External expansion driving module, side brush mechanism, cleaning cloth disc driving mechanism and robot

Abstract

The utility model relates to the technical field of household cleaning robots, in particular to an external expansion driving module, a side brush mechanism, a cleaning cloth disc driving mechanism and a robot. The driving module comprises a main shell, a swinging shell, a swinging driving piece, a rotating driving piece, a swinging transmission assembly, a rotating transmission assembly, a first output shaft, an output transmission assembly and a second output shaft, wherein the swinging driving piece, the rotating driving piece, the swinging transmission assembly, the rotating transmission assembly and the first output shaft are arranged on the main shell; the swing driving part is in driving connection with the swing shell sequentially through the swing transmission assembly and the first output shaft, and the rotary driving part is in driving connection with the second output shaft sequentially through the rotary transmission assembly and the output transmission assembly. A torsional spring is arranged at the joint of the first output shaft and the swing shell. According to the external expansion driving module and the robot, through the design of the common output shaft, the structure of the driving module of the robot can be simplified and miniaturized, and miniaturization development of the sweeping robot is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of household cleaning robots, and in particular to an outward expansion drive module, a side brush mechanism, a rag plate drive mechanism and a robot. 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 occupies a large volume; and the driving parts that drive the rotation and extension of the cloth are set separately. All of the above have hindered the miniaturization of sweeping robots. 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 an outward expansion drive module, a side brush mechanism, a rag plate drive mechanism and a robot. Through the shared output shaft design, the robot's drive module structure can be simplified and miniaturized, which is conducive to the miniaturization of the sweeping robot.

[0005] The utility model is realized by the following technical solutions:

[0006] An outward expansion drive module includes a main shell, a swing shell, a swing drive member installed on the main shell, a rotating drive member, a swing transmission assembly, a rotating transmission assembly, a first output shaft, an output transmission assembly installed on the swing shell, and a second output shaft. The swing drive member is driven and connected to the swing shell through the swing transmission assembly and the first output shaft in sequence, and the rotating drive member is driven and connected to the second output shaft through the rotating transmission assembly and the output transmission assembly in sequence; a torsion spring is provided at the connection between the first output shaft and the swing shell.

[0007] Wherein, the swing transmission assembly includes a swing input gear, a swing transmission gear set and a swing output gear that are meshed in sequence. The swing input gear is installed at the output end of the swing driving member, and the swing output gear is fixedly connected to the upper end of the first output shaft.

[0008] Wherein, the rotary transmission assembly includes a rotary input gear, a rotary transmission gear set and a rotary output secondary gear that are meshed in sequence, the rotary input gear is installed at the output end of the rotary driving member, the rotary output secondary gear is rotatably sleeved on the first output shaft, and the input end of the output transmission assembly is meshed with the rotary output secondary gear.

[0009] Wherein, the output transmission assembly includes a plurality of output gears meshing in sequence.

[0010] Wherein, a positioning key is fixedly connected to the lower end of the first output shaft; on one side of the positioning key, the swing housing is provided with a positioning arc groove coaxial with the first output shaft, and both sides of the positioning key are respectively used to abut against the side walls of the positioning arc groove.

[0011] Wherein, the second output shaft is a U-shaped elastic structure.

[0012] Wherein, positioning protrusions are respectively arranged on the outer sides of the second output shafts.

[0013] In addition, the utility model also discloses a side brush mechanism, which includes the above-mentioned outward expansion drive module.

[0014] In addition, the utility model also discloses a rag plate driving mechanism, which includes the above-mentioned outward expansion driving module.

[0015] In addition, the utility model also discloses a robot, which includes a side brush mechanism and a rag plate driving mechanism, and the side brush mechanism and / or the rag plate driving mechanism are respectively provided with the above-mentioned external expansion driving module.

[0016] Beneficial effects of the utility model:

[0017] The utility model discloses an outward expansion drive module and a robot, which are provided with a main shell, a swing shell, a swing drive member, a rotating drive member, a swing transmission assembly, a rotating transmission assembly, a first output shaft, an output transmission assembly and a second output shaft. The swing drive member and the rotating drive member act together on the first output shaft to realize an integrated design of rotation and extension. In addition, a torsion spring is provided to realize automatic resetting of the extension and retraction of the drive module. The structure is simple and the manufacturing cost is low, which is conducive to the miniaturization development of the sweeping robot. 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] Main housing 100, swing housing 101, swing driving member 102, rotation driving member 103, swing transmission assembly 104, swing input gear 105, swing transmission gear set 106, swing output gear 107, rotation transmission assembly 108, rotation input gear 109, rotation transmission gear set 110, rotation output secondary gear 111, first output shaft 112, output transmission assembly 113, output gear 114, second output shaft 115, torsion spring 116, positioning key 117, positioning arc groove 118, positioning protrusion 119. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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 occupies a large volume; and the driving parts that drive the rotation and extension of the cloth are set separately. All of the above have hindered the miniaturization of sweeping robots.

[0028] In order to solve the above problems, this embodiment discloses an external expansion drive module, whose structure is as follows: Figure 1 and Figure 2 As shown, the drive module includes a main shell 100, a swing shell 101, a swing driving member 102 installed on the main shell 100, a rotating driving member 103, a swing transmission assembly 104, a rotating transmission assembly 108, a first output shaft 112, an output transmission assembly 113 installed on the swing shell 101, and a second output shaft 115. The swing driving member 102 is driven and connected to the swing shell 101 through the swing transmission assembly 104 and the first output shaft 112 in sequence, and the rotating driving member 103 is driven and connected to the second output shaft 115 through the rotating transmission assembly 108 and the output transmission assembly 113 in sequence; a torsion spring 116 is provided at the connection between the first output shaft 112 and the swing shell 101.

[0029] Specifically, an outward expansion drive module of the present embodiment is provided with a main shell 100, a swing shell 101, a swing drive member 102, a rotating drive member 103, a swing transmission assembly 104, a rotating transmission assembly 108, a first output shaft 112, an output transmission assembly 113 and a second output shaft 115. The swing drive member 102 and the rotating drive member 103 act together on the first output shaft 112 to realize an integrated design of rotation and extension. In addition, the torsion spring 116 is provided to realize automatic resetting of the extension and retraction of the drive module. The structure is simple and the manufacturing cost is low, which is conducive to the miniaturization development of the sweeping robot.

[0030] Furthermore, the swing transmission assembly 104 includes a swing input gear 105, a swing transmission gear set 106 and a swing output gear 107 that are meshed in sequence. The swing input gear 105 is installed at the output end of the swing driving member 102, and the swing output gear 107 is fixedly connected to the upper end of the first output shaft 112. In this embodiment, the swing transmission gear set 106 is preferably composed of two-stage gears of different sizes. The specific connection method can be referred to Figure 2 In addition, the swing drive member 102 is preferably a stepper motor, which can improve the stability of the swing and extension of the drive module.

[0031] Furthermore, the rotary transmission assembly 108 includes a rotary input gear 109, a rotary transmission gear set 110 and a rotary output secondary gear 111 which are meshed in sequence. The rotary input gear 109 is mounted on the output end of the rotary drive member 103. The rotary output secondary gear 111 is rotatably sleeved on the first output shaft 112. The input end of the output transmission assembly 113 is meshed with the rotary output secondary gear 111. In this embodiment, the rotary transmission gear set 110 is preferably composed of secondary gears of different sizes. The specific connection method thereof can be referred to Figure 2 In addition, the output transmission assembly 113 includes a plurality of sequentially meshed output gears 114, wherein the output gears 114 are of different sizes, and the rotating drive member 103 is preferably a stepping motor, which can effectively improve the stability of the rag plate during rotation.

[0032] Specifically, a positioning key 117 is fixedly connected to the lower end of the first output shaft 112; on one side of the positioning key 117, the swing housing 101 is provided with a positioning arc groove 118 coaxial with the first output shaft 112, and the two sides of the positioning key 117 are respectively used to abut against the side walls of the positioning arc groove 118. By providing the positioning key 117, the swing angle of the swing housing 101 can be limited to avoid excessive extension and retraction of the drive module.

[0033] Furthermore, the second output shaft 115 is a U-shaped elastic structure, and positioning protrusions 119 are respectively provided on the outer sides of the second output shaft 115, which can facilitate the rapid disassembly and assembly of components such as the rag tray.

[0034] In addition, this embodiment can be applied to a robot, and specifically to a side brush mechanism and / or a rag plate driving mechanism of the robot.

[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. An external expansion drive module, characterized in that: It includes a main housing, a swing housing, a swing driving member installed on the main housing, a rotating driving member, a swing transmission assembly, a rotating transmission assembly, a first output shaft, an output transmission assembly installed on the swing housing, and a second output shaft, wherein the swing driving member is drivingly connected to the swing housing through the swing transmission assembly and the first output shaft in sequence, and the rotating driving member is drivingly connected to the second output shaft through the rotating transmission assembly and the output transmission assembly in sequence, and the output end of the rotating transmission assembly is rotatably sleeved on the first output shaft; A torsion spring is provided at the connection between the first output shaft and the swing housing.

2. The outward expansion drive module according to claim 1, characterized in that: The swing transmission assembly includes a swing input gear, a swing transmission gear set and a swing output gear that are meshed in sequence. The swing input gear is installed at the output end of the swing driving member, and the swing output gear is fixedly connected to the upper end of the first output shaft.

3. The outward expansion drive module according to claim 1, characterized in that: The rotary transmission assembly includes a rotary input gear, a rotary transmission gear set and a rotary output secondary gear that are meshed in sequence. The rotary input gear is installed at the output end of the rotary driving member, and the rotary output secondary gear is rotatably sleeved on the first output shaft. The input end of the output transmission assembly is meshed with the rotary output secondary gear.

4. The outward expansion drive module according to claim 1, characterized in that: The output transmission assembly includes a plurality of output gears meshing in sequence.

5. The outward expansion drive module according to claim 1, characterized in that: A positioning key is fixedly connected to the lower end of the first output shaft; Located on one side of the positioning key, the swing housing is provided with a positioning arc groove coaxial with the first output shaft, and the two sides of the positioning key are respectively used to abut against the side walls of the positioning arc groove.

6. The outward expansion drive module according to claim 1, characterized in that: The second output shaft is a U-shaped elastic structure.

7. The outward expansion drive module according to claim 6, characterized in that: Positioning protrusions are respectively arranged on the outer sides of the second output shafts.

8. A side brush mechanism, characterized in that: It comprises the external expansion drive module as described in any one of claims 1-7.

9. A rag tray driving mechanism, characterized in that: It comprises the external expansion drive module as described in any one of claims 1-7.

10. A robot, comprising a side brush mechanism and a rag disk drive mechanism, characterized in that: The side brush mechanism and / or the rag plate driving mechanism are respectively provided with the outward expansion driving module described in claim 1.

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