Internal-drive deceleration walking device and sweeping robot
By using a radially overlapping layout structure with an internal drive deceleration walking device, the problems of excessive thickness and insufficient obstacle-crossing ability of the sweeping robot are solved, achieving a more efficient cleaning effect and a wider layout space.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HUIZHOU JINLI INTELLIGENT TECH CO LTD
- Filing Date
- 2025-04-25
- Publication Date
- 2026-05-22
AI Technical Summary
The existing robotic vacuum cleaners have excessively thick walking mechanisms, which limits the layout and operating space of the cleaning devices and makes them unable to overcome obstacles, thus failing to meet the cleaning needs of complex ground environments.
An internal drive reduction walking device is adopted, with the motor built into the walking wheel and the reduction mechanism built into the motor. The walking wheel, mounting shell, motor and reduction mechanism are radially overlapped to form a radially overlapping layout structure, which reduces the thickness and expands the layout space.
While ensuring torque, the thickness of the walking device was further reduced, the layout space in the middle of the sweeping robot was expanded, the contact area between the cleaning device and the ground and the cleaning efficiency were increased, and the obstacle crossing ability was improved.
Smart Images
Figure CN224265591U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of sweeping robots, and in particular to an internal drive deceleration walking device and a sweeping robot. Background Technology
[0002] A typical robotic vacuum cleaner consists of a disc-shaped body, a walking mechanism, and omnidirectional wheels. The bottom of the disc-shaped body is the chassis, with one omnidirectional wheel located at the front. Two walking mechanisms are positioned on either side of the chassis, forming a triangular walking structure with the omnidirectional wheel. An installation space is provided between the two walking mechanisms for mounting cleaning devices such as roller brushes and vacuuming devices to perform floor cleaning.
[0003] In the initial development stage of robotic vacuum cleaners, the walking mechanism adopted a structure in which the motor, gearbox, and wheels were sequentially connected and separately arranged, such as the walking wheel assembly structure disclosed in CN215838729U. However, the above solution has obvious drawbacks. Because the motor, gearbox, and wheels are separately arranged, the overall thickness of the walking mechanism is too large, which in turn compresses the installation space between the two wheels. This restricts the arrangement and operation space of the cleaning device within the installation space, reduces the contact area between the cleaning device and the ground, and is not conducive to improving the cleaning effect of the robotic vacuum cleaner.
[0004] To address the issue of excessive thickness in walking mechanisms, direct-drive walking mechanisms have emerged. These mechanisms eliminate the need for a gearbox, embedding the motor within the wheels and directly driving them via the motor's external rotor, thus reducing the overall thickness of the walking mechanism. For example, CN212785051U discloses a power wheel and cleaning robot using a direct-drive motor. However, this solution introduces new technical problems. Because the gearbox is eliminated, the torque of the walking mechanism decreases, leading to a reduction in the obstacle-crossing ability of the robot and making it unsuitable for use in complex terrain environments.
[0005] To simultaneously meet the obstacle-crossing and thickness requirements of sweeping robots, a new walking device structure has been proposed, which includes a walking wheel, a planetary reduction mechanism, and a motor. The planetary reduction mechanism is embedded inside the walking wheel, and the motor is located on one side of the walking wheel. The motor, planetary reduction mechanism, and walking wheel are sequentially connected for transmission. For example, CN217741491U discloses a robot walking unit.
[0006] However, as users demand higher and higher cleaning results, the overall thickness of the aforementioned walking device can no longer meet the growing cleaning needs, and its overall thickness urgently needs further optimization. Utility Model Content
[0007] The purpose of this application is to overcome the shortcomings of the prior art and provide an internal drive deceleration walking device and a sweeping robot with further reduced thickness.
[0008] The objective of this application is achieved through the following technical solution:
[0009] In a first aspect, this application provides an internal drive deceleration walking device, including a motor, a deceleration mechanism, and walking wheels.
[0010] It also includes a mounting shell for mounting on the body of the sweeping robot. The mounting shell is also built into the walking wheel, the motor is built into the mounting shell, and the reduction mechanism is built into the motor, so that the walking wheel, the mounting shell, the motor and the reduction mechanism are arranged overlapping in the radial direction of the walking wheel, and the motor, the reduction mechanism and the walking wheel are sequentially connected in a transmission manner.
[0011] In some implementations, the deceleration mechanism is provided with a power output section, which protrudes from the mounting housing and is connected to the traveling wheel via a transmission, such that the end face of the traveling wheel is in clearance fit with the mounting housing.
[0012] In some implementations, the power output portion protrudes from the mounting housing by a thickness of 0.3~1mm; and / or,
[0013] The inner circumferential wall of the walking wheel is clearance-fitted with the mounting shell.
[0014] In some implementations, the wheel includes a rim portion and a cover portion. The rim portion is fitted onto the outside of the mounting housing, and the cover portion is fixedly fitted onto one side of the rim portion. The cover portion is drively connected to the reduction mechanism, and the cover portion is oriented toward the cleaning device.
[0015] In some implementations, the rim portion has an installation inlet on the side opposite to the cover portion.
[0016] In some implementations, the mounting housing has an internal mounting cavity, and a mounting portion is recessed on one side of the mounting housing. The mounting portion has a deceleration groove that communicates with the mounting cavity.
[0017] The motor is located inside the mounting cavity and sleeved on the outside of the mounting part. The deceleration mechanism is located inside the deceleration groove and is connected to the motor in a driving connection. The walking wheel is sleeved on the mounting shell and is connected to the deceleration mechanism in a driving connection.
[0018] In some implementations, the motor includes a drive shaft and an outer rotor. The drive shaft passes through the mounting cavity and the reduction gear slot. The outer rotor is located inside the mounting cavity and sleeved on the outside of the mounting part. The outer rotor is also fixedly sleeved on the outside of the drive shaft. The reduction mechanism is connected to the drive shaft in a driving connection.
[0019] In some implementations, the outer rotor includes a main body and a magnetic ring, the magnetic ring being sleeved on the outside of the mounting part, the main body being fixedly connected to one side of the magnetic ring, and the main body being fixedly sleeved on the outside of the drive shaft.
[0020] In some implementations, the outer rotor is bent and stretched at its center to form a sleeve portion, which is fixedly sleeved onto the drive shaft.
[0021] In some implementations, the deceleration mechanism includes a primary deceleration assembly built into the deceleration slot, and the drive shaft is connected to the walking wheel via the primary deceleration assembly.
[0022] In some implementations, the deceleration mechanism includes a secondary deceleration assembly built into the deceleration groove, and the primary deceleration assembly is connected to the walking wheel via the secondary deceleration assembly.
[0023] In some implementations, the primary reduction assembly includes an internal gear ring, a primary sun gear, a primary planetary carrier, and primary planetary gears. The internal gear ring is fixed in the reduction groove, the primary sun gear is fixedly connected to the drive shaft, the primary planetary carrier is rotatably sleeved on the outside of the drive shaft, the primary planetary gears are rotatably connected to the primary planetary carrier, the primary planetary gears mesh with the primary sun gear and the internal gear ring respectively, and the primary planetary carrier is connected to the drive wheel.
[0024] In some implementations, the primary planetary carrier includes a first frame and a second frame, the first frame and the second frame being rotatably sleeved on the outside of the drive shaft, and the second frame being connected to the traveling wheel via a drive transmission.
[0025] The primary planetary gear is located between the first frame and the second frame, and the primary planetary gear is rotatably connected to both the first frame and the second frame.
[0026] In some implementations, the first-stage planetary gear includes a first gear and a second gear, the first gear and the second gear being coaxially arranged and fixedly connected, at least one of the first gear and the second gear meshing with the first-stage sun gear, and both the first gear and the second gear meshing with the internal gear ring.
[0027] In some implementations, the deceleration mechanism further includes a secondary deceleration assembly built into the deceleration slot;
[0028] The secondary reduction gear includes a secondary sun gear, a secondary planetary carrier, and secondary planetary gears. The secondary sun gear is rotatably connected to the drive shaft and is driven by the primary planetary gears. The secondary planetary carrier is rotatably mounted on the drive shaft and is driven by the traveling wheel. The secondary planetary gears mesh with the secondary sun gear and the internal gear ring, respectively.
[0029] In some implementations, the mounting housing includes a housing and a cover, the cover covering the opening of the housing, the mounting cavity being disposed between the cover and the housing, and the mounting portion being recessed in the cover.
[0030] In some implementations, a flange is provided at the periphery of one of the housing and the cover, and the flange engages with the other of the housing and the cover, thereby fixing the housing and the cover together.
[0031] In some implementations, one of the housing and the cover is provided with a positioning protrusion, and the other is provided with a positioning groove, with the positioning protrusion being fitted into the positioning groove.
[0032] In some implementations, the mounting portion is bent and stretched away from the periphery of the traveling wheel to form a limiting portion.
[0033] In some implementations, the mounting housing further includes a blocking member connected to the cover member, the blocking member being positioned at the periphery of the deceleration groove, and the deceleration mechanism being clamped between the blocking member and the limiting portion.
[0034] Secondly, this application also provides a sweeping robot, including a body and an internal drive deceleration walking device as described in any of the above implementations, wherein the mounting shell is installed on the body.
[0035] Compared with the prior art, this application has at least the following advantages:
[0036] Because the mounting housing, motor, and reduction mechanism are all integrated within the wheel, the wheel, mounting housing, motor, and reduction mechanism are arranged in a radially overlapping configuration. Compared to traditional external reduction mechanisms, this radially overlapping structure, while ensuring sufficient torque, further reduces the thickness of the internal drive reduction mechanism and expands the layout space between the two movement devices, thus increasing the central layout space of the robot vacuum. This wider layout provides ample room for the cleaning device, increases the contact area between the cleaning device and the ground, improves cleaning coverage and efficiency, and achieves a more efficient cleaning effect. Attached Figure Description
[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0038] Figure 1 This is a schematic diagram of the internal drive deceleration walking device according to an embodiment of this application;
[0039] Figure 2 for Figure 1 A schematic diagram of the internal drive deceleration walking device from another perspective;
[0040] Figure 3 for Figure 2 A cross-sectional view of the internal drive deceleration traveling device shown along line AA;
[0041] Figure 4 for Figure 1 A sectional view of a partial structure of the internal drive deceleration walking device shown;
[0042] Figure 5 for Figure 1 An exploded view of the internal drive deceleration traveling device shown.
[0043] Figure 6 This is a cross-sectional view of an internal drive deceleration walking device according to another embodiment of this application;
[0044] Figure 7 This is a cross-sectional view of an internal drive deceleration walking device according to another embodiment of this application.
[0045] Reference numerals: 10, internal drive reduction and travel device; 100, motor; 110, drive shaft; 120, outer rotor; 121, main body; 122, magnetic ring; 123, sleeve; 130, stator;
[0046] 200. Reduction mechanism; 201. Power output unit; 220. First-stage reduction assembly; 224. Internal gear ring; 221. First-stage sun gear; 222. First-stage planetary carrier; 222a. First carrier; 222b. Second carrier; 223. First-stage planetary gear; 223a. First gear; 223b. Second gear; 230. Second-stage reduction assembly; 231. Second-stage sun gear; 232. Second-stage planetary carrier; 233. Second-stage planetary gear;
[0047] 300. Traveling wheel; 310. Wheel rim; 311. Installation entrance; 320. Cover;
[0048] 400, Mounting housing; 401, Mounting cavity; 402, Deceleration groove; 403, Positioning groove; 410, Housing; 411, Positioning protrusion; 420, Cover; 421, Mounting part; 422, Limiting part; 430, Blocking part. Detailed Implementation
[0049] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to provide the reader with a more thorough and comprehensive understanding.
[0050] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0052] To better understand the technical solution and beneficial effects of this application, the following detailed description is provided in conjunction with specific embodiments:
[0053] Example 1:
[0054] like Figure 1 and Figure 2 As shown in the figure, this application embodiment provides an internal drive deceleration walking device 10.
[0055] like Figure 3 and Figure 4 As shown, the internal drive deceleration walking device 10 includes a motor 100, a deceleration mechanism 200, a walking wheel 300, and a mounting shell 400. One side of the mounting shell 400 is for mounting on the body of the sweeping robot, and the mounting shell 400 is also built into the walking wheel 300, meaning the mounting shell 400 is housed inside the walking wheel 300. The motor 100 is built into the mounting shell 400, meaning the motor 100 is housed inside the mounting shell 400. The deceleration mechanism 200 is built into the motor 100, meaning the deceleration mechanism 200 is housed inside the motor 100. Thus, the walking wheel 300, mounting shell 400, motor 100, and deceleration mechanism 200 are arranged overlapping radially on the walking wheel 300, and the motor 100, deceleration mechanism 200, and walking wheel 300 are sequentially connected in a driving transmission to drive the walking wheel 300 to roll on the cleaning surface. The end face of the walking wheel 300 is connected in a driving transmission to the deceleration mechanism 200. It can be understood that the cleaning surface can be a floor, countertop, or other surface requiring cleaning.
[0056] It can be understood that "internal drive" refers to built-in drive, specifically that the motor is built into the walking wheel, "reduction walking device" refers to a walking device with a reduction mechanism, and "internal drive reduction walking device" refers to a walking device with the motor built into the walking wheel and equipped with a reduction mechanism.
[0057] The aforementioned internal drive deceleration walking device 10, with the mounting housing 400, motor 100, and deceleration mechanism 200 all integrated within the mounting housing 400 and motor 100 respectively, creates a radial overlap arrangement of the walking wheel 300, mounting housing 400, motor 100, and deceleration mechanism 200. Compared to the traditional external deceleration mechanism 200, this radial overlap structure, while ensuring sufficient torque, further reduces the thickness of the internal drive deceleration walking device 10 and expands the layout space between the two walking devices, thus increasing the layout space in the middle of the sweeping robot. This wider layout space provides ample room for the cleaning devices to operate, increases the contact area between the cleaning devices and the ground, improves cleaning coverage and efficiency, and achieves a more efficient cleaning effect.
[0058] like Figure 3 As shown, in some embodiments, the deceleration mechanism 200 is provided with a power output section 201, which protrudes from the mounting shell 400 and is connected to the traveling wheel 300 in a transmission manner, so that the end face of the traveling wheel 300 is in clearance fit with the mounting shell 400, thereby reducing the rotational friction resistance of the traveling wheel 300. This not only reduces the traveling noise of the traveling wheel 300, but also increases the maximum speed of the traveling wheel 300 and the output torque of the traveling wheel 300, which is beneficial to improving the obstacle crossing ability of the traveling wheel 300.
[0059] like Figure 3 As shown, in some embodiments, the thickness of the power output portion 201 protruding from the mounting housing 400 is 0.3 to 1 mm, and the thickness of the power output portion 201 protruding from the mounting housing 400 can be any value among 0.3 mm, 0.5 mm, 0.7 mm, 1 mm, or 0.3 to 1 mm.
[0060] It is understandable that since the traveling wheel 300 may wobble during rotation, in this embodiment, the power output part 201 protrudes from the mounting shell 400 with a thickness of 0.3~1mm, so that the gap between the end face of the traveling wheel 300 and the mounting shell 400 is 0.3~1mm. In this way, even if the traveling wheel 300 wobbles, the traveling wheel 300 will not interfere with the mounting shell 400, thereby avoiding the traveling wheel 300 being subjected to the frictional resistance of the mounting shell 400, and at the same time reducing the impact of the wobble of the traveling wheel 300 on the overall thickness of the device.
[0061] like Figure 3 As shown, in some embodiments, the inner peripheral wall of the walking wheel 300 is clearance-fitted with the mounting shell 400, which reduces the rotational friction resistance of the walking wheel 300. This not only reduces the walking noise of the walking wheel 300, but also increases the maximum speed and output torque of the walking wheel 300, which is beneficial to improving the obstacle-crossing ability of the walking wheel 300.
[0062] like Figure 3 As shown, in some embodiments, the walking wheel 300 includes a rim portion 310 and a cover portion 320. The rim portion 310 is fitted onto the outer side of the mounting housing 400, such that the mounting housing 400 is housed within the walking wheel 300. The cover portion 320 is fixedly fitted to one side of the rim portion 310 and is drively connected to the reduction mechanism 200. The cover portion 320 is used for cleaning the central area of the sweeping robot.
[0063] It is understandable that the cleaning device in the middle area of the robotic vacuum cleaner will stir up dust and other debris during cleaning, which may enter the internal drive deceleration walking device 10. To solve this problem, in this embodiment, the cover portion 320 is fixedly covered to one side of the wheel rim portion 310. The cover portion 320 is positioned facing the cleaning device in the middle area of the robotic vacuum cleaner, so that the cover portion 320 prevents dust and other debris from entering the interior of the internal drive deceleration walking device 10, thereby extending the service life of the internal drive deceleration walking device 10.
[0064] Furthermore, the wheel rim portion 310 and the cover portion 320 are integrally molded structures, that is, the wheel rim portion 310 and the cover portion 320 are formed into an integral structure through injection molding, which improves the manufacturing efficiency of the traveling wheel 300.
[0065] Furthermore, the traveling wheel 300 also includes a reinforcing portion, which is fixedly connected to the cover portion 320 and is drive-connected to the reduction mechanism 200. In this embodiment, by providing the reinforcing portion, the traveling wheel 300 has sufficient strength to drive-connect with the reduction mechanism 200, thereby improving the structural stability of the traveling wheel 300.
[0066] Furthermore, the reinforcing part is plastically molded inside the cover part 320, so that the cover part 320 protects the reinforcing part, improves the structural stability of the traveling wheel 300, and extends the service life of the reinforcing part.
[0067] Furthermore, the reinforcing part is also plastic-coated onto the wheel rim 310, which improves the structural strength of the wheel rim 310. Since the wheel rim 310 is in direct contact with the cleaning surface, it suppresses the shaking of the robot vacuum cleaner during walking and improves the walking stability of the robot vacuum cleaner.
[0068] like Figure 3 As shown, in some embodiments, the wheel rim portion 310 has an installation inlet 311 on the side opposite to the cover portion 320. In this embodiment, the mounting shell 400 is directly inserted into the interior of the wheel 300 through the installation inlet 311, and the installation can be completed without disassembling the wheel 300, which improves the convenience and efficiency of assembly.
[0069] Example 2:
[0070] The difference between this embodiment and Embodiment 1 is that this embodiment further optimizes the structure of the internal drive deceleration walking device 10.
[0071] Please refer to the above as well. Figure 3 and Figure 4 In this embodiment, the mounting housing 400 has a mounting cavity 401 inside, and a mounting portion 421 is recessed on one side of the mounting housing 400. The mounting portion 421 has a reduction groove 402 that communicates with the mounting cavity 401. The motor 100 is located inside the mounting cavity 401 and sleeved on the outside of the mounting portion 421. The reduction mechanism 200 is located inside the reduction groove 402 and is drivenly connected to the motor 100. The traveling wheel 300 is sleeved on the mounting housing 400 and is drivenly connected to the reduction mechanism 200. In this embodiment, since the motor 100 is located inside the mounting cavity 401 of the mounting housing 400, the motor 100 is built into the mounting housing 400. Since the motor 100 is also sleeved on the outside of the mounting portion 421, and the reduction mechanism 200 is located inside the reduction groove 402 of the mounting portion 421, the reduction mechanism 200 is not only built into the mounting housing 400 but also built into the motor 100.
[0072] like Figure 4As shown, in some embodiments, the motor 100 includes a drive shaft 110 and an outer rotor 120. The drive shaft 110 passes through the mounting cavity 401 and the reduction gear groove 402. The outer rotor 120 is located inside the mounting cavity 401 and sleeved on the outside of the mounting portion 421. The outer rotor 120 is also fixedly sleeved on the outside of the drive shaft 110. Please refer to... Figure 3 and Figure 4 The reduction mechanism 200 is connected to the drive shaft 110.
[0073] Preferably, the motor 100 is a brushless motor 100 to reduce the noise of the internal drive deceleration walking device 10.
[0074] like Figure 4 As shown, in some embodiments, the outer rotor 120 includes a main body 121 and a magnetic ring 122. The magnetic ring 122 is sleeved on the outside of the mounting portion 421, and the main body 121 is fixedly connected to one side of the magnetic ring 122. The main body 121 is fixedly sleeved on the outside of the drive shaft 110, so that the outer rotor 120 is connected to the drive shaft 110 for transmission. The main body 121, the magnetic ring 122, and the mounting portion 421 together form a stator cavity, and the stator 130 is installed inside the stator cavity. In this embodiment, since the magnetic ring 122 is sleeved on the outside of the mounting portion 421, the magnetic ring 122 and the mounting portion 421 overlap in the radial direction of the traveling wheel 300, thereby causing the motor 100 and the mounting housing 400 to overlap in the radial direction of the traveling wheel 300, that is, the motor 100 is built into the mounting housing 400.
[0075] like Figure 4 As shown, in some embodiments, a sleeve portion 123 is formed by bending and stretching at the center of the outer rotor 120, and the sleeve portion 123 is fixedly sleeved on the drive shaft 110. In this embodiment, the connection between the outer rotor 120 and the drive shaft 110 through the sleeve portion 123 increases the connection area between the outer rotor 120 and the drive shaft 110, thereby improving the connection stability between the outer rotor and the drive shaft 110. Moreover, since the sleeve portion 123 is formed by bending and stretching at the center of the outer rotor 120, the periphery of the sleeve portion 123 has a bending angle; when the drive shaft 110 is sleeved on the sleeve portion 123, it first contacts the bending angle, so that the bending angle guides the drive shaft 110, improving the convenience and efficiency of assembly.
[0076] like Figure 3 As shown, in some implementations, the deceleration mechanism 300 includes a primary deceleration component 220 built into the deceleration groove, and the drive shaft 110 is connected to the traveling wheel 300 through the primary deceleration component 220. In this embodiment, the drive shaft 110 and the traveling wheel 300 are decelerated through the primary deceleration component 220, which increases the output torque of the traveling wheel 300 and thus improves the obstacle-crossing ability of the traveling wheel 300.
[0077] like Figure 3 and Figure 5 As shown, preferably, the first-stage reduction assembly 220 includes an internal gear ring 224, a first-stage sun gear 221, a first-stage planetary carrier 222, and first-stage planetary gears 223. The internal gear ring 224 is fixed within the reduction groove 402, the first-stage sun gear 221 is fixedly connected to the drive shaft 110, the first-stage planetary carrier 222 is rotatably sleeved on the outside of the drive shaft 110, and the first-stage planetary gears 223 are rotatably connected to the first-stage planetary carrier 222. The first-stage planetary gears 223 mesh with both the first-stage sun gear 221 and the internal gear ring 224, and the first-stage planetary carrier 222 is connected to the traveling wheel 300 via a transmission connection. In this embodiment, the first-stage reduction assembly 220 reduces speed between the drive shaft 110 and the traveling wheel 300, increasing the output torque of the traveling wheel 300 and thus improving its obstacle-crossing ability.
[0078] Preferably, the primary sun gear 221 is integrally formed on the drive shaft 110. Of course, in other embodiments, the primary sun gear 221 and the drive shaft 110 can be independent parts, that is, the primary sun gear 221 and the drive shaft 110 are machined separately, and then the sun gear and the drive shaft 110 are connected together.
[0079] like Figure 4 As shown, in some embodiments, the mounting housing 400 includes a housing 410 and a cover 420. The cover 420 covers the opening of the housing 410, a mounting cavity 401 is disposed between the cover 420 and the housing 410, and a mounting portion 421 is recessed in the cover 420. In this embodiment, the housing 410 and the cover 420 are separate structures, that is, they are not integrally formed and connected together. When the motor 100 is built into the mounting housing 400, the motor 100 is first fitted onto the cover 420 or built into the housing 410, and then the cover 420 is closed onto the opening of the housing 410, thus achieving the layout of the motor 100 built into the mounting housing 400.
[0080] like Figure 4As shown, in some embodiments, one of the housing 410 and the cover 420 has a flange (not shown) at its periphery. The flange engages with the other of the housing 410 and the cover 420, thus fixing the housing 410 and the cover 420 together. In this embodiment, the flange is engaged with the other of the housing 410 and the cover 420 through a flange process, thus fixing the housing 410 and the cover 420 together. In this embodiment, the housing 410 or the cover 420 has a flange, and the housing 410 and the cover 420 are fixedly connected through the flange. No additional fasteners are needed to fix the housing 410 and the cover 420, reducing the volume of the mounting shell 400, thereby improving the structural compactness of the internal drive deceleration walking device 10 and further reducing the overall thickness of the internal drive deceleration walking device 10.
[0081] It is understood that, in order to achieve the flanging process, the parts with the flanged portion are stamped parts. Preferably, both the housing 410 and the cover 420 are stamped parts, which improves the manufacturing efficiency of the mounting housing 400.
[0082] like Figure 4 As shown, in some embodiments, one of the housing 410 and the cover 420 is provided with a positioning protrusion 411, and the other is provided with a positioning groove 403, with the positioning protrusion 411 embedded in the positioning groove 403. In this embodiment, when the cover 420 is closed on the housing 410, the positioning of the cover 420 and the housing 410 is achieved by the positioning protrusion 411 being embedded in the positioning groove 403, thereby improving assembly efficiency and convenience.
[0083] like Figure 4 As shown, in some embodiments, the mounting part 421 is bent and stretched away from the periphery of the walking wheel 300 to form a limiting part 422. The limiting part 422 blocks the deceleration mechanism 200, and the deceleration mechanism 200 can be blocked in one direction without the need to install other structures, which improves the convenience and efficiency of installing the deceleration mechanism 200.
[0084] like Figure 4 As shown, in some embodiments, the mounting housing 400 further includes a blocking member 430, which is connected to the cover member 420. The blocking member 430 is positioned at the periphery of the deceleration groove 402, and the deceleration mechanism 200 is clamped between the blocking member 430 and the limiting part 422, thereby realizing the installation of the deceleration mechanism 200, preventing the deceleration mechanism 200 from deviating from the installation position, and ensuring the normal operation of the deceleration mechanism 200.
[0085] like Figure 3 and Figure 5As shown, in some embodiments, the primary planetary carrier 222 includes a first carrier 222a and a second carrier 222b, which are rotatably mounted on the outer side of the drive shaft 110. The second carrier 222b is connected to the traveling wheel 300 via a transmission. A primary planetary gear 223 is located between the first carrier 222a and the second carrier 222b, and is rotatably connected to both the first carrier 222a and the second carrier 222b. In this embodiment, connecting the primary planetary gear 223 with two carriers improves the operational stability of the primary planetary gear 223, thereby improving the deceleration effect of the reduction mechanism 200.
[0086] Example 3:
[0087] The difference between this embodiment and Embodiment 2 is that this embodiment further optimizes the structure of the first-stage planetary tooth 223.
[0088] like Figure 6 As shown, the first-stage planetary gear 223 of this application includes a first gear 223a and a second gear 223b. The first gear 223a and the second gear 223b are coaxially arranged and fixedly connected. At least one of the first gear 223a and the second gear 223b meshes with the first-stage sun gear 221. Both the first gear 223a and the second gear 223b mesh with the internal gear ring 224.
[0089] In this embodiment, the first gear 223a and the second gear 223b both mesh with the internal gear ring 224, which increases the power density of the reduction mechanism 200, which is beneficial to increasing the transmission ratio of the reduction mechanism 200, and thus improving the obstacle-crossing ability of the walking wheel 300.
[0090] Example 4:
[0091] The difference between this embodiment and embodiments 2 and 3 is that this embodiment further optimizes the structure of the deceleration mechanism 200.
[0092] like Figure 7 As shown, the deceleration mechanism 200 of this embodiment includes a secondary deceleration component 230 built into the deceleration groove 402, and a primary deceleration component 220 is connected to the traveling wheel 300 via the secondary deceleration component 230. In this embodiment, the drive shaft 110 and the traveling wheel 300 are decelerated through the primary deceleration component 220 and the secondary deceleration component 230, which further improves the output torque of the traveling wheel 300 and further improves the obstacle-crossing ability of the traveling wheel 300.
[0093] Preferably, the secondary reduction assembly 230 includes a secondary sun gear 231, a secondary planetary carrier 232, and secondary planetary gears 233. The secondary sun gear 231 is rotatably connected to the drive shaft 110 and is driven by the primary planetary gears 223. The secondary planetary carrier 232 is rotatably mounted on the drive shaft 110 and is driven by the traveling wheel 300. The secondary planetary gears 233 mesh with the secondary sun gear 231 and the internal gear ring 224, respectively. In this embodiment, the drive shaft 110, the primary sun gear 221, the primary planetary gears 223, the secondary sun gear 231, the secondary planetary carrier 232, and the traveling wheel 300 are sequentially driven, that is, the primary planetary carrier 222 is driven by the traveling wheel 300 through the secondary reduction assembly 230. The drive shaft 110 and the traveling wheel 300 are reduced in speed through the primary reduction assembly 220 and the secondary reduction assembly 230, which further improves the output torque of the traveling wheel 300 and further improves the obstacle-crossing ability of the traveling wheel 300.
[0094] like Figure 7 As shown, preferably, the secondary planetary carrier 232 is the power output unit 201. Part of the secondary planetary carrier 232 protrudes from the mounting shell 400 and is connected to the drive wheel 300, so that the end face of the drive wheel 300 is clearance-fitted with the mounting shell 400, which reduces the rotational friction resistance of the drive wheel 300. This not only reduces the walking noise of the drive wheel 300, but also increases the maximum speed of the drive wheel 300 and the output torque of the drive wheel 300, which is beneficial to improving the obstacle crossing ability of the drive wheel 300.
[0095] Example 5:
[0096] This application provides a sweeping robot, characterized in that it includes a body and an internal drive deceleration walking device 10 of any of the above embodiments, with a mounting shell 400 mounted on the body.
[0097] Compared with the prior art, this application has at least the following advantages:
[0098] Because the mounting housing 400, motor 100, and reduction mechanism 200 are all built into the wheel 300, the wheel 300, mounting housing 400, motor 100, and reduction mechanism 200 are arranged in a radially overlapping manner. Compared to the traditional external reduction mechanism 200, this radially overlapping arrangement, while ensuring sufficient torque, further reduces the thickness of the internal drive reduction walking device 10 and expands the layout space between the two walking devices, thus expanding the layout space in the middle of the robot vacuum cleaner. This wider layout space provides ample room for the cleaning devices, increases the contact area between the cleaning devices and the ground, improves cleaning coverage and efficiency, and achieves a more efficient cleaning effect.
[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. An internal drive deceleration walking device, comprising a motor (100), a deceleration mechanism (200), and walking wheels (300), characterized in that, It also includes a mounting shell (400) for mounting on the body of the sweeping robot. The mounting shell (400) is also built into the walking wheel (300). The motor (100) is built into the mounting shell (400). The reduction mechanism (200) is built into the motor (100). The walking wheel (300), mounting shell (400), motor (100) and reduction mechanism (200) are arranged to overlap radially on the walking wheel (300). The motor (100), reduction mechanism (200) and walking wheel (300) are sequentially connected in a transmission manner.
2. The internal drive deceleration walking device according to claim 1, characterized in that, The deceleration mechanism (200) is provided with a power output part (201), which protrudes from the mounting shell (400) and is connected to the traveling wheel (300) in a transmission manner, so that the end face of the traveling wheel (300) is in clearance fit with the mounting shell (400).
3. The internal drive deceleration walking device according to claim 2, characterized in that, The power output section (201) protrudes from the mounting housing (400) with a thickness of 0.3–1 mm; and / or, The inner peripheral wall of the walking wheel (300) is clearance-fitted with the mounting shell (400).
4. The internal drive deceleration walking device according to claim 1, characterized in that, The walking wheel (300) includes a wheel rim (310) and a cover (320). The wheel rim (310) is sleeved on the outside of the mounting shell (400). The cover (320) is fixedly covered on one side of the wheel rim (310). The cover (320) is connected to the reduction mechanism (200) and is oriented towards the cleaning device.
5. The internal drive deceleration walking device according to claim 4, characterized in that, The wheel rim portion (310) has an installation inlet (311) on the side opposite to the cover portion (320).
6. The internal drive deceleration traveling device according to any one of claims 1 to 5, characterized in that, The mounting housing (400) has a mounting cavity (401) inside, and a mounting part (421) is recessed on one side of the mounting housing (400). The mounting part (421) has a deceleration groove (402) that communicates with the mounting cavity (401). The motor (100) is located inside the mounting cavity (401) and sleeved on the outside of the mounting part (421). The deceleration mechanism (200) is located inside the deceleration groove (402) and is connected to the motor (100) in a driving connection. The walking wheel (300) is sleeved on the mounting shell (400) and is connected to the deceleration mechanism (200) in a driving connection.
7. The internal drive deceleration walking device according to claim 6, characterized in that, The motor (100) includes a drive shaft (110) and an outer rotor (120). The drive shaft (110) passes through the mounting cavity (401) and the reduction groove (402). The outer rotor (120) is located in the mounting cavity (401) and sleeved on the outside of the mounting part (421). The outer rotor (120) is also fixedly sleeved on the outside of the drive shaft (110). The reduction mechanism (200) is connected to the drive shaft (110) in a driving connection.
8. The internal drive deceleration walking device according to claim 7, characterized in that, The outer rotor (120) includes a main body (121) and a magnetic ring (122). The magnetic ring (122) is sleeved on the outside of the mounting part (421). The main body (121) is fixedly connected to one side of the magnetic ring (122). The main body (121) is fixedly sleeved on the outside of the transmission shaft (110).
9. The internal drive deceleration walking device according to claim 7, characterized in that, The outer rotor (120) is bent and stretched at its center to form a sleeve (123), which is fixedly sleeved on the drive shaft (110).
10. The internal drive deceleration walking device according to claim 7, characterized in that, The deceleration mechanism (200) includes a first-stage deceleration assembly (220) built into the deceleration groove (402), and the drive shaft (110) is connected to the walking wheel (300) through the first-stage deceleration assembly (220).
11. The internal drive deceleration walking device according to claim 10, characterized in that, The deceleration mechanism (200) includes a secondary deceleration assembly (230) built into the deceleration groove (402), and the primary deceleration assembly (220) is connected to the walking wheel (300) through the secondary deceleration assembly (230).
12. The internal drive deceleration walking device according to claim 10, characterized in that, The first-stage reduction assembly (220) includes an internal gear ring (224), a first-stage sun gear (221), a first-stage planetary carrier (222), and first-stage planetary gears (223). The internal gear ring (224) is fixed in the reduction groove (402). The first-stage sun gear (221) is fixedly connected to the drive shaft (110). The first-stage planetary carrier (222) is rotatably sleeved on the outside of the drive shaft (110). The first-stage planetary gears (223) are rotatably connected to the first-stage planetary carrier (222). The first-stage planetary gears (223) mesh with the first-stage sun gear (221) and the internal gear ring (224) respectively. The first-stage planetary carrier (222) is connected to the traveling wheel (300) in a transmission connection.
13. The internal drive deceleration walking device according to claim 12, characterized in that, The primary planetary carrier (222) includes a first frame (222a) and a second frame (222b). The first frame (222a) and the second frame (222b) are respectively rotatably sleeved on the outside of the transmission shaft (110). The second frame (222b) is connected to the traveling wheel (300) in a transmission connection. The first-stage planetary gear (223) is located between the first frame (222a) and the second frame (222b), and the first-stage planetary gear (223) is rotatably connected to the first frame (222a) and the second frame (222b) respectively.
14. The internal drive deceleration walking device according to claim 12, characterized in that, The first-stage planetary gear (223) includes a first gear (223a) and a second gear (223b). The first gear (223a) and the second gear (223b) are coaxially arranged and fixedly connected. At least one of the first gear (223a) and the second gear (223b) meshes with the first-stage sun gear (221). Both the first gear (223a) and the second gear (223b) mesh with the internal gear ring (224).
15. The internal drive deceleration walking device according to claim 12, characterized in that, The deceleration mechanism (200) also includes a secondary deceleration assembly (230) built into the deceleration groove (402); The secondary reduction assembly (230) includes a secondary sun gear (231), a secondary planetary carrier (232), and secondary planetary gears (233). The secondary sun gear (231) is rotatably connected to the drive shaft (110). The secondary sun gear (231) is driven by the primary planetary gears (223). The secondary planetary carrier (232) is rotatably mounted on the drive shaft (110). The secondary planetary carrier (232) is driven by the traveling wheel (300). The secondary planetary gears (233) mesh with the secondary sun gear (231) and the internal gear ring (224) respectively.
16. The internal drive deceleration walking device according to claim 6, characterized in that, The mounting housing (400) includes a housing (410) and a cover (420). The cover (420) covers the opening of the housing (410). The mounting cavity (401) is located between the cover (420) and the housing (410). The mounting portion (421) is recessed in the cover (420).
17. The internal drive deceleration walking device according to claim 16, characterized in that, The housing (410) and the cover (420) are provided with a flange at their periphery. The flange is fastened to the other housing (410) and the cover (420) to fix the housing (410) and the cover (420) in a fixed connection.
18. The internal drive deceleration walking device according to claim 16, characterized in that, One of the housing (410) and the cover (420) is provided with a positioning protrusion (411), and the other is provided with a positioning groove (403), wherein the positioning protrusion (411) is fitted into the positioning groove (403).
19. The internal drive deceleration traveling device according to claim 16, characterized in that, The mounting part (421) is bent and stretched away from the periphery of the traveling wheel (300) to form a limiting part (422).
20. The internal drive deceleration walking device according to claim 19, characterized in that, The mounting housing (400) further includes a blocking member (430), which is connected to the cover member (420). The blocking member (430) is positioned at the periphery of the deceleration groove (402), and the deceleration mechanism (200) is clamped between the blocking member (430) and the limiting part (422).
21. A robotic vacuum cleaner, characterized in that, It includes a body and an internal drive deceleration walking device as described in any one of claims 1 to 20, wherein the mounting housing (400) is mounted on the body.