Transmission structure of cleaning turntable and walking wheel and cleaning robot comprising transmission structure

Abstract

The utility model discloses a transmission structure of a cleaning turntable and walking wheels and a cleaning robot comprising the same, and relates to the technical field of intelligent cleaning equipment. In the transmission structure, the cleaning rotating disc comprises a middle annular connecting seat and a rotating disc body installed on the annular connecting seat, a cavity is formed in the middle of the annular connecting seat, the walking wheel is installed in the cavity through a support and located in the center of the cleaning rotating disc, and the support is installed on a machine body of the cleaning robot. A bevel gear is installed at one end of a shaft rod of the walking wheel, the bevel gear and the walking wheel are coaxially arranged, a bevel gear ring connected with the bevel gear in a meshed mode is arranged at the bottom of the annular connecting base, the bevel gear ring and the cleaning rotary disc are coaxially arranged, a bearing is installed between the annular connecting base and the support, and an outer ring and an inner ring of the bearing are fixed to the annular connecting base and the support respectively. The cleaning robot can reduce the influence of a cleaning turntable and walking wheel transmission structure on the stability of the bearing, improve the reliability of the cleaning robot and prolong the service life of the cleaning robot.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment technology, and in particular to a transmission structure for a cleaning turntable and walking wheels, as well as a cleaning robot including the structure. Background Technology

[0002] Chinese patent document CN118766340A discloses a cleaning robot, whose bottom is equipped with a cloth mounting base and wheels. The cloth mounting base and wheels are connected by a transmission structure to transmit power. Figure 10 , 11 As shown, in this design, the top of the cloth mounting base 15 is connected to the machine body 4 via a bearing 7 to maintain the stability of the cloth mounting base 15 and allow it to rotate relative to the machine body 4. The bearing 7 is fixed by being pushed upwards by the lower end of the cloth mounting base 15, and a bevel gear ring (first bevel gear 16) is provided on the edge of the mounting hole at the top of the cloth mounting base 15. The lower end of this bevel gear ring meshes with a bevel gear (second bevel gear 17) at one end of the shaft 2a of the traveling wheel 2, which is mounted on a support 3 fixed to the machine body 4. The support 3 supports the bevel gear, pushing upwards against the bevel gear ring, thus pressing the bearing upwards by the cloth mounting base 15. However, the bevel gear and bevel gear ring may wear after prolonged operation, resulting in increased clearance. This wear may cause unstable bearing installation, causing the cloth mounting base to wobble, affecting its normal rotation, and ultimately affecting the stability of the entire machine.

[0003] Therefore, how to reduce the impact of the cleaning turntable (rag mounting base) and the drive structure of the walking wheels on the stability of the bearing has become an urgent technical problem to be solved. Utility Model Content

[0004] One of the purposes of this invention is to provide a transmission structure for a clean turntable and a traveling wheel to reduce its impact on bearing stability.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a transmission structure for a cleaning turntable and a walking wheel, wherein the cleaning turntable includes a central annular connecting seat and a turntable body mounted on the annular connecting seat, a cavity is formed in the center of the annular connecting seat, the walking wheel is mounted in the cavity via a support and is located at the center of the cleaning turntable, the support is mounted on the body of the cleaning robot, a bevel gear is mounted at one end of the shaft of the walking wheel, the bevel gear is coaxially arranged with the walking wheel, a bevel gear ring is provided at the bottom of the annular connecting seat and meshes with the bevel gear, the bevel gear ring is coaxially arranged with the cleaning turntable, a bearing is installed between the annular connecting seat and the support, and the outer ring and inner ring of the bearing are respectively fixed on the annular connecting seat and the support.

[0006] Furthermore, an annular groove is provided on the inner side of the bottom of the annular connecting seat, the bevel gear ring is installed in the annular groove, and the bevel gear is located in the annular groove and meshes with the bevel gear ring in the groove.

[0007] Furthermore, the annular groove has an outward protrusion on its outer side wall near the support, and a limiting member is provided above or below the outward protrusion, and the outer ring of the bearing is clamped between the outward protrusion and the limiting member.

[0008] Furthermore, the support has an outwardly protruding support portion on its circumferential surface near the annular connecting seat, and the inner ring of the bearing is clamped between the support portion and the annular seat located at the bottom of the cleaning robot body and extending into the cavity.

[0009] Furthermore, the limiting member is a ring-shaped structure and is fixed in a groove located on the outer wall of the annular groove.

[0010] Furthermore, the bevel gear ring is located on the bottom surface of the annular groove.

[0011] Another objective of this utility model is to provide a cleaning robot, which includes a body. The bottom of the body forms a negative pressure adsorption cavity for adsorbing the entire cleaning robot onto the surface to be cleaned. The bottom of the body is provided with a walking part and also has a plurality of cleaning turntables that can rotate relative to the body at intervals. The cleaning turntables are driven by a drive module. The walking part includes walking wheels for abutting against the surface to be cleaned and driving the body to move. The cleaning robot also includes the aforementioned transmission structure between the cleaning turntables and the walking wheels.

[0012] Furthermore, the chamber within the cleaning turntable (annular connecting seat) forms the negative pressure adsorption chamber by connecting it to the suction module.

[0013] Furthermore, the cleaning turntable is divided into multiple groups, and each group includes at least two cleaning turntables. The number of drive modules corresponds to the number of groups of cleaning turntables, and each group of cleaning turntables is driven by a corresponding drive module. Each cleaning turntable in each group also corresponds to a walking wheel. The drive module that drives the cleaning turntable to rotate is also configured to drive the corresponding walking wheel to rotate.

[0014] Furthermore, the drive module includes a motor connected to the machine body. The same set of cleaning turntables is connected to the same motor via a transmission structure (e.g., a gear transmission structure or a belt transmission structure). The transmission structure includes a gear ring (e.g., an external gear ring, i.e., teeth distributed on the outer side of the ring) mounted on the cleaning turntable (annular connecting seat) and a gear or gear set that meshes with the gear ring and is driven by the motor. The gear can be directly connected to the motor output shaft or connected to the motor output shaft via a reduction mechanism. Alternatively, the gear can directly mesh with the gear ring or be connected to the gear ring via a synchronous gear (e.g., the gear meshes with a synchronous gear, which then meshes with the gear ring).

[0015] This invention repositions the meshing parts of the bevel gear ring and bevel gear from the top of the cleaning turntable to the bottom, specifically the bottom of the annular connecting seat. Simultaneously, the bearing, originally positioned between the cleaning turntable and the machine body, is repositioned between the annular connecting seat and the support. This ensures the outer ring of the bearing is fixed to the annular connecting seat, while the inner ring is fixed to the support, achieving stable bearing fixation. This adjustment decouples the bearing from the force exerted by the bevel gear on the bevel gear ring, eliminating reliance on this force. Even if the bevel gear and bevel gear ring experience wear and increased clearance due to prolonged operation, the bearing's stability remains unaffected. Therefore, this invention helps improve the reliability of the cleaning robot, extends its service life, and ensures stability during long-term operation. Attached Figure Description

[0016] Figure 1 A 3D view of a cleaning robot;

[0017] Figure 2 For the internal structure of the cleaning robot Figure 1 ;

[0018] Figure 3 For the internal structure of the cleaning robot Figure 2 ;

[0019] Figure 4 A three-dimensional diagram of the organism;

[0020] Figure 5 Cross-section of a cleaning robot Figure 1 ;

[0021] Figure 6 Cross-section of a cleaning robot Figure 2 ;

[0022] Figure 7 A schematic diagram of the installation structure for cleaning the turntable and the wheels;

[0023] Figure 8 A sectional view of the installation structure for cleaning the turntable and the wheels;

[0024] Figure 9 Exploded view of the cleaning turntable and wheels;

[0025] Figure 10 Cross-section of cleaning robots in existing technology Figure 1 ;

[0026] Figure 11 Cross-section of cleaning robots in existing technology Figure 2 .

[0027] In the picture:

[0028] 1—Cleaning turntable 1a—Annular connecting seat

[0029] 1a1—Cavity; 1a2—Annular groove

[0030] 1a3 – Outward convex part; 1b – Turntable body

[0031] 2—Walking wheel 2a—Axle

[0032] 3—Support 3a—Support section

[0033] 4—Body 4a—Ring-shaped seat

[0034] 5 – Bevel gear ring; 6 – Bevel gear

[0035] 7—Bearing 7a—Outer Ring

[0036] 7b - Inner ring; 8 - Limiting component

[0037] 9—Drive Module 9a—Motor

[0038] 10 - Suction Module 11 - Gear Ring

[0039] 12 - Controller; 13 - Synchronous Gear

[0040] 14 - Drive gear 15 - Cloth mounting bracket

[0041] 16 – First bevel gear; 17 – Second bevel gear. Detailed Implementation

[0042] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, it will be further described below in conjunction with embodiments and accompanying drawings. Please refer to the accompanying drawings for details. Figure 1-9 . Example 1

[0043] This embodiment provides a transmission structure for a cleaning turntable and walking wheels, aiming to reduce the negative impact on bearing stability and improve the long-term operational reliability of the cleaning robot. Specifically, as follows... Figure 7-9 As shown, the cleaning turntable 1 includes a central annular connecting seat 1a and a turntable body 1b mounted on the annular connecting seat 1a. The annular connecting seat 1a has a central chamber 1a1, and the walking wheels 2 are mounted within the chamber 1a1 via supports 3, located at the center of the cleaning turntable 1. The supports 3 are mounted on the body 4 of the cleaning robot. A conical toothed ring 5 is provided on the inner bottom side of the annular connecting seat 1a. Specifically, the inner bottom side of the annular connecting seat 1a has an annular groove 1a2, in which the conical toothed ring 5 is installed, and the conical toothed ring 5 can be disposed on the bottom surface of the annular groove 1a2. The cleaning turntable 1, its annular connecting seat 1a, the turntable body 1b, and the conical toothed ring 5 are all coaxially arranged.

[0044] A bevel gear 6, coaxially arranged with the walking wheel 2, is mounted on one end of the axle 2a of the walking wheel 2. The bevel gear 6 is located in the annular groove 1a2 and meshes with the bevel gear ring 5 inside the groove. This structure moves the position of the bevel gear ring 5 from the top to the bottom of the cleaning turntable 1, that is, inside the annular groove 1a2 at the bottom of the annular connecting seat 1a, thereby improving the force transmission path and providing the possibility for independent fixing of the bearing 7.

[0045] Furthermore, a bearing 7 is installed between the annular connecting seat 1a and the support 3. The outer ring 7a of the bearing 7 is fixed to the annular connecting seat 1a, and the inner ring 7b is fixed to the support 3. This arrangement allows the cleaning turntable 1 to rotate relative to the support 3, and the fixing of the bearing 7 no longer depends on the top force of the bevel gear 6 on the bevel gear ring 5. This decoupled design means that the bearing 7 can operate stably without the interaction force between the bevel gear 6 and the bevel gear ring 5, thus achieving decoupling between the fixing of the bearing 7 and the power transmission.

[0046] The direct effect of this decoupling design is that even if the bevel gear 6 and bevel gear ring 5 wear down due to long-term operation, leading to an increase in meshing clearance, the stability of bearing 7 will not be affected. Because the fixing of bearing 7 no longer depends on the interaction force between bevel gear 6 and bevel gear ring 5, it can maintain its stability independently of the wear state of the transmission system. Therefore, the transmission structure of this embodiment not only improves the reliability of the cleaning robot during long-term operation but also extends the service life of its key components, ensuring the long-term stability of machine operation.

[0047] In this embodiment, as Figure 8 , 9As shown, an annular groove 1a2 is provided on the inner side of the bottom of the annular connecting seat 1a, and an outward protrusion 1a3 is provided on the outer wall of the groove near the support 3. A limiting member 8 is also provided above or below the outward protrusion 1a3 (in this embodiment, below the outward protrusion 1a3). The outer ring 7a of the bearing 7 is located between the outward protrusion 1a3 and the limiting member 8 and is clamped therein. This arrangement allows the outer ring 7a of the bearing 7 to be firmly positioned in a predetermined position, effectively reducing the risk of displacement due to vibration or impact, thereby improving the stability and service life of the entire cleaning robot. In addition, the limiting member 8 and the outer wall of the annular groove 1a2 can be an integral structure or a detachable connection. For example, the limiting member 8 is a ring-shaped structure and is fixed in the groove provided on the outer wall of the annular groove 1a2.

[0048] In this embodiment, as Figure 6 , 8 As shown in Figure 9, the support 3 has an outwardly protruding support portion 3a on its circumferential surface near the annular connecting seat 1a. The inner ring 7b of the bearing 7 is clamped between the support portion 3a and the annular seat 4a located at the bottom of the cleaning robot body 4 and extending into the chamber 1a1. This structure not only provides a stable fixing method, but also achieves clamping and fixing of the bearing inner ring 7b installed at the bottom of the support 3 through the combined action of the outwardly protruding support portion 3a at the bottom of the support 3 and the annular seat 4a. The above arrangement ensures that the bearing inner ring 7b can be firmly fixed in place, thereby improving the stability of the bearing 7.

[0049] Regarding the positional relationship between the axle 2a of the traveling wheel 2 and the bearing 7, the axle 2a of the traveling wheel 2 is usually located above the bearing 7. The axle 2a can be directly mounted on the support 3, or it can be mounted between the support 3 and the body 4, with the bearing mounted on the axle 2a to facilitate its rotation. Additionally, the lower ends of the annular seat 4a at the bottom of the body 4 have openings on both sides for the axle 2a to pass through, as shown in [reference needed]. Figure 4 For the structure of the cleaning turntable 1, the annular connecting seat 1a and the turntable body 1b can be an integral structure or a detachable connection, and a limiting structure is set between them to achieve synchronous rotation.

[0050] In summary, the transmission structure of this embodiment repositions the meshing portion of the bevel gear ring 5 and the bevel gear 6, moving it from the top of the cleaning turntable 1 to the bottom, specifically within the annular groove 1a2 at the bottom of the annular connecting seat 1a. Simultaneously, the position of the bearing 7, originally installed between the cleaning turntable 1 and the body 4, is adjusted and placed between the annular connecting seat 1a and the support 3 of the cleaning turntable 1. Thus, the outer ring 7a of the bearing 7 is fixed to the annular connecting seat 1a, and the inner ring 7b is fixed to the support 3, achieving stable fixation of the bearing 7. This adjustment ensures that the fixation of the bearing 7 no longer depends on the pushing force of the bevel gear 6 on the bevel gear ring 5, achieving decoupling between the two. Even if the bevel gear 6 and the bevel gear ring 5 experience wear and increased clearance due to prolonged operation, the stability of the bearing 7 will not be affected. Therefore, the transmission structure of this embodiment helps improve the reliability of the cleaning robot, extends its service life, and ensures the stability of the machine during long-term operation. Example 2

[0051] like Figure 1-9 As shown, the cleaning robot of this embodiment mainly includes a suction module 10, a drive module 9, a controller 12, a body 4, and the transmission structure of Embodiment 1. The bottom of the body 4 is provided with a cleaning turntable 1 and a walking part. The walking part includes walking wheels 2 for abutting against the surface to be cleaned and driving the body 4 to move. The number of walking wheels 2 corresponds to the number of cleaning turntables 1. Depending on the needs, the number of cleaning turntables 1 can be two, four, or other numbers; this embodiment uses four for specific description. Generally, a negative pressure suction cavity is formed at the bottom of the body 4 to adsorb the entire cleaning robot onto the surface to be cleaned. The aforementioned surface to be cleaned includes, but is not limited to, the surface of a plate (e.g., a vertical glass window, a glass curtain wall, etc.). The suction module 10 includes, but is not limited to, a negative pressure fan or a vacuum pump. Furthermore, since the air duct, control circuit, and walking mechanism of the cleaning robot involved in this embodiment are similar to those of existing cleaning robots, for the purpose of simplification, the above content will not be repeated.

[0052] In this embodiment, four cleaning discs 1 are divided into two groups and symmetrically arranged on both sides of the bottom of the body 4. Each cleaning disc 1 has an integrated chamber 1a1 in its annular connecting seat 1a. These chambers 1a1 are connected to the suction module 10, which can extract air from the chambers 1a1 to form a negative pressure adsorption chamber, generating a negative pressure adsorption force, allowing the cleaning robot to firmly adhere to the surface to be cleaned. In the adsorption state, the cleaning disc 1 is in close contact with the surface to be cleaned and rotates to perform the cleaning function. The cleaning discs 1 are driven by drive modules 9. Each cleaning disc 1 can be equipped with one drive module 9, or the number of drive modules 9 can be corresponding to the number of groups of cleaning discs 1, that is, each of the two groups of cleaning discs 1 is equipped with one drive module 9, and each group of cleaning discs 1 is driven independently by its corresponding drive module 9.

[0053] In this embodiment, each cleaning turntable 1 corresponds one-to-one with a walking wheel 2, and the drive module 9 that drives the cleaning turntable 1 to rotate is simultaneously configured to drive the corresponding walking wheel 2 to rotate. Unlike existing cleaning robots, this embodiment uses the transmission structure provided in Embodiment 1 between the cleaning turntable 1 and the walking wheel 2. Specifically, the cleaning turntable 1 includes a central annular connecting seat 1a and a turntable body 1b mounted on the annular connecting seat 1a. The turntable body 1b is used to closely adhere to the surface to be cleaned and rotate to perform the cleaning function. A chamber 1a1 is formed in the middle of the annular connecting seat 1a. The walking wheel 2 is installed in the chamber 1a1 via a support 3 and is located at the center of the cleaning turntable 1. The support 3 is installed on the body 4 of the cleaning robot. An annular groove 1a2 is provided on the inner side of the bottom of the annular connecting seat 1a. A bevel gear 5 is provided in the annular groove 1a2. The bevel gear 5 is coaxially arranged with the annular connecting seat 1a and the turntable body 1b. A bevel gear 6 is installed at one end of the shaft 2a of the walking wheel 2. The bevel gear 6 is coaxial with the walking wheel 2 and is located in the annular groove 1a2 and meshes with the bevel gear 5 in the groove. A bearing 7 is installed between the annular connecting seat 1a and the support 3. The outer ring 7a and the inner ring 7b of the bearing 7 are fixed on the annular connecting seat 1a and the support 3, respectively. Other descriptions of this transmission structure can be found in the content of Embodiment 1, and will not be repeated here. The drive module 9 in this embodiment includes a motor 9a mounted on the body 4. The annular connecting seat 1a of the cleaning turntable 1 has a gear ring 11 on its top outer side. The gear ring 11 can be an internal gear ring or an external gear ring. In this embodiment, an external gear ring (i.e., the teeth are distributed on the outer side of the ring) is used. The gear ring 11 of the annular connecting seat 1a is meshed with a gear or gear set. The gear or gear set is connected to the power output shaft of the motor 9a (of course, the output shaft of the motor 9a can also be connected to the gear or gear set through a reduction mechanism). When the motor 9a rotates, it will drive the annular connecting seat 1a to rotate. The turntable body 1b rotates synchronously with the annular connecting seat 1a to perform cleaning work. At the same time, the rotating annular connecting seat 1a can also drive the traveling wheel 2 to roll through the bevel gear structure.

[0054] To further reduce the number of driving components, the two cleaning discs 1 in each group can also be linked together. For example, as... Figure 3 As shown, the gear rings 11 on the two cleaning turntables 1 in each group simultaneously mesh with a synchronous gear 13. The drive gear 14 connected to the output shaft of the motor 9a then meshes with the synchronous gear 13. In this way, the two cleaning turntables 1 and the two traveling wheels 2 in the same group can be controlled simultaneously by one motor 9a, achieving synchronous operation. Of course, the synchronous gear 13 can also replace the drive gear 14 mentioned above and be directly connected to the output shaft of the motor 9a, so that the motor 9a can directly drive the synchronous gear 13 to rotate.

[0055] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A transmission structure for a cleaning turntable and a traveling wheel, characterized in that: The cleaning turntable (1) includes a central annular connecting seat (1a) and a turntable body (1b) mounted on the annular connecting seat (1a). A chamber (1a1) is formed in the middle of the annular connecting seat (1a). The walking wheel (2) is mounted in the chamber (1a1) and located at the center of the cleaning turntable (1) via a support (3). The support (3) is mounted on the body (4) of the cleaning robot. A bevel gear (6) is mounted at one end of the shaft (2a) of the walking wheel (2). The bevel gear (6) is coaxial with the walking wheel (2). A bevel gear ring (5) is provided at the bottom of the annular connecting seat (1a) and meshes with the bevel gear (6). The bevel gear ring (5) is coaxial with the cleaning turntable (1). A bearing (7) is installed between the annular connecting seat (1a) and the support (3). The outer ring (7a) and inner ring (7b) of the bearing (7) are fixed on the annular connecting seat (1a) and the support (3), respectively.

2. The transmission structure of the cleaning turntable and the traveling wheel according to claim 1, characterized in that: The bottom inner side of the annular connecting seat (1a) is provided with an annular groove (1a2), the bevel gear ring (5) is installed in the annular groove (1a2), and the bevel gear (6) is located in the annular groove (1a2) and meshes with the bevel gear ring (5) in the groove.

3. The transmission structure of the cleaning turntable and the traveling wheel according to claim 2, characterized in that: The annular groove (1a2) has an outward protrusion (1a3) on its outer side wall near the support (3), and a limiting member (8) is provided above or below the outward protrusion (1a3). The outer ring (7a) of the bearing (7) is clamped between the outward protrusion (1a3) and the limiting member (8).

4. The transmission structure between the cleaning turntable and the traveling wheel according to claim 1 or 2, characterized in that: The support (3) has an outwardly protruding support part (3a) on its circumferential surface near the annular connecting seat (1a), and the inner ring (7b) of the bearing (7) is clamped between the support part (3a) and the annular seat (4a) located at the bottom of the body (4) of the cleaning robot and extending into the chamber (1a1).

5. The transmission structure between the cleaning turntable and the traveling wheel according to claim 3, characterized in that: The limiting member (8) is a ring-shaped structure and is fixed in the groove on the outer side wall of the annular groove (1a2).

6. The transmission structure between the cleaning turntable and the traveling wheel according to claim 2, characterized in that: The bevel gear ring (5) is located on the bottom surface of the annular groove (1a2).

7. A cleaning robot, comprising a body (4), wherein a negative pressure adsorption chamber is formed at the bottom of the body (4) for adsorbing the entire cleaning robot onto the surface to be cleaned, a walking part is provided at the bottom of the body (4), and a plurality of cleaning turntables (1) capable of rotating relative to the body (4) are also provided at intervals, the cleaning turntables (1) being driven by a drive module (9), and the walking part comprising walking wheels (2) for abutting against the surface to be cleaned and driving the body (4) to move, characterized in that: The cleaning robot also includes the transmission structure of the cleaning turntable and the walking wheels as described in any one of claims 1-6.

8. The cleaning robot according to claim 7, characterized in that: The chamber (1a1) inside the annular connecting seat (1a) is connected to the suction module (10) to form the negative pressure adsorption chamber.

9. The cleaning robot according to claim 7, characterized in that: The cleaning turntable (1) is divided into multiple groups, and each group includes at least two cleaning turntables (1). The number of drive modules (9) corresponds to the number of groups of cleaning turntables (1). Each group of cleaning turntables (1) is driven by a drive module (9) that corresponds to it. Each group of cleaning turntables (1) also corresponds to a walking wheel (2). The drive module (9) that drives the cleaning turntable (1) to rotate is also configured to drive the corresponding walking wheel (2) to rotate.

10. The cleaning robot according to claim 9, characterized in that: The drive module (9) includes a motor (9a) connected to the body (4). The same set of cleaning turntables (1) are connected to the same motor (9a) through a transmission structure. The transmission structure includes a gear ring (11) set on an annular connecting seat (1a) and a gear or gear set that meshes with the gear ring (11) and is driven by the motor (9a).

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