with the rotating disc through a transmission structure; the stator is installed on the shell and arranged around the axis of the rotating shaft. The inner ring of the second bearing is sleeved with the rotating shaft, and the outer ring of the second bearing is sleeved with the stator or the shell; the rotor is arranged around the axis of the rotating shaft; and the rotor is in circumferential linkage connection with the rotating shaft. On the basis that the motion stability of the rotor is guaranteed, the radial size of the gear motor is further reduced.

Description

Technical Field

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

[0002] The axial and radial dimensions of the current motors used in sweeping robots are generally large. In order to reduce the size, the patent application document with patent application number 202310573534.2 discloses a reduction device and a sweeping robot for a sweeping robot, wherein the motor shaft remains stationary, and the sun gear is circumferentially movably sleeved on the motor shaft, and then the sun gear is rotated relative to the motor shaft through the rotor linkage, and the rotor and the sun gear are supported by the motor shaft. Considering that the rotor has a certain axial dimension, in order to take into account the smooth rotation of the rotor, the sun gear needs to have a certain axial length so that the rotor is smoothly stressed during rotation; and when the axial length of the sun gear becomes larger, the strength of the thin-walled structure of the sun gear is insufficient, so the diameter of the motor shaft and the diameter of the sun gear must be expanded, which in turn leads to an increase in the size of the motor. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, one of the purposes of the present invention is to provide a reduction motor, which can further reduce the radial size of a reduction motor on the basis of ensuring the smoothness of the rotor movement.

[0004] The second purpose of the utility model is to provide a sweeping robot, which adopts the above-mentioned reduction motor, so that it can have the advantage of further reducing the radial size of a reduction motor on the basis of ensuring the stability of the rotor movement.

[0005] One of the purposes of the utility model is achieved by the following technical solution:

[0006] A reduction motor comprises: a rotating shaft, a stator, a rotor, a sun gear, a transmission structure, a rotating disk, a first bearing and a second bearing;

[0007] The inner ring of the first bearing is sleeved with the rotating shaft, and the outer ring of the first bearing is sleeved with the rotating disk;

[0008] The sun gear is sleeved on the rotating shaft and is circumferentially linked with the rotating shaft;

[0009] The sun gear is connected to the rotating disk through the transmission structure;

[0010] The stator is mounted on the housing, and the stator is arranged around the axis of the rotating shaft;

[0011] The inner ring of the second bearing is sleeved with the rotating shaft, and the outer ring of the second bearing is sleeved with the stator or the housing;

[0012] The rotor is arranged around the axis of the rotating shaft; the rotor is circumferentially linked with the rotating shaft.

[0013] Furthermore, the transmission structure includes a first-stage duplex tooth, a second-stage duplex tooth and an inner gear ring, the first large tooth of the first-stage duplex tooth is transmission-connected to the sun tooth, the first small tooth of the first-stage duplex tooth is transmission-connected to the second large tooth of the second-stage duplex tooth, and the second small tooth of the second-stage duplex tooth is meshed with the inner gear ring; the inner gear ring is circumferentially fixedly mounted on the housing.

[0014] Furthermore, the rotating disk is connected to a first supporting shaft and a second supporting shaft, the first supporting shaft is passed through the first-stage double teeth and supports the first-stage double teeth, and the second supporting shaft is passed through the second-stage double teeth and supports the second-stage double teeth.

[0015] Furthermore, the axis of the first-stage double tooth and the axis of the second-stage double tooth are arranged at intervals in the horizontal direction and are parallel to each other; the first large tooth and the first small tooth are arranged in sequence along the first direction, and the second small tooth and the second large tooth are arranged in sequence along the first direction.

[0016] Furthermore, the first bearing is a rolling bearing; the second bearing is a rolling bearing.

[0017] Furthermore, the housing is connected to the rotating disk via a third bearing and provides radial support to the rotating disk.

[0018] Furthermore, the outer ring of the third bearing is connected to the rotating disk, and the inner ring of the third bearing is connected to the housing.

[0019] Furthermore, the rotor and the rotating shaft are manufactured in one piece, and the rotating shaft and the sun gear are manufactured in one piece.

[0020] Furthermore, the linkage frame of the rotor is coaxially connected to the rotating shaft; the stator, the linkage frame and the sun gear are arranged in sequence and spaced apart along the axial direction of the rotating shaft, or the linkage frame, the stator and the sun gear are arranged in sequence and spaced apart along the axial direction of the rotating shaft.

[0021] The second purpose of the utility model is achieved by the following technical solution:

[0022] A sweeping robot comprises the above-mentioned reduction motor.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. Based on the circumferential linkage of the rotor, the rotating shaft and the sun gear, the rotating shaft can output power to the rotating disk through the transmission mechanism.

[0025] 2. In addition, one end of the rotating shaft is directly connected to the first bearing, and the other end is directly connected to the second bearing, and the outer ring of the first bearing is sleeved with the rotating disk, that is, the rotating disk is directly supported by the rotating shaft, that is, the rotating disk is supported by the power component; and the outer ring of the second bearing is sleeved with the stator or the housing, that is, the second bearing is supported by the stator or the housing; in this way, the rotating shaft can stably support the rotating disk. The major difference from the existing products is that the existing structure needs to support the rotating disk through a static structure, that is, the technical concepts of the two are different; in addition, the number of bearings is less and the cost is lower.

[0026] 3. It is also important to point out that, based on the circumferential linkage of the rotor, the rotating shaft and the sun gear, the running stability of the rotor is transferred to the rotating shaft, and the rotating shaft itself is in contact with the first bearing and the second bearing, that is, it has sufficient strength and running stability, so there is no need to increase the size of the rotating shaft, that is, the radial size is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of a reduction motor according to the first embodiment of the utility model;

[0028] Figure 2 This is a schematic structural diagram of a reduction motor according to the second embodiment of the utility model;

[0029] Figure 3 This is a schematic structural diagram of a reduction motor according to the third embodiment of the utility model.

[0030] In the figure: 1, rotating shaft; 2, stator; 3, rotor; 31, linkage frame; 4, sun gear; 5, transmission structure; 51, first-stage double teeth; 511, first large teeth; 512, first small teeth; 52, second-stage double teeth; 521, second large teeth; 522, second small teeth; 53, inner gear ring; 6, rotating disk; 61, first support shaft; 62, second support shaft; 7, first bearing; 8, second bearing; 9, housing; 10, third bearing. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] First embodiment:

[0035] See also Figure 1 A reduction motor of this embodiment includes: a rotating shaft 1, a housing 9, a stator 2, a rotor 3, a sun gear 4, a transmission structure 5, a rotating disk 6, a first bearing 7 and a second bearing 8.

[0036] The inner ring of the first bearing 7 is sleeved with the rotating shaft 1, and the outer ring of the first bearing 7 is sleeved with the rotating disk 6; that is, the rotating disk 6 is supported directly by the rotating shaft 1, that is, the rotating disk 6 is supported by the power component.

[0037] The sun gear 4 is sleeved on the rotating shaft 1 and is circumferentially linked with the rotating shaft 1 ; that is, the sun gear 4 is driven to rotate by the rotating shaft 1 .

[0038] The sun gear 4 is connected to the rotating disk 6 via the transmission structure 5 so that the rotating disk 6 rotates along with the sun gear 4 .

[0039] The stator 2 is arranged around the axis of the rotating shaft 1 .

[0040] The inner ring of the second bearing 8 is sleeved with the rotating shaft 1, and the outer ring of the second bearing 8 is sleeved with the stator 2 or the housing 9; that is, the second bearing 8 is supported by the stator 2 or the housing 9, and the rotating shaft 1 is then supported by the second bearing 8.

[0041] The rotor 3 is arranged around the axis of the rotating shaft 1; the rotor 3 is circumferentially linked with the rotating shaft 1.

[0042] During operation, the stator 2 drives the rotor 3 to rotate, the rotor 3 drives the shaft 1 to rotate, and the shaft 1 drives the sun gear 4 to rotate around the axis of the shaft 1. Then, the shaft 1 drives the rotating disk 6 to rotate around the axis of the shaft 1 through the transmission structure 5, so that the power can be output outward.

[0043] It should be noted that, based on the circumferential linkage of the rotor 3, the rotating shaft 1, and the sun gear 4, the rotating shaft 1 can output power to the rotating disk 6 through the transmission mechanism. In addition, based on the fact that one end of the rotating shaft 1 is directly connected to the first bearing 7, and the other end is directly connected to the second bearing 8, and the outer ring of the first bearing 7 is sleeved with the rotating disk 6, the rotating disk 6 is directly supported by the rotating shaft 1, that is, the rotating disk 6 is supported by the power component; and based on the fact that the outer ring of the second bearing 8 is sleeved with the stator 2 or the housing 9, the second bearing 8 is supported by the stator 2 or the housing 9; in this way, the rotating shaft 1 can stably support the rotating disk 6, and the major difference from the existing products is that the existing structure needs to support the rotating disk 6 through a static structure, that is, the technical concepts of the two are different; in addition, the number of bearings is less and the cost is lower. It is also important to note that, based on the circumferential linkage among the rotor 3, the rotating shaft 1 and the sun gear 4, the running stability of the rotor 3 is transferred to the rotating shaft 1, and the rotating shaft 1 itself is in contact with the first bearing 7 and the second bearing 8, i.e., it has sufficient strength and running stability, so there is no need to increase the size of the rotating shaft 1, i.e., the radial size is reduced.

[0044] Preferably, the transmission structure 5 includes a first-stage duplex tooth 51, a second-stage duplex tooth 52 and an inner gear ring 53, the first large tooth 511 of the first-stage duplex tooth 51 is in transmission connection with the sun gear 4 (preferably directly meshed), the first small tooth 512 of the first-stage duplex tooth 51 is in transmission connection with the second large tooth 521 of the second-stage duplex tooth 52 (preferably directly meshed), and the second small tooth 522 of the second-stage duplex tooth 52 is meshed with the inner gear ring 53; the inner gear ring 53 is fixedly mounted on the housing 9. With this arrangement, the transmission structure 5 can output a target transmission ratio. It can be understood that, as an alternative arrangement, the transmission structure 5 can be a plurality of gears horizontally coplanarly meshed in sequence, etc.

[0045] In order to make the first-stage double-linked teeth 51 and the second-stage double-linked teeth 52 move reliably, preferably, the rotating disk 6 is connected with a first support shaft 61 and a second support shaft 62, the first support shaft 61 is passed through the first-stage double-linked teeth 51, and supports the first-stage double-linked teeth 51, and the second support shaft 62 is passed through the second-stage double-linked teeth 52, and supports the second-stage double-linked teeth 52. Among them, as an alternative setting method, the first support shaft 61 and the second support shaft 62 can be installed on the shell 9, but it is necessary to movably sleeve the disk body on the shell 9, and then support the first support shaft 61 and the second support shaft 62 through the disk body.

[0046] Preferably, the axis of the first-stage double-linked tooth 51 and the axis of the second-stage double-linked tooth 52 are arranged at intervals in the horizontal direction and are parallel to each other; the first large tooth 511 and the first small tooth 512 are arranged in sequence along the first direction, and the second small tooth 522 and the second large tooth 521 are arranged in sequence along the first direction. In this arrangement, based on the fact that the first large tooth 511 and the second small tooth 522 can be arranged in the same horizontal plane, and the first small tooth 512 and the second large tooth 521 can be arranged in the same horizontal plane, not only the axial size of a reduction motor is reduced, but also the radial size of a reduction motor is reduced.

[0047] In order to make the first bearing 7 and the second bearing 8 have high axial support strength and radial support strength, preferably, the first bearing 7 is a rolling bearing; the second bearing 8 is a rolling bearing. The rolling bearing can be a ball bearing or a needle bearing.

[0048] Preferably, in order to improve the rotation stability of the rotating disk 6, the housing 9 is connected to the rotating disk 6 through the third bearing 10, and radially supports the rotating disk 6. Specifically, the outer ring of the third bearing 10 is connected to the rotating disk 6, and the inner ring of the third bearing 10 is connected to the housing 9; it can be understood that as an alternative arrangement, the inner ring of the third bearing 10 can also be connected to the rotating disk 6, and the outer ring of the third bearing 10 can be connected to the housing 9.

[0049] Preferably, in order to improve the stability of the operation of the rotating shaft 1 and thus improve the rotation stability of the rotating disk 6, the rotor 3 and the rotating shaft 1 are integrally formed (such as cast together as one part). More preferably, in order to improve the rotation stability of the sun gear 4, the rotating shaft 1 and the sun gear 4 are integrally formed (such as cast together as one part). In this case, the rotor 3, the rotating shaft 1 and the sun gear 4 are integrally cast.

[0050] In this embodiment, the linkage frame 31 of the rotor 3 is coaxially connected to the rotating shaft 1 ; the stator 2 , the linkage frame 31 and the sun gear 4 are sequentially arranged at intervals along the axial direction of the rotating shaft 1 .

[0051] This embodiment also discloses a sweeping robot, comprising the above-mentioned reduction motor.

[0052] Second embodiment:

[0053] See also Figure 2 The utility model also discloses a second embodiment, a reduction motor of the second embodiment includes the first embodiment, and the difference between the second embodiment and the first embodiment is that: the linkage frame 31, the stator 2 and the sun gear 4 are sequentially arranged at intervals along the axial direction of the rotating shaft 1. In this way, the eccentric center of gravity of the rotor 3 is located between the first bearing 7 and the second bearing 8, so that the rotor 3 can be reliably supported by the rotating shaft 1.

[0054] Third embodiment:

[0055] See also Figure 3 The utility model also discloses a third embodiment. A reduction motor of the third embodiment includes the first embodiment, and is different from the first embodiment in that: although the axis of the first-stage double-tooth 51 and the axis of the second-stage double-tooth 52 are also arranged at intervals in the horizontal direction and are parallel to each other; however, the first large tooth 511 and the first small tooth 512 are arranged in sequence along the first direction, and the second large tooth 521 and the second small tooth 522 are arranged in sequence along the first direction.

[0056] 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 rotating shaft (1), a housing (9), a stator (2), a rotor (3), a sun gear (4), a transmission structure (5), a rotating disk (6), a first bearing (7), and a second bearing (8); The inner ring of the first bearing (7) is sleeved with the rotating shaft (1), and the outer ring of the first bearing (7) is sleeved with the rotating disk (6); The sun gear (4) is sleeved on the rotating shaft (1) and is circumferentially linked with the rotating shaft (1); The sun gear (4) is transmission-connected to the rotating disk (6) via the transmission structure (5); The stator (2) is mounted on the housing (9), and the stator (2) is arranged around the axis of the rotating shaft (1); The inner ring of the second bearing (8) is sleeved with the rotating shaft (1), and the outer ring of the second bearing (8) is sleeved with the stator (2) or the housing (9); The rotor (3) is arranged around the axis of the rotating shaft (1); the rotor (3) is circumferentially linked with the rotating shaft (1).

2. A reduction motor according to claim 1, characterized in that: The transmission structure (5) comprises a first-stage duplex tooth (51), a second-stage duplex tooth (52) and an inner gear ring (53); the first large tooth (511) of the first-stage duplex tooth (51) is transmission-connected to the sun tooth (4); the first small tooth (512) of the first-stage duplex tooth (51) is transmission-connected to the second large tooth (521) of the second-stage duplex tooth (52); the second small tooth (522) of the second-stage duplex tooth (52) is meshed with the inner gear ring (53); and the inner gear ring (53) is circumferentially fixedly mounted on the housing (9).

3. A reduction motor as claimed in claim 2, characterized in that: The rotating disk (6) is connected to a first supporting shaft (61) and a second supporting shaft (62); the first supporting shaft (61) is inserted through the first-stage double-linked teeth (51) and supports the first-stage double-linked teeth (51); the second supporting shaft (62) is inserted through the second-stage double-linked teeth (52) and supports the second-stage double-linked teeth (52).

4. A reduction motor as claimed in claim 2, characterized in that: The axis of the first-stage double-linked tooth (51) and the axis of the second-stage double-linked tooth (52) are arranged at intervals in the horizontal direction and are parallel to each other; the first large tooth (511) and the first small tooth (512) are arranged in sequence along the first direction, and the second small tooth (522) and the second large tooth (521) are arranged in sequence along the first direction.

5. A reduction motor according to claim 1, characterized in that: The first bearing (7) is a rolling bearing; the second bearing (8) is a rolling bearing.

6. A reduction motor according to claim 1, characterized in that: The housing (9) is connected to the rotating disk (6) via a third bearing (10), and provides radial support for the rotating disk (6).

7. A reduction motor as claimed in claim 6, characterized in that: The outer ring of the third bearing (10) is connected to the rotating disk (6), and the inner ring of the third bearing (10) is connected to the housing (9).

8. A reduction motor according to claim 1, characterized in that: The rotor (3) and the rotating shaft (1) are manufactured in one piece, and the rotating shaft (1) and the sun gear (4) are manufactured in one piece.

9. A reduction motor according to claim 1, characterized in that: The linkage frame (31) of the rotor (3) is coaxially connected to the rotating shaft (1); the stator (2), the linkage frame (31) and the sun gear (4) are arranged in sequence and at intervals along the axial direction of the rotating shaft (1); or the linkage frame (31), the stator (2) and the sun gear (4) are arranged in sequence and at intervals along the axial direction of the rotating shaft (1).

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

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