Transmission mechanism of motor and driving wheel, driving module and cleaning robot

Abstract

The utility model discloses a motor and driving wheel transmission mechanism, a driving module and a cleaning robot, and relates to the technical field of cleaning equipment. The transmission mechanism comprises a worm arranged on an output shaft of the motor, a shaft rod perpendicular to the worm and a worm gear installed on the shaft rod and meshed with the worm, a driving wheel is installed at the lower end of the shaft rod and can rotate, an upper planetary gear mechanism and a lower planetary gear mechanism are arranged on the shaft rod, and each planetary gear mechanism comprises a sun gear, a planet carrier and a gear ring. Wherein the sun gear and the planet carrier are both arranged on the shaft rod; the sun gear of the previous group of mechanism can rotate around the shaft rod and is fixedly connected with the worm gear, the gear ring of the group of mechanism is fixed and cannot rotate, and the planet carrier of the group of mechanism can rotate around the shaft rod; the sun gear of the next group of mechanism can rotate around the shaft rod and is fixedly connected with the planet carrier of the previous group of mechanism, the planet carrier of the group of mechanism is fixed and cannot rotate, and the gear ring of the group of mechanism can rotate and is fixedly connected with the driving wheel. The transmission mechanism has a high reduction ratio, and cost reduction is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a transmission mechanism for a motor and drive wheel, a drive module, and a cleaning robot. Background Technology

[0002] In cleaning robots that use a tracked mechanism as their locomotion system, the tracked mechanism includes drive wheels, driven wheels, and a track installed between the drive wheels and driven wheels. The track contacts the surface to be cleaned, using friction to propel the machine. The drive wheels are driven by a motor, and the design of the transmission mechanism between the motor and the drive wheels is crucial. In existing technologies, planetary gear mechanisms are commonly used to achieve speed reduction. However, when a single planetary gear mechanism cannot meet the required reduction ratio, a method is often used to increase the reduction ratio by adding a set of sun gears and a planet carrier with planetary gears to a single gear ring. But this design requires increasing the length of the gear ring, and existing gear rings are usually made of high-strength metal materials (such as high-quality steel, alloy structural steel, etc.). Increasing the length of the gear ring not only significantly increases costs, but also, because two sets of sun gears and planet carriers operate on the same gear ring, the strength requirements for the gear ring are higher, which further drives up costs, especially for mass-produced cleaning equipment. Utility Model Content

[0003] One of the objectives of this invention is to provide a transmission mechanism for a motor and drive wheel that has a high reduction ratio and helps reduce costs.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a transmission mechanism between a motor and a drive wheel, including a worm gear mounted on the output shaft of the motor, a shaft perpendicular to the worm gear, and a worm wheel rotatably mounted on the shaft and meshing with the worm gear. A drive wheel is mounted at the lower end of the shaft, and the drive wheel can rotate around the shaft. The shaft is provided with two sets of planetary gear mechanisms, each set of planetary gear mechanisms including a sun gear, a planet carrier with planetary gears, and a ring gear, wherein the sun gear and the planet carrier are both mounted on the shaft. The sun gear of the upper set of planetary gear mechanisms can rotate around the shaft and is fixedly connected to the worm wheel. The ring gear of this set of planetary gear mechanisms is fixed and cannot rotate, while its planet carrier can rotate around the shaft. The sun gear of the lower set of planetary gear mechanisms can rotate around the shaft and is fixedly connected to the planet carrier of the upper set of planetary gear mechanisms. The planet carrier of the lower set of planetary gear mechanisms is fixed and cannot rotate, while its ring gear can rotate and is fixedly connected to the drive wheel.

[0005] Furthermore, the sun gear and worm gear of the upper planetary gear mechanism are coaxial and integrally formed, the planet carrier of the upper planetary gear mechanism and the sun gear of the lower planetary gear mechanism are coaxial and integrally formed, and the gear ring of the lower planetary gear mechanism is coaxial and integrally formed with the drive wheel.

[0006] The second objective of this utility model is to provide a drive module, which includes a motor and a drive wheel, and also includes the aforementioned transmission mechanism between the motor and the drive wheel.

[0007] Furthermore, the drive module also includes a base disposed between the two sets of planetary gear mechanisms. The base is fixedly connected to the gear ring of the upper set of planetary gear mechanisms, and the base is detachably connected to the planet carrier of the lower set of planetary gear mechanisms through a first snap-fit ​​structure.

[0008] Furthermore, a first positioning structure is provided between the base and the planet carrier of the next lower set of planetary gear mechanisms. The first positioning structure includes a first positioning slot and a first positioning protrusion respectively provided on the base and the planet carrier of the next lower set of planetary gear mechanisms.

[0009] The third objective of this utility model is to provide a cleaning robot, which includes a body, a power wheel and the aforementioned drive module, and a synchronous belt (such as a track) installed between the drive wheel and the power wheel. The synchronous belt is used to contact the surface to be cleaned and to drive the cleaning robot to walk by using friction.

[0010] Furthermore, baffles are provided on both sides of the drive wheel and / or power wheel, and at least one side is a detachable baffle connected by a second snap-fit ​​structure.

[0011] Furthermore, a second positioning structure is provided between the detachable baffle and the drive wheel and / or power wheel. The second positioning structure includes a second positioning slot and a second positioning protrusion respectively provided on the detachable baffle and the drive wheel and / or power wheel.

[0012] Furthermore, the number of drive modules is two sets, which are located on both sides of the machine body, and the output shafts of the motors in the two sets of drive modules point in opposite directions.

[0013] The fourth objective of this utility model is to provide a cleaning robot, which includes a body, on which the aforementioned drive module is provided, and the drive wheel serves as a walking wheel, used to contact the surface to be cleaned and to drive the cleaning robot to walk by using friction.

[0014] This invention achieves a higher reduction ratio (compared to a single planetary gear mechanism) by setting up two sets of planetary gear mechanisms, one upper and one lower, and rationally designing the connection relationships between the components. The advantage of this design lies in separating the two sets of planetary gear mechanisms and equipping each set with an independent gear ring. Unlike traditional designs that share a single gear ring for both planetary gear mechanisms, this invention avoids the problem of increased gear ring length due to sharing. In traditional designs, because the gear ring needs to support both planetary gear mechanisms simultaneously, the increased length of the gear ring leads to higher strength requirements, typically necessitating the use of high-strength metal materials. This invention, by equipping each planetary gear mechanism with an independent gear ring, reduces the strength requirements of a single gear ring, thereby reducing reliance on high-strength metal materials and making it possible to reduce material costs.

[0015] In addition, this invention also places a toothed ring on the drive wheel, which is relatively independent from the other toothed ring, so that the toothed ring and the drive wheel can be made of the same material, such as integrally formed by injection molding, thereby reducing the use of high-strength metal materials and reducing material costs. Attached Figure Description

[0016] Figure 1 For the three-dimensional cleaning robot Figure 1 ;

[0017] Figure 2 For the three-dimensional cleaning robot Figure 2 ;

[0018] Figure 3 A 3D view of the drive module;

[0019] Figure 4 This is a cross-sectional view of the drive module;

[0020] Figure 5 Decomposition of the drive module Figure 1 ;

[0021] Figure 6 Decomposition of the drive module Figure 2 ;

[0022] Figure 7 This is a diagram of the internal structure of the second casing.

[0023] Figure 8 This is a diagram of the internal structure of the base of the second casing;

[0024] Figure 9 This is a 3D view of the drive wheel.

[0025] In the picture:

[0026] 1 - Motor 2 - Drive wheel

[0027] 3 - Worm gear 4 - Shaft 5 - Worm wheel

[0028] 6a – The sun gear of the uppermost planetary gear mechanism

[0029] 6b – Planetary gears of the uppermost planetary gear mechanism

[0030] 6c – Planet carrier near the upper set of planetary gears

[0031] 6d – The gear ring of the uppermost planetary gear mechanism

[0032] 7a – The sun gear of the next set of planetary gears

[0033] 7b – Planetary gears of the next set of planetary gear mechanisms

[0034] 7c – Planet carrier of the next set of planetary gears

[0035] 7d – The gear ring of the next set of planetary gear mechanisms

[0036] 8a – First positioning slot; 8b – First positioning protrusion

[0037] 9 - Body 10 - Drive wheel 11 - Synchronous belt

[0038] 12 – Removable baffle; 13a – Second positioning slot hole

[0039] 13b – Second positioning protrusion; 14 – First cover

[0040] 15—Second casing; 15a—Base

[0041] 15b – Outer shell; 14a – Lower shell; 14b – Upper shell

[0042] 16 – Partition 17a – First Buckle

[0043] 17b – First snap-fit ​​slot; 18 – Suction module

[0044] 19 - Cleaning cloth 20a - Second buckle

[0045] 20b – Second snap-fit ​​slot. Detailed Implementation

[0046] In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. The term "multiple" means two or more (including two).

[0047] 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

[0048] like Figure 4-8 As shown, this embodiment provides a transmission mechanism between a motor and a drive wheel, mainly including a worm gear structure, a planetary gear mechanism, and a supporting shaft 4. The worm gear structure consists of a worm wheel 5 and a worm 3, wherein the worm 3 is mounted on the motor output shaft, and the worm wheel 5 is rotatably mounted on the shaft 4 and meshes with the worm 3. The shaft 4 is fixed in position and perpendicular to the worm 3. The drive wheel 2 is mounted on the lower end of the shaft 4 and can rotate around the shaft 4. The motor 1 and the drive wheel 2 are respectively equipped with a first cover 14 and a second cover 15, the two covers are fixedly connected, and the two ends of the shaft 4 are respectively fixed to the two covers.

[0049] There are two sets of planetary gear mechanisms, distributed vertically on the same shaft 4. The upper set of planetary gear mechanisms is located in the first housing 14, and the lower set is located in the second housing 15. Each set of planetary gear mechanisms includes a sun gear, a planet carrier (usually with four planetary gears), and a ring gear. The sun gear 6a of the upper set of planetary gear mechanisms is rotatable about the shaft 4 and is fixedly connected to the worm gear 5, while its ring gear 6d is fixed and non-rotatable. The planet carrier 6c is rotatable about the shaft 4 and is fixedly connected to the sun gear 7a of the lower set of planetary gear mechanisms. The sun gear 7a of the lower set of planetary gear mechanisms is rotatable about the shaft 4, the planet carrier 7c is fixed and non-rotatable, and the ring gear 7d is rotatable and fixedly connected to the drive wheel 2. Furthermore, the second housing 15 may include a base 15a and an outer shell 15b mounted on the base 15a, with the base 15a positioned between the two sets of planetary gear mechanisms. The first housing 14 may include a lower shell 14a and an upper shell 14b mounted on the lower shell 14a.

[0050] The components of the upper and lower planetary gear mechanisms can be distinguished by ordinal numbers such as "first" and "second". For example, the sun gear 6a, planet gear 6b, planet carrier 6c, and ring gear 6d of the upper planetary gear mechanism are respectively represented as the first sun gear, first planet gear, first planet carrier, and first ring gear; the sun gear 7a, planet gear 7b, planet carrier 7c, and ring gear 7d of the lower planetary gear mechanism are respectively represented as the second sun gear, second planet gear, second planet carrier, and second ring gear. The specific connection method is as follows:

[0051] The first set of planetary gear mechanisms at the top:

[0052] The first sun gear is rotatably mounted on the upper end of the shaft 4, located below the worm gear 5, coaxial with the worm gear 5, and integrally formed. The first planetary carrier is rotatably mounted on the shaft 4. The first sun gear meshes with the inner sides of the four first planetary gears on the first planetary carrier, and the outer sides of the first planetary gears mesh with the first gear ring. The first gear ring is fixed to the lower shell 14a of the first housing 14 as a support component and cannot rotate. The first gear ring can be integrally formed with the lower shell 14a of the first housing 14, which can be done by injection molding. A partition 16 can be provided at the upper end of the first gear ring, and the partition 16 is located between the worm gear 5 and the first planetary gears.

[0053] The second set of planetary gears at the bottom:

[0054] The second sun gear is rotatably mounted on shaft 4, located at the lower end of the first planetary carrier, coaxial with and integrally formed with the first planetary carrier. The second planetary carrier is fixedly mounted on base 15a and cannot rotate. The second sun gear meshes with the inner sides of the four second planetary gears on the second planetary carrier, and the outer sides of the second planetary gears mesh with the second ring gear. The second ring gear is fixed to the drive wheel 2, which is rotatably mounted on the lower end of shaft 4, allowing the second ring gear to also rotate. The second ring gear is coaxial with the drive wheel 2 and integrally formed, and can be integrally formed by injection molding.

[0055] Power transmission process: The motor 1 drives the worm gear 3 to rotate, which in turn drives the worm wheel 5 and the first sun gear to rotate, thereby driving the four first planetary gears to rotate. Since the first ring gear is stationary, the first planetary carrier rotates accordingly, driving the second sun gear to rotate synchronously, which in turn drives the four second planetary gears to rotate. Since the second planetary carrier is stationary, the second ring gear rotates accordingly, ultimately driving the drive wheel 2 to rotate, thus realizing power transmission.

[0056] The first gear ring is fixed on the lower shell 14a of the first cover 14, and the second planetary carrier is fixedly installed on the base 15a. The first cover 14 and the second cover 15 are fixedly connected, that is, the lower shell 14a of the first cover 14 and the base 15a of the second cover 15 are fixedly connected. Therefore, the first gear ring and the base 15a are also fixedly connected.

[0057] This embodiment achieves a higher reduction ratio (compared to a single planetary gear mechanism) by setting up two sets of planetary gear mechanisms, one upper and one lower, and rationally designing the connection relationships between the components. The advantage of this design lies in separating the two sets of planetary gear mechanisms and equipping each set with an independent gear ring. Unlike traditional designs that share a single gear ring for both planetary gear mechanisms, this embodiment avoids the problem of increased gear ring length due to sharing. In traditional designs, because the gear ring needs to support both planetary gear mechanisms simultaneously, the increased length of the gear ring leads to higher strength requirements, typically necessitating the use of high-strength metal materials. This embodiment, by equipping each planetary gear mechanism with an independent gear ring, reduces the strength requirements of a single gear ring, thereby reducing reliance on high-strength metal materials and making it possible to reduce material costs.

[0058] Furthermore, in this embodiment, the second gear ring (gear ring 7d of the lower planetary gear mechanism) is mounted on the drive wheel 2, relatively independent of the first gear ring. This allows the second gear ring to be made of the same material as the drive wheel 2, such as through injection molding, thereby reducing the use of high-strength metal materials and lowering material costs. Simultaneously, because the two planetary gear mechanisms are relatively separate, the lower planetary gear mechanism can be housed inside the drive wheel 2, thus reducing size and improving space utilization, resulting in a more compact overall design for the cleaning robot. Example 2

[0059] like Figure 3-8 As shown, this embodiment provides a drive module, including a motor 1, a drive wheel 2, and the transmission mechanism between the motor and the drive wheel in Embodiment 1. The drive wheel 2 of this drive module has a dual function: on the one hand, it can serve as a synchronous wheel for belt drive, adapting to a cleaning robot that uses a track structure as its walking mechanism; on the other hand, it can also serve directly as a walking wheel, adapting to a cleaning robot that uses a walking wheel as its walking mechanism.

[0060] like Figure 4 , 8 As shown, in this embodiment, the second housing 15 includes a base 15a and an outer shell 15b mounted on the base 15a. The base 15a is located between the two sets of planetary gear mechanisms. The base 15a and the planet carrier 7c (second planet carrier) of the next set of planetary gear mechanisms are detachably connected via a first snap-fit ​​structure. The first snap-fit ​​structure consists of multiple first snaps 17a (e.g., four) on the base 15a and corresponding first snap-fit ​​slots 17b on the second planet carrier. The snaps are installed in the slots to achieve a detachable and fixed connection, facilitating assembly. Alternatively, the first snaps 17a can be located on the second planet carrier, and the first snap-fit ​​slots 17b can be located on the base 15a; the specific arrangement can be determined according to requirements.

[0061] like Figure 4 , 8 As shown, in this embodiment, a first positioning structure can be provided between the base 15a and the second planetary carrier for positioning, installation, and limiting. The first positioning structure consists of a first positioning slot 8a and a first positioning protrusion 8b respectively provided on the base 15a and the second planetary carrier. The specific positions can be flexibly selected. For example, the first positioning slot 8a can be provided on the base 15a, and the first positioning protrusion 8b can be provided on the second planetary carrier; and vice versa. The specific location can be determined according to actual needs. Example 3

[0062] like Figure 1-9 As shown, this embodiment provides a cleaning robot, including a body 9, on which a drive wheel 10 and the drive module of Embodiment 2 are mounted. A synchronous belt 11 (such as a track) is installed between the drive wheel 2 and the drive wheel 10. The synchronous belt 11 is used to contact the surface to be cleaned and drives the robot to move through friction. In this embodiment, the drive wheel 2 is mainly used as a synchronous pulley for belt drive. The drive wheel 10 can be configured as a driving wheel or a driven wheel, and the specific configuration is determined according to actual needs. In this embodiment, the drive wheel 10 is configured as a driven wheel. In addition, the robot is also equipped with a suction module 18 and cleaning elements (such as a rag 19). Its overall structure and working principle are similar to those of existing cleaning robots, and specific details will not be repeated here.

[0063] In this embodiment, there are two sets of drive modules, respectively located on both sides of the body 9. Unlike the previous symmetrical arrangement, in this embodiment, the two sets of drive modules are arranged in a forward-reverse configuration (i.e., one set of drive modules rotates 180 degrees to form a mirror image with the other set), so that the output shafts of the motors 1 of the two sets of drive modules point in opposite directions. In previous designs, the drive modules on both sides of the body were symmetrically arranged, and the motor output shafts pointed in the same direction, thus requiring different transmission mechanisms. In this embodiment, by using a forward-reverse configuration, the structures of the two sets of drive modules can be kept consistent, eliminating the need to configure two sets of drive modules with different structures, thereby reducing manufacturing costs caused by different structural designs and simplifying the installation process.

[0064] To prevent the timing belt 11 from accidentally slipping off the drive wheel 2 and the power wheel 10, baffles can be installed on both sides of the two wheels for limiting their movement. The connection between the baffles and the wheels (drive wheel 2 and / or power wheel 10) can be detachable, for example, via a second snap-fit ​​structure, facilitating assembly. Figure 9As shown, taking a detachable baffle 12 on one side of the drive wheel 2 as an example, the second snap-fit ​​structure includes multiple second snap-fits 20a (e.g., four) on the drive wheel 2 and corresponding second snap-fit ​​slots 20b on the detachable baffle 12. The snap-fits are installed in the slots to achieve a detachable and fixed connection between the drive wheel 2 and the detachable baffle 12. Of course, it is also possible to choose to place the second snap-fits 20a on the detachable baffle 12 and the second snap-fit ​​slots 20b on the drive wheel 2, which can be determined according to actual needs.

[0065] In this embodiment, a second positioning structure can also be provided between the detachable baffle 12 and the wheel (drive wheel 2 and / or power wheel 10) for positioning, installation, and limiting. Figure 9 As shown, taking a detachable baffle 12 on one side of the drive wheel 2 as an example, the second positioning structure consists of a second positioning slot 13a and a second positioning protrusion 13b respectively provided on the detachable baffle 12 and the drive wheel 2. The specific arrangement can be flexibly selected. For example, the second positioning slot 13a can be provided on the detachable baffle 12, and the second positioning protrusion 13b can be provided on the drive wheel 2; and vice versa. The specific arrangement can be determined according to actual needs. Example 4

[0066] This embodiment provides a cleaning robot, including a body 9, on which the drive module of Embodiment 2 is installed. Unlike Embodiment 3, this embodiment uses drive wheels 2 as walking wheels, which contact the surface to be cleaned, and use friction to drive the cleaning robot to move. In addition, the robot is also equipped with a suction module 18 and cleaning elements. Its overall structure and working principle are similar to existing cleaning robots, and specific details will not be repeated here.

[0067] 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 mechanism between a motor and a drive wheel, characterized in that: The device includes a worm (3) mounted on the motor output shaft, a shaft (4) perpendicular to the worm (3), and a worm wheel (5) rotatably mounted on the shaft (4) and meshing with the worm (3). A drive wheel (2) is mounted on the lower end of the shaft (4), which can rotate around the shaft (4). The shaft (4) is provided with two sets of planetary gear mechanisms, each set of which includes a sun gear, a planet carrier with planetary gears, and a gear ring. The sun gear and the planet carrier are both mounted on the shaft (4). The upper set of planetary gears... The sun gear (6a) of the mechanism can rotate around the shaft (4) and is fixedly connected to the worm gear (5). The gear ring (6d) of this set of planetary gear mechanisms is fixed and cannot rotate, and its planet carrier (6c) can rotate around the shaft (4). The sun gear (7a) of the next set of planetary gear mechanisms can rotate around the shaft (4) and is fixedly connected to the planet carrier (6c) of the next set of planetary gear mechanisms. The planet carrier (7c) of this set of planetary gear mechanisms is fixed and cannot rotate, and its gear ring (7d) can rotate and is fixedly connected to the drive wheel (2).

2. The transmission mechanism between the motor and the drive wheel according to claim 1, characterized in that: The sun gear (6a) of the upper planetary gear mechanism is coaxial with the worm gear (5) and is integrally formed. The planet carrier (6c) of the upper planetary gear mechanism is coaxial with the sun gear (7a) of the lower planetary gear mechanism and is integrally formed. The gear ring (7d) of the lower planetary gear mechanism is coaxial with the drive wheel (2) and is integrally formed.

3. A drive module, comprising a motor (1) and a drive wheel (2), characterized in that: It also includes the transmission mechanism between the motor and the drive wheel as described in claim 1 or 2.

4. The drive module according to claim 3, characterized in that: It also includes a base (15a) disposed between the two sets of planetary gear mechanisms. The base (15a) is fixedly connected to the gear ring (6d) of the upper set of planetary gear mechanisms, and the base (15a) is detachably connected to the planet carrier (7c) of the lower set of planetary gear mechanisms through a first snap-fit ​​structure.

5. The drive module according to claim 4, characterized in that: A first positioning structure is provided between the base (15a) and the planet carrier (7c) of the next set of planetary gear mechanisms. The first positioning structure includes a first positioning slot (8a) and a first positioning protrusion (8b) respectively provided on the base (15a) and the planet carrier (7c) of the next set of planetary gear mechanisms.

6. A cleaning robot, comprising a body (9), characterized in that: The body (9) is provided with a power wheel (10) and a drive module as described in any one of claims 3-5. A synchronous belt (11) is installed between the drive wheel (2) and the power wheel (10). The synchronous belt (11) is used to contact the surface to be cleaned and drive the cleaning robot to walk by using friction.

7. The cleaning robot according to claim 6, characterized in that: The drive wheel (2) and / or power wheel (10) are provided with baffles on both sides, and at least one side is a detachable baffle (12) connected by a second snap-fit ​​structure.

8. The cleaning robot according to claim 7, characterized in that: A second positioning structure is provided between the detachable baffle (12) and the drive wheel (2) and / or the power wheel (10). The second positioning structure includes a second positioning slot (13a) and a second positioning protrusion (13b) respectively provided on the detachable baffle (12) and the drive wheel (2) and / or the power wheel (10).

9. The cleaning robot according to claim 6, characterized in that: The number of drive modules is two sets, which are located on both sides of the body (9). The output shafts of the motors (1) in the two sets of drive modules point in opposite directions.

10. A cleaning robot, comprising a body (9), characterized in that: The body (9) is provided with a drive module as described in any one of claims 3-5, and the drive wheel (2) serves as a walking wheel, used to contact the surface to be cleaned and drive the cleaning robot to walk by using friction.

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