Gear motor with two-end output function and sweeping robot

Abstract

The utility model discloses a gear motor with a two-end output function and a sweeping robot. The speed reducing motor with the two-end output function comprises a stator assembly, a central rotating shaft, a rotor, a speed reducing mechanism and a rotating support. The stator assembly is provided with an axial avoiding through hole; the central rotating shaft is movably arranged in the axial avoiding through hole in a penetrating manner so as to perform circumferential rotation relative to the stator assembly; the axial avoiding through hole is positioned between the two ends of the central rotating shaft; the rotor is arranged around the circumferential direction of the central rotating shaft; the reducing mechanism is in transmission connection with the rotor; the rotating bracket is in transmission connection with the reducing mechanism; and one end of the central rotating shaft is in circumferential linkage connection with the rotating bracket. And the two ends can output torque, so that the functions are richer.

Description

Technical Field

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

[0002] As the core component of the sweeping robot, the reduction motor has a great impact on the sweeping robot. At present, the rotating output disk of the reduction motor is installed on the planetary gear, that is, the rotor generally reduces the speed of the rotating output disk through the planetary mechanism. However, the current reduction motor generally has one-end output and limited functions. 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 with output functions at both ends and a sweeping robot, both ends of which can output torque, making them more functional.

[0004] A second purpose of the present invention is to provide a sweeping robot.

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

[0006] The geared motor with two-end output function includes:

[0007] A stator assembly having an axial avoidance through hole;

[0008] A central rotating shaft is movably arranged in the axial avoidance through hole so as to be able to rotate circumferentially relative to the stator assembly; the axial avoidance through hole is located between two ends of the central rotating shaft;

[0009] A rotor is arranged circumferentially around the central shaft;

[0010] A speed reduction mechanism, drivingly connected to the rotor;

[0011] The rotating bracket is transmission-connected with the speed reduction mechanism; one end of the central rotating shaft is circumferentially linked with the rotating bracket.

[0012] Furthermore, the reduction motor with two-end output function also includes a control system, a first speed detection device and a second speed detection device, the first speed detection device and the second speed detection device are both electrically connected to the control system, the first speed detection device is used to detect the speed of the rotor, and the second speed detection device is used to detect the speed of the center shaft.

[0013] Furthermore, the first speed detection device is an angular velocity sensor or a linear velocity sensor; the second speed detection device is an angular velocity sensor or a linear velocity sensor.

[0014] Furthermore, the control system is installed on the stator assembly, and the first speed detection device is installed on the stator assembly; the reduction motor with two-end output function also includes a linkage rotating frame, which is connected to the rotating bracket and together wraps the stator assembly; the other end of the central rotating shaft is connected to the linkage rotating frame, and the second speed detection device is installed on the linkage rotating frame.

[0015] Further, the deceleration mechanism includes a sun gear, a first transmission gear, a second transmission gear and an inner ring gear; the inner ring gear is circumferentially fixedly installed on the stator assembly, the rotor is linked to the sun gear, and the sun gear, the first transmission gear, the second transmission gear and the inner ring gear are sequentially linked; the rotating bracket is circumferentially linked to the first transmission gear, and / or the rotating bracket is circumferentially linked to the second transmission gear; the central rotating shaft is movably arranged on the sun gear.

[0016] Furthermore, the first transmission tooth is movably sleeved with a first gear shaft, the second transmission tooth is movably sleeved with a second gear shaft, and the first gear shaft and / or the second gear shaft are both mounted on the rotating bracket.

[0017] Further, the deceleration mechanism includes a sun gear, a first transmission gear, a second transmission gear and an inner ring gear; the inner ring gear is circumferentially fixedly installed on the rotating bracket, the rotor is linked with the sun gear, and the sun gear, the first transmission gear, the second transmission gear and the inner ring gear are sequentially linked; the rotating bracket is circumferentially linked with the first transmission gear, and / or the rotating bracket is circumferentially linked with the second transmission gear; the central rotating shaft is movably arranged on the sun gear.

[0018] Further, the first transmission tooth is movably sleeved with a first gear shaft, the second transmission tooth is movably sleeved with a second gear shaft, and the first gear shaft and / or the second gear shaft are both installed on the stator assembly.

[0019] Further, the first transmission teeth and the second transmission teeth are sequentially arranged from the inside to the outside along the radial direction of the sun tooth; the first transmission teeth are duplex teeth, and the first transmission teeth include primary large teeth and primary small teeth; the second transmission teeth are duplex teeth, and the second transmission teeth include secondary large teeth and secondary small teeth; the sun tooth is transmission-connected with the primary large teeth, the primary small teeth are transmission-connected with the secondary large teeth, and the secondary small teeth are transmission-connected with the inner gear ring; the primary large teeth and the primary small teeth are sequentially arranged along the first direction, and the secondary small teeth and the secondary large teeth are sequentially arranged along the first direction;

[0020] The reduction motor with two-end output function is used for a sweeping robot; the rotating bracket (5) is used for sleeve-connecting the output disk of the sweeping robot.

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

[0022] A sweeping robot comprises the reduction motor with two-end output function.

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

[0024] 1. By limiting the stator assembly to have an axial avoidance through-hole, and the central rotating shaft movably penetrates the said axial avoidance through-hole, the two ends of the central rotating shaft can be respectively located at the two ends of the axial avoidance through-hole; on the basis of the rotor driving the rotating bracket to output torque through the reduction mechanism, the output of one end of the reduction motor with the output function at both ends has been realized; based on the angular velocity of the other end of the central rotating shaft away from the rotating bracket being the same as that of the rotating bracket, that is, the rotation speed of the central rotating shaft is relatively small, low-speed output can also be realized, that is, the output of the other end of the reduction motor with the output function at both ends is realized, thereby realizing the output function of the reduction motor with the output function at both ends, and both are output after deceleration.

[0025] 2. In addition, since the rotating bracket is connected to the central rotating shaft, it is also supported by the central rotating shaft, thereby further improving the running stability of the rotating bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a reduction motor with two-terminal output function according to the first embodiment of the utility model;

[0027] Figure 2 This is a schematic structural diagram of a reduction motor with two-end output function according to a second embodiment of the utility model;

[0028] Figure 3 This is a schematic structural diagram of a reduction motor with two-terminal output function according to a third embodiment of the present utility model;

[0029] Figure 4 It is a schematic structural diagram of a reduction motor with two-terminal output function according to the fourth embodiment of the utility model.

[0030] In the figure: 1. stator assembly; 11. axial avoidance through hole; 2. central rotating shaft; 3. rotor; 4. reduction mechanism; 41. sun gear; 42. first transmission gear; 421. primary large gear; 422. primary small gear; 43. second transmission gear; 431. secondary large gear; 432. secondary small gear; 44. inner gear ring; 5. rotating bracket; 6. control system; 7. first gear shaft; 8. second gear shaft. 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 The reduction motor with two-end output function of this embodiment includes: a stator assembly 1, a central shaft 2, a rotor 3, a reduction mechanism 4 and a rotating bracket 5.

[0036] The stator assembly 1 has an axial avoidance through hole 11, and the central shaft 2 is movably arranged in the axial avoidance through hole 11 so as to be able to rotate circumferentially relative to the stator assembly 1. The axial avoidance through hole 11 is located between the two ends of the central shaft 2 so that one end of the central shaft 2 (i.e. Figure 1 The right end of Figure 1 The left end of Figure 1 The left end of the central shaft 2 outputs torque after deceleration. Specifically, the rotor 3 is arranged around the circumference of the central shaft 2; the speed reduction mechanism 4 is connected to the rotor 3 in a transmission manner; the rotating bracket 5 is connected to the speed reduction mechanism 4 in a transmission manner; and one end of the central shaft 2 is connected to the rotating bracket 5 in a circumferential linkage manner.

[0037] During operation, after the stator assembly 1 is energized, the rotor 3 (in this embodiment, the rotor 3 is arranged around the outer periphery of the stator assembly 1) is driven to rotate around the stator, and then the rotor 3 drives the rotating bracket 5 to rotate through the reduction mechanism 4. The rotating bracket 5 can be sleeved with an output disk (the output disk can be a rubber wheel of a sweeping robot, etc.). Since one end of the central rotating shaft 2 is circumferentially linked with the rotating bracket 5, and the other end of the central rotating shaft 2 passes through the axial avoidance through hole 11 and is located at the other end of the axial avoidance through hole 11, the other end of the decelerated central rotating shaft 2 can also output torque, that is, the torque output by one end of the reduction motor with two-end output function is used to move the rotating bracket 5, and the torque output by the other end (i.e. Figure 1 The torque output at the left end of the central rotating shaft 2 can transmit the other structures of the reduction motor with output functions at both ends to move.

[0038] Obviously, by limiting the stator assembly 1 to have an axial avoidance through hole 11, and the central rotating shaft 2 is movably arranged in the axial avoidance through hole 11, the two ends of the central rotating shaft 2 can be respectively located at the two ends of the axial avoidance through hole 11; on the basis that the rotor 3 drives the rotating bracket 5 to output torque through the reduction mechanism 4, the output of one end of the reduction motor with two-end output function has been realized; based on the angular velocity of the other end of the central rotating shaft 2 away from the rotating bracket 5 is the same as that of the rotating bracket 5, that is, the rotation speed of the central rotating shaft 2 is relatively small, so low-speed output can also be achieved, that is, the output of the other end of the reduction motor with two-end output function is realized, thereby realizing the two-end output function of the reduction motor with two-end output function, and both are output after deceleration. In addition, based on the connection between the rotating bracket 5 and the central rotating shaft 2, it is also supported by the central rotating shaft 2, thereby further improving the running stability of the rotating bracket 5.

[0039] In this embodiment, preferably, the reduction motor with two-end output function also includes a control system 6, a first speed detection device and a second speed detection device, the first speed detection device and the second speed detection device are both electrically connected to the control system 6, the first speed detection device is used to detect the speed of the rotor 3, and the second speed detection device is used to detect the speed of the central rotating shaft 2. In this way, the angular velocity or linear velocity of the rotor 3 and the central rotating shaft 2 is fed back to the control system 6 through the first speed detection device and the second speed detection device, respectively, and the control system 6 compares the rotation speeds of the two, so that the relative rotation angle between the rotor 3 and the reduction mechanism 4 can be adjusted through the existing mature control structure on the reduction motor to compensate for the rotation gap. Among them, the control system 6 is preferably selected as a PCB, for example, it can be a single-chip microcomputer, PLC, etc.

[0040] In this embodiment, preferably, the first speed detection device is an angular velocity sensor or a linear velocity sensor; the second speed detection device is an angular velocity sensor or a linear velocity sensor. The first speed detection device is preferably a Hall sensor or an encoding sensor. The second speed detection device is preferably a Hall sensor or an encoding sensor.

[0041] In this embodiment, preferably, the control system 6 is installed on the stator assembly 1, and the first speed detection device is installed on the stator assembly 1. The reduction motor with two-end output function also includes a linkage rotating frame, Figure 1 In the embodiment, the linkage rotating frame is installed on the left side of the stator assembly 1, and the rotating bracket 5 is installed on the right side of the stator assembly 1. The linkage rotating frame and the rotating bracket 5 are circumferentially stoppered and together wrap the stator assembly 1. The rotating bracket 5 is connected to the stator assembly 1 through a bearing. The other end of the central rotating shaft 2 is connected to the linkage rotating frame (preferably movably sleeved to provide auxiliary support to the central rotating shaft 2 through the linkage rotating frame to improve the movement stability of the linkage rotating frame), and the second speed detection device is installed on the linkage rotating frame. In this arrangement, the first speed detection device and the second speed detection device are both installed on the static mechanism without the need for high-speed rotational motion, so as to improve the service life of the first speed detection device and the second speed detection device.

[0042] In this embodiment, preferably, the reduction mechanism 4 includes a sun gear 41, a first transmission gear 42, a second transmission gear 43 and an inner gear ring 44. The inner gear ring 44 is circumferentially fixedly mounted on the stator assembly 1, the rotor 3 is circumferentially linked with the sun gear 41, and the sun gear 41, the first transmission gear 42, the second transmission gear 43 and the inner gear ring 44 are sequentially linked (preferably directly meshed); the rotating bracket 5 is circumferentially linked with the first transmission gear 42 (and / or the second transmission gear 43), and the central shaft 2 is movably disposed through the sun gear 41. In this arrangement, when the rotating bracket 5 rotates during operation, the first transmission gear 42 and the second transmission gear 43 respectively rotate in a circular motion around the sun gear 41. It can be understood that, as an alternative arrangement, the reduction mechanism 4 can also select an existing conventional model.

[0043] In this embodiment, in order to improve the rotation stability of the rotating bracket 5, preferably, the first transmission tooth 42 is movably connected to the first gear shaft 7, and the second transmission tooth 43 is movably connected to the second gear shaft 8, and the first gear shaft 7 and / or the second gear shaft 8 are both installed on the rotating bracket 5.

[0044] In this embodiment, preferably, the first transmission teeth 42 and the second transmission teeth 43 are sequentially arranged from the inside to the outside along the radial direction of the sun tooth 41. The first transmission teeth 42 are duplex teeth, and the first transmission teeth 42 include primary large teeth 421 and primary small teeth 422. The second transmission teeth 43 are duplex teeth, and the second transmission teeth 43 include secondary large teeth 431 and secondary small teeth 432. The sun tooth 41 is transmission-connected with the primary large teeth 421 (preferably directly meshed), the primary small teeth 422 are transmission-connected with the secondary large teeth 431 (preferably directly meshed), and the secondary small teeth 432 are transmission-connected with the inner gear ring 44 (preferably directly meshed). The primary large teeth 421 and the primary small teeth 422 are sequentially arranged along the first direction, and the secondary small teeth 432 and the secondary large teeth 431 are sequentially arranged along the first direction. In this arrangement, based on the fact that the first transmission teeth 42 and the second transmission teeth 43 are both duplex teeth, the target transmission ratio can be obtained on the basis of minimizing the number of gears. Moreover, based on the primary large teeth 421 and the primary small teeth 422 being arranged in sequence along the first direction, the secondary small teeth 432 and the secondary large teeth 431 are arranged in sequence along the first direction, so that the first transmission teeth 42 and the second transmission teeth 43 are located in the same horizontal plane, the axial height of the reduction motor with two-end output function is reduced.

[0045] The utility model also discloses a sweeping robot, which comprises a reduction motor with output functions at both ends.

[0046] Second embodiment:

[0047] See also Figure 2 The second embodiment includes the first embodiment, and is different from the first embodiment in that the second transmission tooth 43 is a single tooth and directly meshes with the inner gear ring 44 (preferably directly meshed, of course, the existence of intermediate teeth is allowed).

[0048] Third embodiment:

[0049] See also Figure 3 The third embodiment includes the first embodiment, and the difference between the third embodiment and the first embodiment is that: in this embodiment, preferably, the reduction mechanism 4 includes a sun gear 41, a first transmission gear 42, a second transmission gear 43 and an inner gear ring 44. The inner gear ring 44 is circumferentially fixedly mounted on the rotating bracket 5, the rotor 3 is linked with the sun gear 41, and the sun gear 41, the first transmission gear 42, the second transmission gear 43 and the inner gear ring 44 are sequentially connected in transmission (preferably directly meshed). The rotating bracket 5 is circumferentially linked with the first transmission gear 42 (and / or the second transmission gear 43), and the central shaft 2 is movably disposed on the sun gear 41. This arrangement allows the first transmission gear 42 and the second transmission gear 43 to maintain absolute three-dimensional coordinates relative to the stator assembly 1, that is, the first transmission gear 42 and the second transmission gear 43 are not planetary gears.

[0050] In this embodiment, in order to improve the rotation stability of the rotating bracket 5, preferably, the first transmission tooth 42 is movably connected to the first gear shaft 7, and the second transmission tooth 43 is movably connected to the second gear shaft 8, and the first gear shaft 7 and / or the second gear shaft 8 are both installed on the stator assembly 1.

[0051] Fourth embodiment:

[0052] See also Figure 4 The fourth embodiment includes the third embodiment, and is different from the third embodiment in that the second transmission tooth 43 is a single tooth and directly meshes with the inner gear ring 44 (preferably directly meshed, of course, the existence of intermediate teeth is allowed).

[0053] 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 with two-end output function, characterized in that: include: The stator assembly (1) has an axial avoidance through hole (11); A central rotating shaft (2) is movably arranged to pass through the axial avoidance through hole (11) so as to be able to perform circumferential rotation relative to the stator assembly (1); the axial avoidance through hole (11) is located between the two ends of the central rotating shaft (2); A rotor (3) is arranged circumferentially around the central rotating shaft (2); A speed reduction mechanism (4) drivingly connected to the rotor (3); The rotating bracket (5) is drivingly connected to the speed reduction mechanism (4); one end of the central rotating shaft (2) is circumferentially linked to the rotating bracket (5).

2. The reduction motor with two-end output function according to claim 1, characterized in that: The reduction motor with two-end output function further comprises a control system (6), a first speed detection device and a second speed detection device, wherein the first speed detection device and the second speed detection device are both electrically connected to the control system (6), the first speed detection device is used to detect the speed of the rotor (3), and the second speed detection device is used to detect the speed of the central rotating shaft (2).

3. The reduction motor with two-end output function as claimed in claim 2, characterized in that: The first speed detection device is an angular velocity sensor or a linear velocity sensor; the second speed detection device is an angular velocity sensor or a linear velocity sensor.

4. The reduction motor with two-end output function as claimed in claim 3, characterized in that: The control system (6) is mounted on the stator assembly (1), and the first speed detection device is mounted on the stator assembly (1); the reduction motor with two-end output function also includes a linkage rotating frame, the linkage rotating frame is connected to the rotating bracket (5), and together wraps the stator assembly (1); the other end of the central rotating shaft (2) is connected to the linkage rotating frame, and the second speed detection device is mounted on the linkage rotating frame.

5. The reduction motor with two-end output function according to claim 1, characterized in that: The reduction mechanism (4) comprises a sun gear (41), a first transmission gear (42), a second transmission gear (43) and an inner gear ring (44); the inner gear ring (44) is circumferentially fixedly mounted on the stator assembly (1); the rotor (3) is linked to the sun gear (41); the sun gear (41), the first transmission gear (42), the second transmission gear (43) and the inner gear ring (44) are sequentially linked in transmission; the rotating bracket (5) is circumferentially linked to the first transmission gear (42), and / or the rotating bracket (5) is circumferentially linked to the second transmission gear (43); and the central rotating shaft (2) is movably disposed through the sun gear (41).

6. The reduction motor with two-end output function as claimed in claim 5, characterized in that: The first transmission tooth (42) is movably sleeved with a first gear shaft (7), the second transmission tooth (43) is movably sleeved with a second gear shaft (8), and the first gear shaft (7) and / or the second gear shaft (8) are both mounted on the rotating bracket (5).

7. The reduction motor with two-end output function according to claim 1, characterized in that: The reduction mechanism (4) comprises a sun gear (41), a first transmission gear (42), a second transmission gear (43) and an inner gear ring (44); the inner gear ring (44) is circumferentially fixedly mounted on the rotating bracket (5); the rotor (3) is linked to the sun gear (41); the sun gear (41), the first transmission gear (42), the second transmission gear (43) and the inner gear ring (44) are sequentially linked; the rotating bracket (5) is circumferentially linked to the first transmission gear (42), and / or the rotating bracket (5) is circumferentially linked to the second transmission gear (43); and the central rotating shaft (2) is movably arranged through the sun gear (41).

8. The reduction motor with two-end output function as claimed in claim 7, characterized in that: The first transmission tooth (42) is movably sleeved with a first gear shaft (7), the second transmission tooth (43) is movably sleeved with a second gear shaft (8), and the first gear shaft (7) and / or the second gear shaft (8) are both mounted on the stator assembly (1).

9. The reduction motor with two-end output function according to claim 5 or 7, characterized in that: The first transmission teeth (42) and the second transmission teeth (43) are sequentially arranged from the inside to the outside along the radial direction of the sun tooth (41); the first transmission teeth (42) are duplex teeth, and the first transmission teeth (42) include primary large teeth (421) and primary small teeth (422); the second transmission teeth (43) are duplex teeth, and the second transmission teeth (43) include secondary large teeth (431) and secondary small teeth (432); the sun tooth (41) is transmission-connected to the primary large teeth (421), the primary small teeth (422) are transmission-connected to the secondary large teeth (431), and the secondary small teeth (432) are transmission-connected to the inner gear ring (44); the primary large teeth (421) and the primary small teeth (422) are sequentially arranged along a first direction, and the secondary small teeth (432) and the secondary large teeth (431) are sequentially arranged along the first direction; The reduction motor with two-end output function is used for a sweeping robot; the rotating bracket (5) is used for sleeve-connecting the output disk of the sweeping robot.

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

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