A sweeper obstacle-crossing gearbox

Abstract

This utility model relates to the field of sweeping machine technology, and in particular to a sweeping machine obstacle-crossing gearbox, comprising a housing (10), wherein a first transmission assembly (11) and a second transmission assembly (12) are disposed within the housing (10); a side wheel (20) disposed on one side of the housing (10); an adjustable swing arm assembly (30) disposed on the other side of the housing (10) for supporting the machine body to cross obstacles; a first drive assembly (40) driving the side wheel (20) through the first transmission assembly (11); and a second drive assembly (50) disposed within the housing (10) and driving the adjustable swing arm assembly (30) through the second transmission assembly (12). Compared with the prior art, this utility model has the characteristics of reasonable structure, low cost, high reliability, and strong obstacle-crossing ability.

Description

Technical Field

[0001] This utility model relates to the field of sweeping machine technology, and in particular to a sweeping machine obstacle-crossing gearbox. Background Technology

[0002] With the development of artificial intelligence and internet technology, smart home products are developing rapidly, and smart robot vacuums are gradually entering people's lives. Also known as robotic vacuum cleaners, they are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. Smart robot vacuums use a combination of brushing and vacuuming to suck up debris into their own dustbin, thus completing the floor cleaning function.

[0003] However, in addition to issues such as direction and positioning, there are also obstacles that the robot vacuum cleaner may encounter and overcome during its movement. For example, there are often thresholds at doorways, floor supports for furniture, differences in floor level between rooms, small steps, household items that have fallen to the ground, garbage, and carpets, which can create an uneven obstacle environment.

[0004] Existing obstacle-crossing mechanisms include a front wheel lifting mechanism and two side wheel transmission mechanisms. Each side wheel transmission mechanism has a clutch trigger lever between the front wheel lifting mechanism and each side wheel transmission mechanism, and each side wheel transmission mechanism has an obstacle-crossing rod and a side wheel. This obstacle-crossing mechanism has the following technical problems: It uses three sets of gearboxes to achieve obstacle-crossing operations, resulting in a complex structure and high cost; when an obstacle touches the clutch trigger lever, the lever engages the clutch, and the obstacle-crossing rod begins to rotate. However, since the obstacle-crossing rod and the side wheel share the same motor, there is a certain probability of jamming when the clutch trigger lever engages the clutch, preventing the obstacle-crossing rod from rotating; when the obstacle is high, the obstacle-crossing mechanism may fail to reach the clutch trigger lever due to the obstacle's height, resulting in weak obstacle-crossing ability.

[0005] Therefore, existing technologies need to be improved and enhanced. Utility Model Content

[0006] The purpose of this invention is to provide a sweeper obstacle-crossing gearbox to solve the technical problems in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] A sweeper obstacle-crossing gearbox, including

[0009] A housing, wherein a first transmission assembly and a second transmission assembly are disposed within the housing;

[0010] One side wheel, the side wheel is disposed on one side of the housing;

[0011] An adjustable swing arm assembly is provided on the other side of the housing and is used to support the machine body to overcome obstacles;

[0012] A first drive assembly drives the side wheel via the first transmission assembly;

[0013] A second drive assembly is disposed within the housing and drives the adjustable swing arm assembly via the second transmission assembly.

[0014] As a further embodiment of the present invention, the first transmission assembly includes an output shaft, a first driven gear for driving the output shaft, a first gear set meshing with the first driven gear, and a first driving gear meshing with the first gear set.

[0015] As a further embodiment of this utility model, the first gear set includes a first double gear meshing with the first driving gear, a second double gear meshing with the first double gear, and a third double gear meshing with the second double gear and the first driven gear.

[0016] As a further embodiment of this invention, an anti-rotation structure is provided between the first driven gear and the output shaft.

[0017] As a further embodiment of this utility model, the anti-rotation structure includes at least one first flat surface disposed on the inner wall of the first driven gear and at least one second flat surface disposed on the outer wall of the output shaft, wherein the first flat surface and the second flat surface are in contact with each other.

[0018] As a further embodiment of this utility model, a retaining ring groove is formed on the output shaft of the first driven gear on the side opposite to the side wheel, and a retaining ring is installed in the retaining ring groove.

[0019] As a further embodiment of the present invention, the second transmission assembly includes a second driven gear for driving the output shaft, a second gear set meshing with the second driven gear, and a second driving gear meshing with the second gear set.

[0020] As a further embodiment of this utility model, the second gear set includes a fourth double gear meshing with the second driving gear and a fifth double gear meshing with the fourth double gear and a second driven gear.

[0021] As a further embodiment of this invention, the adjustable swing arm assembly includes...

[0022] A swing arm, which is rotatably mounted on the output shaft and connected to the second driven gear via a spline;

[0023] An arm is provided, which is connected to the swing arm via a pivot, and a torsion spring is sleeved on the pivot between the arm and the swing arm;

[0024] A pulley is rotatably mounted on the end of the support arm relative to the swing arm.

[0025] As a further embodiment of this utility model, the second drive assembly includes a motor body, an encoder mounted on the motor body for detecting the number of rotations of the output shaft of the motor body, and a planetary gear reducer connected to the output shaft of the motor body.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1. The adjustable swing arm assembly supports the machine body to overcome obstacles, resulting in a reasonable structure and low cost;

[0028] 2. The side wheels and adjustable swing arm assembly are controlled by different drive components, ensuring high reliability;

[0029] 3. Utilizing the length adjustment function of the adjustable swing arm assembly, it can adapt to obstacles of different heights and has a strong obstacle-crossing ability. Attached Figure Description

[0030] Appendix Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0031] Appendix Figure 2 This is a schematic diagram of the structure of the first transmission component according to an embodiment of the present utility model;

[0032] Appendix Figure 3 This is an assembly diagram of the first driven gear and the output shaft according to an embodiment of the present invention;

[0033] Appendix Figure 4 This is an exploded view of the first driven gear and output shaft according to an embodiment of the present invention;

[0034] Appendix Figure 5 This is a schematic diagram of the assembly of the first drive assembly, the first transmission assembly, the output shaft, and the side wheel in an embodiment of the present utility model;

[0035] Appendix Figure 6 This is a schematic diagram of the assembly of the second drive assembly, the second transmission assembly, and the output shaft according to an embodiment of the present utility model;

[0036] Appendix Figure 7 This is a schematic diagram of the adjustable swing arm assembly according to an embodiment of the present invention;

[0037] Appendix Figure 8 This is an exploded structural diagram of the adjustable swing arm assembly according to an embodiment of the present invention;

[0038] Appendix Figure 9 This is a schematic diagram of the structure of the second driving component in an embodiment of the present invention.

[0039] The labels in the diagram are as follows:

[0040] 10-Box body, 20-Side wheel, 30-Adjustable swing arm assembly, 40-First drive assembly, 50-Second drive assembly;

[0041] 11-First transmission assembly, 12-Second transmission assembly;

[0042] 111-Output shaft, 112-First driven gear, 113-First gear set, 114-First driving gear, 115-Anti-rotation structure;

[0043] 1131 - First double gear, 1132 - Second double gear, 1133 - Third double gear;

[0044] 1151 - First flat surface, 1152 - Second flat surface;

[0045] 1111 - Snap ring groove, 1112 - Snap ring;

[0046] 121 - Second driven gear, 122 - Second gear set, 123 - Second driving gear;

[0047] 1221 - Fourth double gear, 1222 - Fifth double gear;

[0048] 31-Swing arm, 32-Support arm, 33-Rotating shaft, 34-Torsion spring, 35-Pulley;

[0049] 51-Motor body, 52-Encoder, 53-Planetary gear reducer. Detailed Implementation

[0050] The present invention will now be described in further detail with reference to the accompanying drawings:

[0051] The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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 limiting this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0052] In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] Example:

[0055] Please see Figure 1 This application discloses a sweeper obstacle-crossing gearbox, comprising a housing 10, which includes a first housing and a second housing. The first housing and the second housing are detachably connected for easy disassembly and maintenance. A first transmission assembly 11 and a second transmission assembly 12 are disposed within the housing 10.

[0056] A side wheel 20 is provided on one side of the housing 10;

[0057] An adjustable swing arm assembly 30 is provided on the other side of the housing 10 and is used to support the machine body to overcome obstacles.

[0058] A first drive component 40 drives the side wheel 20 through the first transmission component 11. In this embodiment, the first drive component 40 is a motor.

[0059] A second drive assembly 50 is disposed inside the housing 10 and drives the adjustable swing arm assembly 30 through the second transmission assembly 12. In this embodiment, the second drive assembly 50 includes a motor. Through the above structural design, the adjustable swing arm assembly 30 can be used to support the machine body to overcome obstacles, which is not only structurally reasonable but also low in cost. Furthermore, the length adjustment function of the adjustable swing arm assembly 30 can be used to adapt to obstacles of different heights, resulting in strong obstacle-crossing ability. At the same time, the side wheel 20 and the adjustable swing arm assembly 30 are controlled by different drive assemblies, ensuring high reliability.

[0060] When this application is applied to an intelligent sweeping robot, the intelligent sweeping robot has a rotatable front wheel mounted at the front and two obstacle-crossing gearboxes mounted at the rear. During normal operation, the first drive assembly 40 drives the side wheels 20 to rotate via the first transmission assembly 11 to achieve normal sweeping operation. When crossing obstacles, if the laser radar on the intelligent sweeping robot detects an obstacle ahead, the first drive assembly 40 stops working; the second drive assembly 50 drives the adjustable swing arm assembly 30 to rotate via the second transmission assembly 12 until the front of the intelligent sweeping robot... The end is lifted, and the body is supported by two side wheels 20 and two adjustable swing arm assemblies 30. The second drive assembly 50 stops working. The first drive assembly 40 works again to drive the side wheels 20 to rotate until the adjustable swing arm assembly 30 stops at the bottom of the obstacle. At this time, the second drive assembly 50 works again to drive the adjustable swing arm assembly 30 to rotate, and uses the end of the adjustable swing arm assembly 30 as a fulcrum to drive the entire robot vacuum to climb over the obstacle. After crossing the obstacle, the second drive assembly 50 reverses to drive the adjustable swing arm assembly 30 to reverse back to the initial position.

[0061] Specifically, please see Figure 2 and Figure 5The first transmission assembly 11 includes an output shaft 111, a first driven gear 112 for driving the output shaft 111, a first gear set 113 meshing with the first driven gear 112, and a first driving gear 114 meshing with the first gear set 113. The first gear set 113 includes a first double gear 1131 meshing with the first driving gear 114, a second double gear 1132 meshing with the first double gear 1131, and a gear that meshes with both the second double gear 1132 and the first driven gear 111. In this embodiment, the first driving gear 114 is mounted on the output shaft of the first drive assembly 40, and the first driving gear 114 is a helical gear. The first double gear 1131 is designed as a set of helical gears and a set of spur gears. The helical gear of the first double gear 1131 meshes with the first driving gear 114, and the spur gear of the first double gear 1131 meshes with the second double gear 1132. Through the above-mentioned structural design of several double gears, a large overall transmission ratio is achieved within the housing 10.

[0062] Specifically, please see Figure 3 and Figure 4 An anti-rotation structure 115 is provided between the first driven gear 112 and the output shaft 111. The anti-rotation structure 115 includes two first flat surfaces 1151 disposed on the inner wall of the first driven gear 112 and two second flat surfaces 1152 disposed on the outer wall of the output shaft 111. The two first flat surfaces 1151 and the two second flat surfaces 1152 correspond to each other and fit together, which can effectively prevent relative rotation and realize reliable torque transmission between the first driven gear 112 and the output shaft 111.

[0063] As a preferred embodiment, please refer to Figure 4 A snap ring groove 1111 is provided on the output shaft 111 on the side of the first driven gear 112 relative to the side wheel 20. A snap ring 1112 is installed in the snap ring groove 1111 to limit the axial movement of the first driven gear 112.

[0064] Specifically, please see Figure 6The second transmission assembly 12 includes a second driven gear 121 for driving the output shaft 111, a second gear set 122 meshing with the second driven gear 121, and a second driving gear 123 meshing with the second gear set 122. The second gear set 122 includes a fourth double gear 1221 meshing with the second driving gear 123 and a fifth double gear 1222 meshing with the fourth double gear 1221 and the second driven gear 121. In this embodiment, the second driving gear 123 is mounted on the output shaft of the second drive assembly 50 and is a worm gear. The worm gear meshes with the fourth double gear 1221. Through the above-mentioned structural design of several double gears, a large overall transmission ratio is achieved within the housing 10.

[0065] Specifically, please see Figure 7 and Figure 8 The adjustable swing arm assembly 30 includes

[0066] A swing arm 31 is rotatably mounted on the output shaft 111 via a sliding bearing and is connected to the second driven gear 121 via a spline. In this embodiment, a retaining ring groove is formed on the output shaft 111 on the side of the swing arm 31 opposite to the second driven gear 121, and a retaining ring is installed in the retaining ring groove to limit the axial movement of the swing arm 31 and the second driven gear 121. An arm 32 is connected to the swing arm 31 via a rotating shaft 33. A torsion spring 34 is sleeved on the rotating shaft 33 between the arm 32 and the swing arm 31. When the torsion spring 34 is in its natural state, the swing arm 31 and the arm 32 are on the same horizontal line. In specific implementation, the rotating shaft passes sequentially through the swing arm, the torsion spring, and the arm and is connected to a screw, thereby connecting the swing arm and the arm together. A washer is also provided on the side of the arm near the screw.

[0067] A pulley 35 is rotatably mounted on the end of the support arm 32 relative to the swing arm 31. Through the above structural design, the swing arm 31 and the support arm 32 are connected by a rotating shaft 33 and a torsion spring 34. The swing arm 31 and the support arm 32 overcome obstacles under the action of the second drive assembly 50. After overcoming the obstacle, under the action of the sweeper's gravity, the torsion spring 34 is compressed, and different angles can be formed between the swing arm 31 and the support arm 32. Different working heights can be achieved by designing swing arms and support arms of different lengths. When overcoming obstacles, when the laser radar on the intelligent sweeper detects an obstacle in front, the first drive assembly 40 stops working; the second drive assembly 50 is connected to the second transmission... Component 12 drives the swing arm 31 and support arm 32 to rotate until they form a certain angle with the ground. At this time, the front end of the robot vacuum cleaner is lifted, and the body is supported by two side wheels 20 and two pulleys 35. The second drive component 50 stops working. The first drive component 40 works again to drive the side wheels 20 to rotate until the two pulleys 35 stop at the bottom of the obstacle. At this time, the second drive component 50 works again to drive the swing arm 31 and support arm 32 to rotate, and with the pulleys 35 as the fulcrum, the robot vacuum cleaner is driven to climb over the obstacle. After crossing the obstacle, the second drive component 50 reverses to drive the swing arm 31 and support arm 32 to reverse back to the initial position.

[0068] Specifically, please see Figure 9The second drive assembly 50 includes a motor body 51, an encoder 52 mounted on the motor body 51 for detecting the number of rotations of the output shaft of the motor body, and a planetary gear reducer 53 connected to the output shaft of the motor body 51. In this embodiment, the encoder 52 and the planetary gear reducer 53 adopt existing structural designs, which are well known to those skilled in the art. For ease of understanding, the encoder 52 and the planetary gear reducer 53 are briefly described as follows: The encoder 52 includes a magnetic sensing element and a magnet mounted on the output shaft of the motor body 51. The magnetic sensing element and the magnet are separated and opposite to each other. A magnet sheath is provided on the side of the magnet opposite to the magnetic sensing element. The encoder 52 can control the number of rotations of the motor body 51, thereby controlling the operating angle of the adjustable swing arm assembly 30. Therefore, when the second drive assembly 50 drives the swing arm 31 and the support arm 32 through the second transmission assembly 12, the swing arm 31 and the support arm 32 can form a 45-degree angle with the ground, thereby lifting the front end of the intelligent sweeping robot. The body is supported by two side wheels 2 The system uses 0 and two pulleys 35 for stable support; the planetary gear reducer 53 includes a first gear connected to the output shaft of the motor body 51, which meshes with a first planetary gear mounted on the planet carrier; the first planetary gear meshes with an internal gear ring, and a second gear is provided on one side of the planet carrier relative to the first planetary gear, which meshes with a second planetary gear mounted on the connector, and the second planetary gear meshes with the internal gear ring of the internal gear housing. The connector is provided with an output shaft for mounting a worm gear on one side relative to the second planetary gear. By setting the planetary gear reducer 53, a very high reduction ratio can be achieved in the small space of the housing 10 and a large torque can be transmitted.

[0069] In summary, this utility model, through the above-described structural design, overcomes the shortcomings of the prior art and features a reasonable structure, high reliability, and strong obstacle-crossing ability.

[0070] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A sweeping machine obstacle crossing gear box, characterized in that: include A housing (10), wherein a first transmission assembly (11) and a second transmission assembly (12) are provided inside the housing (10). A side wheel (20) is provided on one side of the housing (10); An adjustable swing arm assembly (30) is provided on the other side of the housing (10) for supporting the body to overcome obstacles; A first drive assembly (40) drives the side wheel (20) through the first transmission assembly (11). A second drive assembly (50) is disposed inside the housing (10) and drives the adjustable swing arm assembly (30) through the second transmission assembly (12).

2. The obstacle-crossing gearbox for a sweeper according to claim 1, characterized in that: The first transmission assembly (11) includes an output shaft (111), a first driven gear (112) for driving the output shaft (111), a first gear set (113) meshing with the first driven gear (112), and a first driving gear (114) meshing with the first gear set (113).

3. The obstacle-crossing gearbox for a sweeper according to claim 2, characterized in that: The first gear set (113) includes a first double gear (1131) meshing with the first driving gear (114), a second double gear (1132) meshing with the first double gear (1131), and a third double gear (1133) meshing with the second double gear (1132) and the first driven gear (112).

4. The obstacle-crossing gearbox for a sweeper according to claim 2, characterized in that: An anti-rotation structure (115) is provided between the first driven gear (112) and the output shaft (111).

5. The obstacle-crossing gearbox for a sweeper according to claim 4, characterized in that: The anti-rotation structure (115) includes at least one first flat surface (1151) disposed on the inner wall of the first driven gear (112) and at least one second flat surface (1152) disposed on the outer wall of the output shaft (111), wherein the first flat surface (1151) and the second flat surface (1152) are in contact with each other.

6. The obstacle-crossing gearbox for a sweeper according to claim 3, characterized in that: The first driven gear (112) has a snap ring groove (1111) on the output shaft (111) on one side of the side wheel (20), and a snap ring (1112) is installed in the snap ring groove (1111).

7. The obstacle-crossing gearbox for a sweeper according to claim 2, characterized in that: The second transmission assembly (12) includes a second driven gear (121) for driving the output shaft (111), a second gear set (122) meshing with the second driven gear (121), and a second driving gear (123) meshing with the second gear set (122).

8. The obstacle-crossing gearbox for a sweeper according to claim 7, characterized in that: The second gear set (122) includes a fourth double gear (1221) that meshes with the second driving gear (123) and a fifth double gear (1222) that meshes with the fourth double gear (1221) and a second driven gear (121).

9. The obstacle-crossing gearbox for a sweeper according to claim 7, characterized in that: The adjustable swing arm assembly (30) includes A swing arm (31) is rotatably mounted on the output shaft (111) and connected to the second driven gear (121) via a spline; An arm (32) is connected to the swing arm (31) via a pivot (33), and a torsion spring (34) is sleeved on the pivot (33) between the arm (32) and the swing arm (31). A pulley (35) is rotatably mounted on the end of the support arm (32) relative to the swing arm (31).

10. The obstacle-crossing gearbox for a sweeper according to claim 1, characterized in that: The second drive assembly (50) includes a motor body (51), an encoder (52) mounted on the motor body (51) for detecting the number of rotations of the output shaft of the motor body, and a planetary gear reducer (53) connected to the output shaft of the motor body (51).

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