Driving module capable of stably controlling swing, side brush mechanism, cleaning cloth mechanism and robot
By designing a driving module that stabilizes the swinging and using a servo motor to drive the semicircular gear to achieve the expansion and contraction of the swinging shell, the problem of the existing sweeping robot rag disc relies on complex robot arms to rely on the autonomous expansion and contraction function, and achieve simple structure and low cost. swing control.
Patent Information
- Application Number
- CN202420836298.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2024-02-21
- Filing Date
- 2024-04-19
- Publication Date
- 2025-02-21
- Estimated Expiration
- 2034-04-19
AI Technical Summary
The independent expansion and contraction function of existing sweeping robots relies on complex robotic arm structures, resulting in high costs and complex structures, which affects popularization.
A driving module for stably controlling swing is designed, including mounting housing, swing housing, swing drive member, swing drive assembly, swing drive member and swing drive assembly, and the swing housing is telescopically driven by a servo motor to realize the expansion and contraction of the swing housing.
It realizes swing control with simple structure and low cost, can be effectively popularized, and ensures the swing of the cleaning module and the stability during cleaning through the servo motor.
Smart Images
Figure CN222510378U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of household cleaning robots, and in particular to a driving module, a side brush mechanism, a rag mechanism and a robot capable of stably controlling swinging. Background Art
[0002] A cleaning robot is a type of smart household cleaning appliance that can automatically sweep, vacuum, and mop the floor. Depending on the functions of the application, there are vacuum robots, mopping robots, and robots that can mop and vacuum all in one. With the advancement of science and technology and the improvement of people's quality of life, cleaning robots have entered the lives of more and more people.
[0003] Most of the mainstream sweeping robots on the market have advanced functions such as autonomous lifting, obstacle avoidance and rebound, and autonomous extension and retraction. Generally speaking, the autonomous extension and retraction of the sweeping cloth of the robot is achieved through the structure of the mechanical arm, but the structure of the mechanical arm is complex and the cost is high, which affects its use. Summary of the invention
[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a drive module, a side brush mechanism, a rag mechanism and a robot for stably controlling the swing, which have a simple structure, a low manufacturing cost and can be effectively popularized.
[0005] The utility model is realized by the following technical solutions:
[0006] A driving module for stably controlling swinging comprises a mounting shell, a swinging shell, a swinging driving member mounted on the mounting shell, a swinging transmission assembly, a rotating driving member mounted on the swinging shell, a rotating transmission assembly and a rotating output shaft, one side of the swinging shell is rotationally connected to the mounting shell, a semicircular gear is provided at the rotating connection between the swinging shell and the mounting shell; the swinging driving member is drivingly connected to the semicircular gear via the swinging transmission assembly, and the rotating driving member is drivingly connected to the rotating output shaft via the rotating transmission assembly.
[0007] Wherein, the swing transmission assembly includes a first half-shaft gear, a second half-shaft gear, a first transmission shaft and a first swing gear, the first half-shaft gear is installed at the output end of the swing driving component, the second half-shaft gear is meshed with the first half-shaft gear, the first transmission shaft is rotatably set on the mounting shell, the second half-shaft gear, the first swing gear and the first transmission shaft are coaxially arranged, and the first swing gear is meshed with the semicircular gear.
[0008] Wherein, the swing driving component is a servo motor.
[0009] Wherein, the rotary transmission assembly includes a first rotary gear, a first secondary gear, a second secondary gear and an output gear, the first rotary gear is installed at the output end of the rotary drive component and meshes with the large wheel of the first secondary gear, the small wheel of the first secondary gear meshes with the large wheel of the second secondary gear, the small wheel of the second secondary gear meshes with the output gear, and the output gear is arranged to rotate coaxially with the rotary output shaft.
[0010] Wherein, the rotating drive component is a servo motor.
[0011] Wherein, the rotating output shaft is a U-shaped elastic structure.
[0012] Wherein, positioning protrusions are respectively arranged on the outer sides of the rotary output shafts.
[0013] In addition, the utility model also discloses a side brush mechanism, which includes the above-mentioned driving module.
[0014] In addition, the utility model also discloses a rag mechanism, which comprises the above-mentioned driving module.
[0015] In addition, the utility model also discloses a robot, which comprises a side brush mechanism and a rag mechanism, and the side brush mechanism and / or the rag mechanism are respectively provided with the above-mentioned driving module.
[0016] Beneficial effects of the utility model:
[0017] The utility model provides a driving module and a robot for stably controlling swinging, which are provided with a mounting housing, a swing housing, a swing driving member, a swing transmission assembly, and a rotating driving member installed on the swing housing. The swing driving member drives the semicircular gear to rotate through the swing transmission assembly, and the swing housing can be swung by driving the semicircular gear to rotate, thereby achieving the effect of controlling the extension or retraction of the swing housing. Compared with the prior art, the utility model has a simple structure and low manufacturing cost, and can be effectively popularized. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The utility model is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the utility model. A person skilled in the art can obtain other drawings based on the following drawings without creative work.
[0019] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.
[0020] Figure 2 It is an exploded view of the utility model.
[0021] Reference numerals
[0022] Mounting housing 100, swing driving member 101, swing transmission assembly 102, first half-shaft gear 103, second half-shaft gear 104, first transmission shaft 105, first swing gear 106, semicircular gear 107,
[0023] Swing housing 200, rotary driving member 201, rotary transmission assembly 202, first rotary gear 203, first secondary gear 204, second secondary gear 205, output gear 206, rotary output shaft 207, positioning protrusion 208. DETAILED DESCRIPTION
[0024] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.
[0025] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0027] A cleaning robot is a type of smart household cleaning appliance that can automatically sweep, vacuum, and mop the floor. Depending on the functions of the application, there are vacuum robots, mopping robots, and robots that can mop and vacuum all in one. With the advancement of science and technology and the improvement of people's quality of life, cleaning robots have entered the lives of more and more people.
[0028] Most of the mainstream sweeping robots on the market have advanced functions such as autonomous lifting, obstacle avoidance and rebound, and autonomous extension and retraction. Generally speaking, the autonomous extension and retraction of the sweeping cloth of the robot is achieved through the structure of the mechanical arm, but the structure of the mechanical arm is complex and the cost is high, which affects its use.
[0029] In order to solve the above problems, this embodiment discloses a driving module for stably controlling the swing, and its structure is as follows: Figure 1 and Figure 2 As shown, the cleaning module includes an installation shell 100, a swing shell 200, a swing driving member 101 installed on the installation shell 100, a swing transmission assembly 102, a rotating driving member 201 installed on the swing shell 200, a rotating transmission assembly 202 and a rotating output shaft 207, one side of the swing shell 200 is rotationally connected to the installation shell 100, and a semicircular gear 107 is provided at the rotating connection between the swing shell 200 and the installation shell 100; the swing driving member 101 is driven and connected to the semicircular gear 107 through the swing transmission assembly 102, and the rotating driving member 201 is driven and connected to the rotating output shaft 207 through the rotating transmission assembly 202.
[0030] Specifically, a driving module for stably controlling swinging of the present embodiment is provided with a mounting housing 100, a swing housing 200, a swing driving member 101, a swing transmission assembly 102, and a rotating driving member 201 installed on the swing housing 200. The swing driving member 101 drives the semicircular gear 107 to rotate through the swing transmission assembly 102. By driving the semicircular gear 107 to rotate, the swing housing 200 can be swung, thereby controlling the extension or retraction of the swing housing 200. Compared with the prior art, the utility model has a simple structure and low manufacturing cost, and can be effectively popularized. Preferably, the swing driving member 101 and the rotating driving member 201 are both servo motors to ensure the stability of the cleaning module during swinging and cleaning.
[0031] Further, the swing transmission assembly 102 includes a first half-shaft gear 103, a second half-shaft gear 104, a first transmission shaft 105 and a first swing gear 106, wherein the first half-shaft gear 103 is mounted on the output end of the swing driving member 101, the second half-shaft gear 104 is meshed with the first half-shaft gear 103, the first transmission shaft 105 is rotatably disposed on the mounting housing 100, the second half-shaft gear 104, the first swing gear 106 and the first transmission shaft 105 are coaxially arranged for transmission, and the first swing gear 106 is meshed with a semicircular gear 107. In this embodiment, the diameter of the first swing gear 106 is much smaller than the diameter of the semicircular gear 107, which can effectively reduce and amplify the output of the stepping motor.
[0032] Furthermore, the rotating transmission assembly 202 includes a first rotating gear 203, a first secondary gear 204, a second secondary gear 205 and an output gear 206. The first rotating gear 203 is installed at the output end of the rotating driving member 201 and meshes with the large wheel of the first secondary gear 204. The small wheel of the first secondary gear meshes with the large wheel of the second secondary gear 205. The small wheel of the second secondary gear 205 meshes with the output gear 206. The output gear 206 is coaxially rotatable with the rotating output shaft 207.
[0033] Furthermore, the rotating output shaft 207 is a U-shaped elastic structure, and positioning protrusions 208 are respectively provided on the outer sides of the rotating output shaft 207, which can facilitate the rapid disassembly and assembly of components such as the rag plate. In this embodiment, the diameter of the first secondary gear 204 is smaller than the diameter of the second secondary gear 205, and the rotating output shaft 207 is decelerated to improve the stability of the output.
[0034] In addition, this embodiment also discloses a robot, which includes the cleaning mechanism as described above.
[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit the protection scope of the utility model. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the utility model.
Claims
1. A driving module for stable swing control, characterized in that: It includes a mounting housing, a swing housing, a swing driving member mounted on the mounting housing, a swing transmission assembly, a rotation driving member mounted on the swing housing, a rotation transmission assembly and a rotation output shaft, one side of the swing housing is rotationally connected to the mounting housing, and a semicircular gear is provided at the rotation connection between the swing housing and the mounting housing; The swing driving member is drivingly connected to the semicircular gear through a swing transmission assembly, and the rotation driving member is drivingly connected to the rotation output shaft through a rotation transmission assembly.
2. A driving module for stable swing control according to claim 1, characterized in that: The swing transmission assembly includes a first half-shaft gear, a second half-shaft gear, a first transmission shaft and a first swing gear. The first half-shaft gear is installed at the output end of the swing driving member. The second half-shaft gear is meshed with the first half-shaft gear. The first transmission shaft is rotatably arranged on the mounting housing. The second half-shaft gear, the first swing gear and the first transmission shaft are coaxially arranged for transmission. The first swing gear is meshed with the semicircular gear.
3. A driving module for stable swing control according to claim 1, characterized in that: The swing driving member is a servo motor.
4. A driving module for stable swing control according to claim 1, characterized in that: The rotary transmission assembly includes a first rotary gear, a first secondary gear, a second secondary gear and an output gear. The first rotary gear is installed at the output end of the rotary drive component and meshes with the large wheel of the first secondary gear. The small wheel of the first secondary gear meshes with the large wheel of the second secondary gear. The small wheel of the second secondary gear meshes with the output gear. The output gear is coaxially arranged to rotate with the rotary output shaft.
5. A driving module for stable swing control according to claim 1, characterized in that: The rotary drive member is a servo motor.
6. A driving module for stable swing control according to claim 1, characterized in that: The rotary output shaft is a U-shaped elastic structure.
7. A driving module for stable swing control according to claim 6, characterized in that: Positioning protrusions are respectively arranged on the outer sides of the rotary output shafts.
8. A side brush mechanism, characterized in that: A drive module comprising any one of claims 1-7.
9. A rag mechanism, characterized in that: A drive module comprising any one of claims 1-7.
10. A robot, comprising a side brush mechanism and a rag mechanism, characterized in that: The side brush mechanism and / or the rag mechanism are respectively provided with the driving module described in claim 1.