CN103654640A - Cleaning robot driving wheel mechanism - Google Patents
Cleaning robot driving wheel mechanism Download PDFInfo
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- CN103654640A CN103654640A CN201210362030.8A CN201210362030A CN103654640A CN 103654640 A CN103654640 A CN 103654640A CN 201210362030 A CN201210362030 A CN 201210362030A CN 103654640 A CN103654640 A CN 103654640A
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- 238000004140 cleaning Methods 0.000 title claims abstract 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 241001417527 Pempheridae Species 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
本发明公开了一种清洁机器人驱动轮机构，其包括有马达、左驱动轮、右驱动轮及与该马达连接的齿轮箱，该齿轮箱内装有第一单向轴承与第二单向轴承，该第一单向轴承与第二单向轴承均可工作于自锁和自由状态，通过该马达的正反转和第一单向轴承与第二单向轴承的控制，左驱动轮与右驱动轮能以不同的旋向旋转。本发明清洁机器人驱动轮机构结构简单、可靠，成本低，经济适用。由于其双驱动轮同时旋转转向，转动半径小，阻力小，使转向更容易。该驱动轮机构可用于各类机器人扫地机或吸尘器或类似清洁机。
The present invention discloses a driving wheel mechanism of a cleaning robot, which includes a motor, a left driving wheel, a right driving wheel and a gear box connected to the motor, wherein a first one-way bearing and a second one-way bearing are installed in the gear box, wherein the first one-way bearing and the second one-way bearing can both work in a self-locking and free state, and through the forward and reverse rotation of the motor and the control of the first one-way bearing and the second one-way bearing, the left driving wheel and the right driving wheel can rotate in different directions. The driving wheel mechanism of the cleaning robot of the present invention has a simple and reliable structure, low cost and is economical and applicable. Since the dual driving wheels rotate and turn at the same time, the turning radius is small and the resistance is small, making turning easier. The driving wheel mechanism can be used for various types of robot sweepers or vacuum cleaners or similar cleaning machines.
Description
Technical field
The present invention is about a kind of drive wheel mechanism, the clean robot drive wheel mechanism laborsaving while referring to especially a kind of rotation, control circuit is simple and cost is low.
Background technology
At present, on market, the drive wheel works of clean robot has two kinds of situations: a kind of be by two independently motor drive, the second is to be driven by single motor; The first type of drive is used two motors, and which control circuit is complicated, and cost is high; When the second type of drive turns to, a driving wheel is motionless, and another rotates around it, although the second drives with single motor, while turning to, left and right sidesing driving wheel is not to rotate simultaneously, can not form rotation couple, and the radius of gyration is large, not laborsaving.
Summary of the invention
Laborsaving, simple in structure and clean robot drive wheel mechanism that cost is low when in view of this, main purpose of the present invention is to provide a kind of and can forms rotation couple, rotates.
For achieving the above object, the invention provides a kind of clean robot drive wheel mechanism, the gear-box that it includes motor, left driving wheel, right driving wheel and is connected with this motor, the first unilateral bearing and the second unilateral bearing are housed in this gear-box, this first unilateral bearing and the second unilateral bearing all can work in self-locking and free state, by the rotating of this motor and the control of the first unilateral bearing and the second unilateral bearing, left driving wheel can be with different rotation direction rotations from right driving wheel.
Described left driving wheel and right driving wheel are symmetrical to be installed, and without master-slave, and on same axis, described left driving wheel is provided by different travelling gears from the power of right driving wheel.
Described left driving wheel and right driving wheel with described the first unilateral bearing and the second unilateral bearing not on same axis.
Described gear-box one end is provided with the output gear of described motor, this output gear and an axle closely cooperate, this axle outer rim is provided with described the first unilateral bearing, this first unilateral bearing the 3rd gear that closely cooperated, this output gear by this first unilateral bearing to the 3rd gear transmission torque; This output gear is engaged with the first gear and the second gear simultaneously, this second gear second unilateral bearing that closely cooperated, in this second unilateral bearing, be provided with an axle, this axle and one the 6th gear closely cooperate, and this second gear passes through the second unilateral bearing to the 6th gear transmission torque; This first gear and left driving wheel axle closely cooperate, and this left driving wheel axle is connected with left driving wheel; The 3rd gear is engaged with the 4th gear, and the 4th gear connects together by spline and the 5th gear, and the 4th gear and right driving wheel are fixed, and the 5th gear and the engagement of the 6th gear.
Described the first gear is coaxial with described the 4th gear, can mutually freely rotate.
The present invention has overcome the deficiency of clean robot drive wheel mechanism on the market, and with a motor, two unilateral bearings, add the conversion of gear mechanism, has realized the independent rotation of left and right sidesing driving wheel, simultaneously to a direction or different directions rotation.Clean robot drive wheel mechanism of the present invention is simple in structure, reliable, and cost is low, economic and practical.Because its dual drive wheel rotates and turns to simultaneously, the radius of gyration is little, and resistance is little, and it is easier to make to turn to.This drive wheel mechanism can be used for all kinds of robots sweeper or dust catcher or similar cleaner.
Accompanying drawing explanation
Fig. 1 is clean robot drive wheel mechanism schematic perspective view of the present invention;
Fig. 2 is clean robot drive wheel mechanism perspective exploded view of the present invention;
Fig. 3 is clean robot drive wheel mechanism side view of the present invention;
Fig. 4 is that clean robot drive wheel mechanism of the present invention is along the cutaway view of A-A line in Fig. 2, it shows the rear output gear 1 of motor deceleration and the first gear 5, the 3rd gear 3 and the first unilateral bearing 4, coordinating between the 3rd gear 3 and the 4th gear 6, the first gears 5, the 4th gear 6, the 5th gear 7 and left and right sidesing driving wheel/axle;
Fig. 5 be clean robot drive wheel mechanism of the present invention along the cutaway view of C-C line in Fig. 2, it shows coordinating between the second gear 8 and the second unilateral bearing 9, the five gears 7 and the 6th gear 10, the 4th gear 6;
Fig. 6 be clean robot drive wheel mechanism of the present invention along the cutaway view of B-B line in Fig. 2, it shows coordinating between output gear 1 and the second gear 8, the second gears 8 and the second unilateral bearing 9, the three gears 3 and the second unilateral bearing 4.
The specific embodiment
As shown in Figures 1 to 6, the gear-box 13 that clean robot drive wheel mechanism of the present invention includes motor 12, left driving wheel 15, right driving wheel 16 and is connected with motor 12, the first unilateral bearing 4 and the second unilateral bearing 9 are housed in gear-box 13, and unilateral bearing can work in respectively self-locking and free state.By the rotating of motor and the control of unilateral bearing, left and right sidesing driving wheel can be with different rotation direction work.As shown in Figure 2, these gear-box 13 one end are provided with the output gear 1 of motor 12, this output gear 1 and an axle 2 closely cooperate, these axle 2 outer rims are provided with the first unilateral bearing 4, this first unilateral bearing 4 the 3rd gear 3 that closely cooperated, output gear 1 by the first unilateral bearing 4 to the 3rd gear 3 transmitting torques; This output gear 1 is engaged with the first gear 5 and the second gear 8 simultaneously, this second gear 8 second unilateral bearing 9 that closely cooperated, in this second unilateral bearing 9, be provided with axle 11, this axle 11 and one the 6th gear 10 closely cooperate, and the second gear 8 passes through the second unilateral bearing 9 to the 6th gear 10 transmitting torques; The first gear 5 closely cooperates with left driving wheel axle 14, and this left driving wheel axle 14 is connected with left driving wheel 15; The 3rd gear 3 is engaged with the 4th gear 6, the four gears 6 and connects together by spline and the 5th gear 7, and the 4th gear 6 is fixing with right driving wheel 16, and the 5th gear 7 and the 6th gear 10 engagements; The first gear 5 is coaxial with the 4th gear 6, can mutually freely rotate.
The course of work of clean robot drive wheel mechanism of the present invention is:
When A.Dang robot advances, i.e. (from the right side to the left) when left driving wheel 15 and right driving wheel 16 forward, output gear 1 reversion, because output gear 1 and the first gear 5 mesh, the first gear 5 forwards, therefore left driving wheel 15 forwards; Now the first unilateral bearing 4 is in self-locking state, and output gear 1 is passed to the 3rd gear 3, the three and then reversions of gear 3 by torque, so the 4th gear 6 forwards, therefore right driving wheel 16 forwards.On the other hand, the second gear 8 forwards, the 6th gear 10 reversion, the second unilateral bearing 9 is in free state, not transmitting torque.
When B.Dang robot turns to, output gear 1 forward (from the right side to the left), the first gear 5 reversions, therefore left driving wheel 15 reversions retreat; Now the first unilateral bearing 4 is in free state, and output gear 1 can not be passed to torque the 3rd gear 3; The second gear 8 reversions, the second unilateral bearing 9 is in self-locking state, and the second gear 8 is given the 6th gear 10 by transmission of torque, the 6th and then reversion of gear 10, due to the 6th gear 10 and the 6th gear 7 engagements, the 6th gear 7 forwards, therefore right driving wheel 16 forwards, forward.Like this left and right sidesing driving wheel rotation one in front and one in back, the couple when forming robot and turning to.This couple center will be positioned at the middle section of robot, and the radius of gyration is little, also more laborsaving.Set according to actual needs again turnaround time, can determine flexibly robot steering angle.
The above-mentioned course of work can be summarized by following table:
The design principle of clean robot drive wheel mechanism of the present invention is: left and right sidesing driving wheel is online at same axle, and power is provided by different travelling gears, and whether gear outputting power is controlled by two unilateral bearings.When robot normally cleans forward, left and right sidesing driving wheel rolls forward simultaneously; When running into barrier and turn to, left driving wheel backward, right driving wheel still forward, form rotation couple to be conducive to the change of direction, within the time of setting, complete robot and turn to, this situation be robot turn left to, otherwise also can realize robot turn right to, while turning to, forward, right driving wheel backward for left driving wheel.The present invention also can derive other the implementation that turns to, and before turning to, two driving wheels turn round after certain hour simultaneously, and another driving wheel is forwards, finally within the time of setting, completes robot and turns to.
In the present invention, left driving wheel and right driving wheel are symmetrical to be installed, without master-slave, and at same axis, but left and right driving wheel and motor and first, second unilateral bearing be on same axis, and the work of motor is controlled by special circuit, the power of driving wheel is provided by the gear mechanism that matches, two unilateral bearings are housed in gear mechanism, and the power of driving wheel is realized by the cooperation of gear and unilateral bearing, the motion of controlling left and right sidesing driving wheel by freedom and the self-locking of unilateral bearing.
The present invention has overcome the deficiency of clean robot drive wheel mechanism on the market, and with a motor, two unilateral bearings, add the conversion of gear mechanism, has realized the independent rotation of left and right sidesing driving wheel, simultaneously to a direction or different directions rotation.Clean robot drive wheel mechanism of the present invention is simple in structure, reliable, and cost is low, economic and practical.Because its dual drive wheel rotates and turns to simultaneously, the radius of gyration is little, and resistance is little, and it is easier to make to turn to.This drive wheel mechanism can be used for all kinds of robots sweeper or dust catcher or similar cleaner.
The above; it is only preferred embodiment of the present invention; be not intended to limit protection scope of the present invention; the driving wheel steering mechanism of robot that meets above-mentioned principle is all the scope of protection of present invention, no matter the power of driving wheel comes from coordinating of coordinating of gear and unilateral bearing or gear and clutch.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210362030.8A CN103654640A (en) | 2012-09-26 | 2012-09-26 | Cleaning robot driving wheel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210362030.8A CN103654640A (en) | 2012-09-26 | 2012-09-26 | Cleaning robot driving wheel mechanism |
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| CN103654640A true CN103654640A (en) | 2014-03-26 |
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| CN201210362030.8A Pending CN103654640A (en) | 2012-09-26 | 2012-09-26 | Cleaning robot driving wheel mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI582322B (en) * | 2016-01-26 | 2017-05-11 | 日本電產股份有限公司 | Wheel driving device and cleaner robot using the same |
| CN110640713A (en) * | 2019-09-09 | 2020-01-03 | 深圳市优必选科技股份有限公司 | Gearbox and robot having the same |
| WO2020078441A1 (en) * | 2018-10-18 | 2020-04-23 | 北京石头世纪科技股份有限公司 | Gearbox and intelligent cleaning apparatus |
| CN111267954A (en) * | 2020-04-09 | 2020-06-12 | 宁波普乐菲智能科技有限公司 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
| CN114916885A (en) * | 2022-05-25 | 2022-08-19 | 美智纵横科技有限责任公司 | Lifting mechanism and cleaning equipment |
| CN114983275A (en) * | 2022-06-07 | 2022-09-02 | 美智纵横科技有限责任公司 | Be applied to robot of sweeping floor's gear drive case and robot of sweeping floor |
| US11564548B2 (en) | 2021-01-29 | 2023-01-31 | Poolelf Smart Technology Co., Ltd. | Cleaning robot capable of simultaneously driving a driving wheel and an impeller by single motor |
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| KR20020080901A (en) * | 2001-04-18 | 2002-10-26 | 삼성광주전자 주식회사 | Robot cleaner and system and method of rejoining the same with external charging apparatus |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| US20110118928A1 (en) * | 2009-11-18 | 2011-05-19 | Samsung Electronics Co., Ltd. | Control method of performing rotational traveling of robot cleaner |
| CN102083352A (en) * | 2008-04-24 | 2011-06-01 | 进展机器人有限公司 | Application of localization, positioning & navigation systems for robotic enabled mobile products |
| CN102379656A (en) * | 2010-08-26 | 2012-03-21 | 三星电子株式会社 | Robot cleaner and control method thereof |
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2012
- 2012-09-26 CN CN201210362030.8A patent/CN103654640A/en active Pending
Patent Citations (5)
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| KR20020080901A (en) * | 2001-04-18 | 2002-10-26 | 삼성광주전자 주식회사 | Robot cleaner and system and method of rejoining the same with external charging apparatus |
| CN101301186A (en) * | 2008-04-23 | 2008-11-12 | 上海中为智能机器人有限公司 | 4-segment type sweeping robot |
| CN102083352A (en) * | 2008-04-24 | 2011-06-01 | 进展机器人有限公司 | Application of localization, positioning & navigation systems for robotic enabled mobile products |
| US20110118928A1 (en) * | 2009-11-18 | 2011-05-19 | Samsung Electronics Co., Ltd. | Control method of performing rotational traveling of robot cleaner |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI582322B (en) * | 2016-01-26 | 2017-05-11 | 日本電產股份有限公司 | Wheel driving device and cleaner robot using the same |
| US10548445B2 (en) | 2016-01-26 | 2020-02-04 | Nidec Corporation | Wheel driving device and cleaner robot having the same |
| WO2020078441A1 (en) * | 2018-10-18 | 2020-04-23 | 北京石头世纪科技股份有限公司 | Gearbox and intelligent cleaning apparatus |
| EP3854285A4 (en) * | 2018-10-18 | 2022-06-22 | Beijing Roborock Technology Co., Ltd. | GEARBOX AND SMART CLEANER |
| CN110640713A (en) * | 2019-09-09 | 2020-01-03 | 深圳市优必选科技股份有限公司 | Gearbox and robot having the same |
| CN111267954A (en) * | 2020-04-09 | 2020-06-12 | 宁波普乐菲智能科技有限公司 | Double-wheel drive walking steering mechanism and underwater cleaning robot applying same |
| CN111267954B (en) * | 2020-04-09 | 2024-07-16 | 淮安普乐菲智能科技有限公司 | Double-wheel driving walking steering mechanism and underwater cleaning robot using same |
| US11564548B2 (en) | 2021-01-29 | 2023-01-31 | Poolelf Smart Technology Co., Ltd. | Cleaning robot capable of simultaneously driving a driving wheel and an impeller by single motor |
| CN114916885A (en) * | 2022-05-25 | 2022-08-19 | 美智纵横科技有限责任公司 | Lifting mechanism and cleaning equipment |
| CN114916885B (en) * | 2022-05-25 | 2024-05-07 | 美智纵横科技有限责任公司 | Lifting mechanism and cleaning equipment |
| CN114983275A (en) * | 2022-06-07 | 2022-09-02 | 美智纵横科技有限责任公司 | Be applied to robot of sweeping floor's gear drive case and robot of sweeping floor |
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Application publication date: 20140326 |