TW201918210A - Autonomous travel type robot vacuum cleaner and wheel with driving device characterized by reducing the vibration of the wheel unit - Google Patents

Abstract

The subject of his invention is to reduce the vibration of the wheel unit. A wheel with a driving device is provided with: a wheel that makes the vehicle body move; a shaft that is rotated by the input of the driving source and supports the load of the vehicle body; a speed-reducing mechanism that is disposed between the shaft and the wheel; the first bearing that supports the shaft and is disposed between the shaft and the wheel; a second bearing that supports the shaft and is disposed closer to the central side than the first bearing; and two planet gears of elastomers using the second gear of the speed-reducing mechanism to reduce vibration.

Description

Self-discipline walking type sweeping robot and wheels with drive

The present invention relates to an autonomous walking type sweeping robot and a wheel attached to the driving device.

Conventionally, an autonomous walking type sweeping robot that cleans indoors while moving autonomously is known. The self-regulating walking type sweeping robot is equipped with a rechargeable battery as a power source, controls a traveling motor for driving the wheel unit by a control device, and performs autonomous walking, and uses a motor-driven rotating brush to sweep the dust to attract the fan suction. Clean up.

The self-discipline walking type sweeping robot is an automatic walking caused by a pair of left and right driving wheels.

Here, since the autonomous walking type sweeping robot is automatically driven, it is necessary to adjust the reduction ratio to a certain value range, for example, 40 to 80, by applying the torque of the motor that drives the wheels. That is to say, for the torque of the motor, the torque for driving the wheel is 40 to 80 times, which is one of the causes of the increase in the operational sound during operation. [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2017-74321

[Problems to be solved by the invention]

The speed reduction mechanism of the wheel of the conventional autonomous walking type sweeping robot is arranged such that the diameter direction of the speed reduction mechanism converges inside the wheel as described in Patent Document 1.

In the case of this structure, since the outer diameter of the gear cannot be made large, the reduction ratio of each stage cannot be made large. Therefore, in order to obtain a necessary reduction ratio, it is necessary to arrange a plurality of layers by overlapping the gears up and down, and the thrust direction of the wheels is increased. Further, when the length of the thrust mechanism in the thrust direction is suppressed, the reduction ratio is reduced. Therefore, it is necessary to increase the torque of the motor, and the level of the magnet is increased to increase the cost.

Further, when the motor is driven, the motor is driven by high rotation, and the gear of the high-speed reduction mechanism is rubbed, thereby generating a large operation sound. Since the self-discipline walking type sweeping robot is operating, the user often performs other operations around, so that there are many users who desire a reduction in noise during operation. [Means to solve the problem]

The present invention has been made in view of the above circumstances, and is a wheel with a driving device, comprising: a driving wheel for moving a vehicle body, a motor for rotating the driving wheel, and a speed reducing mechanism provided between the driving wheel and the motor, The speed reduction mechanism includes a pinion gear, a first gear that meshes with the pinion gear and has a longer diameter than the pinion gear, and the first gear wheel has an elastic body or an elastic body. [Effects of the Invention]

According to the present invention, it is possible to provide an autonomous walking type sweeping robot and a wheel to which the driving device is attached, which reduces the noise of the miniaturized wheel unit.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Fig. 1 is a perspective view of an autonomous walking type sweeping robot according to an embodiment of the present invention viewed from the left front side. Further, among the directions in which the autonomous walking type sweeping robot S travels, the side where the side brush 7 is provided is regarded as the front side, the vertical upper side is regarded as the upper side, and the driving wheel 2 side is used in the direction in which the driving wheels 2, 3 are opposed to each other. To the left, the drive wheel 3 side is taken to the right. That is, as shown in FIG. 1 and the like, the front, back, up and down, and left and right directions are defined.

2 is a bottom view of the autonomous walking type sweeping robot.

The autonomous walking type sweeping robot S is an electric machine that automatically cleans a predetermined cleaning area (for example, the floor Y of the room) while moving autonomously.

The autonomous walking type sweeping robot S includes a casing 1 (1u, 1s) which is an outer contour, and drive wheels 2, 3 (see FIG. 2) which are one pair of the lower part, and the auxiliary wheel 4. Further, the autonomous walking type sweeping robot S includes a rotating brush 5, a guide brush 6, and a side brush 7 at the lower portion, and is provided with sensors 8 (8a, 8b, 8c) around (see Figs. 2, 3, and 4). .

The drive wheels 2, 3 are rotationally driven by the travel motors 21, 21A (see Fig. 6), respectively. The auxiliary wheel 4 is a driven wheel, that is, a freely rotating caster. The drive wheels 2 and 3 are provided on the center side in the front-rear direction before and after the autonomous walking type sweeping robot S, and are provided on the outer side in the left-right direction, and the auxiliary wheel 4 is provided on the front side in the front-rear direction and on the center side in the left-right direction.

The side brush 7 is provided on the front side of the autonomous walking type sweeping robot S and is outside the left-right direction. As shown by the arrow α1 in Fig. 1, the area outside the front side of the autonomous walking type sweeping robot S is oriented from the left side to the outer side. The inner direction is swept in a swept manner, and the dust on the ground is concentrated to the side of the center rotating brush 5 (see FIG. 2). The two guide brushes 6 are each fixed to the drive wheels 2, 3 on the inner side in the left-right direction, and are guided so that the dust collected by the side brush 7 does not escape from the range of the rotary brush 5 to the outside. brush.

The rotating brush 5 is provided behind the driving wheels 2 and 3 of the autonomous walking type cleaning robot S. The left-right direction positions of the right and left end portions of the rotary brush 5 may be inside of the drive wheels 2, 3 or inside the guide brush 6, respectively.

Fig. 3 is a cross-sectional view taken along line A-A of Fig. 1;

4 is a perspective view showing an internal structure in which a casing of an autonomous walking type sweeping robot is removed. 4 is a view showing a state in which the dust box 12 is detached.

Fig. 5 is a perspective view showing a cross section taken along line B-B of Fig. 4;

As shown in FIG. 3, the autonomous walking type cleaning robot S includes a rechargeable battery 9, a control device 10, a suction fan 11, and a dust collecting case 12. As the inlet of the dust collecting case 12, a suction port 12i is formed above the rotating brush 5. Further, the dust box 12 is provided with a dust collecting filter 13 at the outlet.

The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and is housed in the battery housing portion 1s6 (see FIG. 2). The rechargeable battery 9 is disposed over the left and right ends of the autonomous walking type sweeping robot S (see FIGS. 3 and 5).

The electric power from the rechargeable battery 9 is supplied to each of the motors (21, 21A, 5m) of the sensor 8, the driving device, the like, the control device 10, the suction fan 11, and the like.

The autonomous walking type sweeping robot S is controlled by the control device 10.

(Aspirating Fan 11) As shown in Fig. 4, the suction fan 11 is disposed near the center of the lower casing 1s.

In the flow path of the air by the suction fan 11, the dust collecting box 12, the dust collecting filter 13, the suction fan 11, and the exhaust port 1s5 are provided in order from the suction port 14i (refer to FIG. 3) toward the downstream side (refer to figure 2). The exhaust port 1s5 is provided in front of the rotating brush 5 and on the inner side in the left-right direction of the drive wheels 2, 3. By driving the suction fan 11 (see FIGS. 3 and 5), the air in the dust box 12 is discharged from the exhaust port 1s5 to the outside to generate a negative pressure, and the dust is sucked from the floor Y through the suction port 14i into the dust box 12. Inside.

A rotating brush 5 for inspecting dust on the ground is provided in the vicinity of the suction port 14i (see Fig. 2).

The suction fan 11 is provided through the elastic body (not shown) between the lower casing 1s and the lower casing 1s. By interposing an elastic body, the vibration of the suction fan 11 is attenuated and it is difficult to transmit it to the lower case 1s, and vibration and noise can be reduced.

When the suction fan 11 and the rotating brush motor 5m (see FIG. 4) are driven, dust such as the ground is swept by the rotating brush 5 (see FIG. 3). The dust that has been swept is guided into the dust box 12 through the suction port 14i and the suction port 12i. The air after the dust is removed by the dust collecting filter 13 is discharged through the exhaust port 1s5 (see Fig. 2). Moreover, the dust box 12 can be attached and detached by opening the lid 1u1 (see FIG. 1) provided in the upper casing 1u, and the dust collecting filter 13 can be removed to discard the dust.

(Outline of Operation of the Autonomous Walking Type Sliding Robot S) Here, the general operation of the autonomous walking type cleaning robot S will be described.

The autonomous walking type sweeping robot S is autonomously moved by the drive wheels 2, 3 and the auxiliary wheel 4 (see FIG. 2), and can be advanced, retracted, left and right, and turned in place. Further, the autonomous walking type sweeping robot S is a dust that is adhered to the periphery of the rotating brush 5 by the side brush 7 and the guide brush 6, and is transmitted through the suction port 14i by the suction force of the suction fan 11 from the dust box. The inlet port 12i of the inlet 12 is sucked into the dust box 12, and is retained in the dust box 12 by the dust collecting filter 13 at the outlet.

When dust is accumulated in the dust collecting case 12, the user appropriately removes the dust collecting case 12 from the main body portion Sh, and removes the dust collecting filter 13 to discard the dust.

Hereinafter, other structures of the autonomous walking type sweeping robot S will be described in detail.

(Shell 1) The casing 1 is an outer casing and is a casing for accommodating the traveling motors 21 and 21A, the rotating brush motor 5m, the suction fan 11, the dust collecting case 12, the control device 10, and the like.

The case 1 includes an upper case 1u serving as an upper wall, a lower case 1s (see FIG. 2) serving as a bottom wall (and a part of side walls), and a bumper 1b provided at a lower portion of the case 1 before.

The upper casing 1u is provided with a cover 1u1 for feeding in and out of the dust collecting case 12 (see Fig. 3) (see Fig. 1).

As shown in FIG. 2, the lower casing 1s is formed with a wheel unit accommodating portion 1s1, a side brush mounting portion 1s3, a hole portion 1s4, an exhaust port 1s5, and a battery accommodating portion 1s6.

The wheel unit accommodating portion 1s1 is formed on the left and right sides of the center of the casing 1s which is substantially circular below in plan view in Fig. 2 .

The wheel unit housing portion 1s1 houses wheel units 20 and 30 for supporting and driving the drive wheels 2 and 3.

A suction portion 14 is provided in the hole portion 1s4. The exhaust port 1s5 is formed at a position sandwiched between the left and right wheel unit housing portions 1s1 in the vicinity of the center of the lower case 1s.

The battery housing portion 1s6 is formed on the front side of the center of the lower case 1s.

The rechargeable battery 9 is housed in the battery housing portion 1s6. A side brush mounting portion 1s3 for attaching the side brush 7 is formed on the left and right of the battery housing portion 1s6.

A hole portion 1s4 provided with a suction portion 14 (see FIG. 2) is formed on the rear side of the lower casing 1s, that is, the exhaust port 1s5 and the rear side of the wheel unit housing portion 1s1.

The bumper 1b (see FIGS. 1 and 2) is provided to be movable in the front-rear direction in response to an obstacle acting on the outside when it collides with an obstacle such as a wall. The bumper 1b is pushed outward by a pair of left and right bumper springs (not shown).

When the force applied to the bumper spring by the bumper 1b and the obstacle is applied to the bumper spring, the bumper spring is deformed downwardly in the plan view, and the bumper 1b is pushed outward to allow the bumper 1b. Back. When the bumper 1b is moved away from the obstacle and the aforementioned force is lost, the bumper 1b is returned to the original position by the spring force of the bumper spring. Further, the retreat of the bumper 1b (that is, the contact with the obstacle) is detected by the bumper sensor 8a (see FIG. 4) which will be described later, and the detection result is input to the control device 10.

(Suction Portion 14) The suction portion 14 shown in Fig. 3 is a part of a flow path for forming air, and the air contains dust sucked by the suction fan 11. The flow path from the suction unit 14 to the downstream is sequentially connected to the dust collecting case 12, the dust collecting filter 13, the suction fan 11, and the exhaust port 1s5 (see Fig. 2).

In the suction unit 14, a rotating brush 5 for sweeping dust is disposed, and a rotary brush motor 5m for driving the rotating brush 5 is fixed (see FIG. 4). The suction portion 14 is formed with a suction port 14i that sucks dust swept in by the rotating brush 5 into the dust box 12. The suction port 14i is formed to have substantially the same length as the rotating brush 5 (see FIG. 2).

As shown in FIG. 3, the suction port 14i communicates with the suction port 12i of the opening of the dust box 12, and the dust is concentrated to the dust box 12 through the suction port 14i and the suction port 12i.

In the suction unit 14, the rotating brush accommodating portion 14b accommodating the rotating brush 5 is formed in the lower case 1s, and the above-described rotating brush 5 is disposed in the rotating brush accommodating portion 14b. The rotating brush 5 is rotatably attached to the suction portion 14. The rotating brush 5 is detachably attached to the suction portion 14.

(dust box 12) The dust box 12 shown in Fig. 3 is a container for collecting dust, and the dust is sucked from the ground Y through the suction port 14i formed in the suction portion 14. The dust box 12 has substantially the same size in the left-right direction as the rotating brush 5.

The dust box 12 includes a main body that houses the collected dust, a cover that can take out the collected dust, and a foldable handle on the upper portion of the main body. The main body of the dust collecting case 12 has a shape corresponding to the shape of the upper portion of the suction portion 14, and has a suction port 12i having substantially the same opening shape as the suction port 14i. The cover is opposed to the suction port of the suction fan 11, and includes the above-described dust collecting filter 13.

(Sensor 8) The bumper sensor 8a shown in FIG. 4 is a sensor that detects the contact of the bumper 1b (refer to FIG. 1) with an obstacle by the retreat of the bumper 1b, for example, a photocoupler. . In the case where the obstacle contacts the bumper 1b, the sensor light is blocked by the retreat of the bumper 1b. The detection signal is output to the control device 10 as it should be changed.

The distance measuring sensor 8b shown in Fig. 4 is an infrared sensor that detects the distance from the obstacle. In the present embodiment, the distance measuring sensor 8b is provided at three places on the front side and the two side surfaces.

The distance measuring sensor 8b includes a light emitting unit (not shown) that emits infrared rays, and a light receiving unit (not shown) that receives reflected light reflected by the infrared rays from the obstacle. The distance from the obstacle is calculated based on the intensity of the reflected light detected by the light receiving unit. Further, among the bumpers 1b, at least in the vicinity of the distance measuring sensor 8b, resin or glass which is penetrated by infrared rays is formed.

In addition, other kinds of sensors (for example, an ultrasonic sensor, a visible light sensor) can be used as the ranging sensor 8b.

The ground-based distance measuring sensor 8c shown in FIG. 2 is an infrared sensor that measures the distance from the ground, and is disposed at four places of the lower surface of the lower casing 1s. The large distance difference of the steps or the like is detected by the ground distance measuring sensor 8c, whereby the falling of the autonomous walking type cleaning robot S can be prevented. For example, when the ground distance measuring sensor 8c detects a height difference of about 30 mm or more in front, the control device 10 (see FIG. 3) controls the traveling motors 21 and 21A to retreat the main body portion Sh, and converts The direction in which the self-discipline walking type sweeping robot S is performed.

(Control Device 10) The control device 10 shown in Fig. 3 is configured by, for example, mounting a microcomputer (Microcomputer) and a peripheral circuit on a substrate. In the microcomputer, a control program stored in a ROM (Read Only Memory) is read and developed in a RAM (Random Access Memory), and is executed by a CPU (Central Processing Unit), thereby realizing various processes. The peripheral circuit includes: an A/D, a D/A converter, a drive circuit of various motors, a sensor circuit, a charging circuit of the rechargeable battery 9, and the like.

The control device 10 performs calculation processing in response to the operation of the operation button bu by the user and the signal input from the sensor 8, and is connected to each of the motors (21, 21A, 5m), the sensor 8, and the attraction. Fan 11 and other input and output signals.

(Subsidy wheel 4) The auxiliary wheel 4 shown in Fig. 2 is located at the center in the left-right direction in front of the lower casing 1s. The auxiliary wheel 4 is a wheel for smoothly moving the autonomous walking type sweeping robot S while maintaining the main body portion Sh at a predetermined height together with the driving wheels 2 and 3. The auxiliary wheel 4 is driven to rotate by a frictional force with the ground surface Y in accordance with the movement of the main body portion Sh, and is axially supported by the lower casing 1s so as to be capable of rotating 360 degrees in the horizontal direction.

<<Embodiment 1>> Next, the wheel assemblies 20 and 30 including the drive wheels 2 and 3 of the autonomous walking type cleaning robot S of the first embodiment will be described.

Further, the wheel assembly 20 including the drive wheels 2 and the wheel assembly 30 including the drive wheels 3 can have the same structure with respect to the center plane on the left and right sides of the autonomous walking type sweeping robot S, so that the wheel assembly 20 is provided. The description of the construction can be the same as the wheel assembly 30, so the description of the wheel assembly 30 is not repeated.

Fig. 6 is a perspective view of the wheel assembly of the first embodiment as seen from the upper rear side, and Fig. 7A is a side cross-sectional view of the wheel assembly of the first embodiment, and Fig. 7B is a cross-sectional view taken along line C-C of Fig. 7A.

8 is an exploded perspective view of the wheel assembly, and FIG. 9 is an exploded perspective view of the wheel assembly viewed from the opposite direction of FIG. Figure 10 is an exploded perspective view of the planetary gear assembly.

The speed reduction mechanism between the drive wheel 2 of the wheel assembly 20 of the first embodiment and the motor 21 for driving the drive wheel 2 will be described.

Specifically, as shown in FIG. 7A, the motor 21 is disposed coaxially with the drive wheel 2, and as shown in FIG. 7B, the sun gear 22 is fixed to the drive shaft (input shaft) of the motor 21 by press fitting or the like. . The motor 21 is fixed to the motor bracket 21b.

As shown in FIG. 7B, three planetary gears 23 that are engaged with teeth on the outer circumference of the sun gear 22 are provided.

The first external gear 24 having the internal gears of the internal teeth 24h is fixed to a non-rotating portion such as the main body portion Sh of the example shown in Fig. 1, and the internal teeth 24h are engaged with the teeth 23h of the outer periphery of the three planetary gears 23. .

Further, as shown in FIG. 7A and FIG. 8, the teeth of the outer circumference of the three planetary gears 23 are engaged, and the second external gear 25 of the internal gear having the internal teeth 25h is rotatably provided. The second external gear 25 is fixed to the drive wheel 2 (see FIG. 6) to constitute an output shaft.

The second external gear 25 that is rotatable is changed to have a different number of teeth than the fixed first external gear 24, and the transfer angle is changed, thereby having the same reference circle diameter as the fixed first external gear 24. In this way, the internal teeth 25h of the second external gear 25 are disposed to engage with the teeth 23h of the three planetary gears 23.

As described above, the speed reduction mechanism between the motor 21 and the drive wheel 2 is configured to include the sun gear 22, the three planetary gears 23, the first external gear 24, and the second external gear 25.

As shown in FIGS. 8 and 9, the second external gear 25 is a bottomed cylindrical resin member having a short depth. The second external gear 25 is a cylindrical plate 25b having a disk-shaped bottom plate 25a and a shape rising from the edge of the bottom plate 25a. Internal teeth 25h are formed on the inner peripheral surface side of the cylindrical plate 25b.

A circular hole 25a0 for retracting the motor shaft 21j is formed at the center of the bottom plate 25a of the second external gear 25. Further, on the inner surface side of the bottom plate 25a of the second external gear 25, three convex portions 25a1 extending toward the motor 21 side are formed (see FIG. 8). In the convex portion 25a1, the female screw 25a2 is screwed from the outer surface side of the bottom plate 25a to the inner surface side (the left side to the right side in the drawing of Fig. 8). However, if the second external gear 25 is formed of resin as described above, For example, a self-tapping screw is used, whereby the convex portion 25a1 can be screwed to fix it.

The drive wheel 2 has a disk-shaped bottom plate 2s and a cylindrical wheel portion 2w that is raised from the edge of the bottom plate 2s. The drive wheel 2 is shaped, for example, from an elastomer. Further, the drive wheel 2 may be formed of a material other than an elastic material. The outer diameter dimension s1 (see FIG. 7A) of the wheel portion 2w of the drive wheel 2 is a size of about 50 mm to about 80 mm. The outer diameter dimension s1 of the wheel portion 2w is at most about 80 mm, and the smallest outer diameter dimension s1 is about 50 mm.

The wheel portion 2w is a portion that is in contact with the ground surface Y during traveling, and is attached to the autonomous walking type sweeping robot S so that the inner side in the left-right direction of the wheel portion 2w becomes the cylindrical surface 2w1. On the other hand, the outer side in the left-right direction of the wheel portion 2w is a concavo-convex cylindrical surface 2w2 having a cylindrical shape having a concave shape 2wo and a convex shape 2wt.

As shown in Fig. 8, in the disk-shaped bottom plate 2s, the convex portion 2s1 for fixing the second external gear 25 is formed at three inner sides. A hole 2s2 is formed in each of the convex portions 2s1, and the hole 2s2 is inserted through a screw n1 for fixing the second external gear 25.

The assembly of the drive wheel 2 and the second external gear 25 is performed as follows. The screw n1 is inserted into the hole 2s2 formed in the disc-shaped bottom plate 2s of the drive wheel 2, and is screwed to the female screw 25a2 of the second external gear 25, whereby the drive wheel 2 is fixed to the second output. External gear 25.

According to the above configuration, the three planetary gears 23 are respectively engaged with the internal teeth 24h of the fixed first external gear 24 and the internal teeth 25h of the second externally driven gear 25 that are rotatably rotated. While the three internal gears 24h of the fixed first external gear 24 are rotationally moved by one, the second planetary gears 23 are rotatable by a different number of teeth than the first external gears 24.

The engagement state of the speed reduction mechanism between the drive wheel 2 and the motor 21 for driving the drive wheel 2 is shown in FIG. Fig. 11 is a vertical cross-sectional view showing a state in which a speed reduction mechanism between a drive wheel and a motor is engaged.

When the number of teeth of the sun gear 22 is z1, the number of teeth of the planetary gear 23 is z2, the number of teeth of the fixed first external gear 24 is z3, and the number of teeth of the second external gear 25 that is rotatable is z4, the motor 21 is input to the fixed The reduction ratio N up to the second external gear 25 for outputting the drive wheel 2 is obtained as follows.

Here, when the number of the planetary gears 23 is n and m is a natural number of 1, 2, 3, ..., the number of teeth z1 of the sun gear 22 is the number of teeth having the number of the planetary gears 23, so the following formula (1) to indicate.

In addition, when the number of teeth z3 of the fixed first external gear 24 is a natural number of 1, 2, 3, ..., m, the fixed first external gear 24 has the number of teeth of the number of the planetary gears 23, so m When it is a natural number of 1, 2, 3, ..., it is represented by the following formula (2).

The number of teeth z4 of the second external gear 25 that is rotatable is the following formula (3).

The planetary gear 23 is interposed between the sun gear 22 and the first external gear 24 and the second external gear 25, and the reduction ratio N1 is expressed by the following formula (4).

For example, if z1=57, z2=15, z3=84, and z4=87, the reduction ratio N1 is 71.7.

In this way, with the structure of the wheel assembly 20, the reduction ratio N1 = about 40 to about 80 can be achieved.

As shown in FIG. 7A, the wheel 2 is disposed on the outer periphery of the first external gear 24 and the second outer gear 25 that are rotatable. Thereby, the special planetary gear reduction mechanism can be disposed inside the wheel 2. Similarly, a special planetary gear reduction mechanism can be disposed inside the wheel 3.

Further, the three planetary gears 23 are molded parts of the elastic body, that is, the elastic body, and the vibration at the time of driving the motor 21 is absorbed by the planetary gear 23 when being transmitted from the sun gear 22, and is not lowered to the first. The outer gear 24, thereby reducing noise.

Then, the speed reduction mechanism of the drive wheels 2, 3 is made possible by miniaturizing the thrust direction (axial direction) and the diameter direction of the drive wheels 2, 3 together, and making it possible to reduce the noise of the drive wheel 2.

<Cushion Mechanism K> If an external force received by the drive wheels 2 and 3 from the ground is applied to the gear portion (22, 23, 24, 25), there is a problem that the backlash or the like changes, and the loss of noise or energy transmission becomes large. The possibility.

Then, as shown in FIGS. 7A and 7B, a buffer mechanism K is provided between the drive wheel 2 and the casing 26.

The casing 26 is provided between the drive wheel 2 and the second external gear 25 to which the drive wheel is rotatably fixed.

The damper mechanism K is composed of a pin 26p supported by the casing 26 and a cylindrical roller 26r that is rotatably inserted by the pin 26p.

As shown in Figs. 8 and 9, the casing 26 is a resin-made member having a shallow bottomed cylindrical shape. The casing 26 has a disk-shaped bottom plate 26a, a cylindrical side plate 26b, and a flange plate 26c.

A center hole 26a1 through which the three convex portions 25a1 of the drive wheel 2 are inserted is formed in the bottom plate 26a.

A pin 26p of stainless steel or the like is fixed to the flange plate 26c in the axial direction of the drive wheel 2. The roller 26r is rotatably inserted by the pin 26p. The roller 27r is a resin using, for example, POM (Polyoxymethylene, Polyacetal). At the position shown in Fig. 7A, the roller 26r is disposed, and after the pin 26p passes through the roller 26r, the pin 26p is fixed to the flange plate 26c and the cylindrical side plate 26b by press fitting or the like. Thereby, the roller 26r is rotatably provided in the pin 26p.

According to the above configuration, the gap between the inner circumferential surface 2n (see FIG. 7A) of the drive wheel 2 and the roller 27r is narrowed, whereby the punching or external force received by the drive wheel 2 from the ground Y can be transmitted through the roller 26r. It is received by the housing 26. Thereby, it is possible to suppress the flushing or external force received by the drive wheels 2 from the ground Y and transmit them to the gears such as the planetary gears 23 and the sun gears 22.

According to the structure of the first embodiment, the following effects are exhibited.

1. The speed reduction mechanism of the drive wheels 2, 3 including the motor 21 is almost accommodated in the outer diameter dimension s1 and the width dimension s2 of the drive wheels 2, 3, and the reduction ratio N1 = which is necessary for the autonomous walking type sweeping robot S can be realized. It is about 40 to about 80, preferably 70 to 80.

2. As shown in FIG. 6, FIG. 7A, and FIG. 7B, the speed reduction mechanism (22, 23, 24) of the drive wheels 2, 3 including the motor 21 can be viewed from the direction of each axle of the drive wheels 2, 3. 25) Each of them is housed in a region of each of the outer diameters s1 of the drive wheels 2, 3. Therefore, the rechargeable battery 9, the dust collecting case 12, the suction port 14i, and the rotating brush 5 can be disposed at any position in the rear direction region except for the driving wheels 2, 3. Therefore, miniaturization of the autonomous walking type sweeping robot S is possible. Further, since the rechargeable battery 9, the dust collecting case 12, the suction port 14i, and the rotating brush 5 can be sufficiently disposed in the left-right direction except for the regions of the driving wheels 2, 3, the basic functions of the autonomous walking type cleaning robot S can be improved. .

3. When the autonomous walking type cleaning robot S is viewed from the front-rear direction (see FIGS. 1 and 4), as shown in FIG. 7A, the motor 21 and the speed reduction mechanism can be accommodated in the respective width dimensions s2 of the drive wheels 2, 3. Part or all of each gear (22, 23, 24, 25).

From the above, it is known that the speed reduction mechanism of the drive wheels 2, 3 can be miniaturized. That is, even if a large reduction ratio N1 is obtained, the speed reduction mechanism of the drive wheels 2, 3 can be miniaturized.

4. In the present reduction gear mechanism, a large external force due to the torque is applied to the planetary gear 23, the first external gear 24, and the second external gear 25, and a large stress is generated. However, in the present reduction mechanism, three planetary gears 23 are used, so that the external force becomes 1/3, and the generated stress also becomes 1/3. Further, the external force applied to the first external gear 24 and the second external gear 25 is transmitted through the three planetary gears 23, and thus each becomes 1/3. Therefore, the stress generated by each of the first external gear 24 and the second external gear 25 is 1/3.

Therefore, in the present reduction mechanism, the generated stress is lowered, and the mechanical reliability is high.

5. Between each of the drive wheels 2, 3 and the housing 26, a buffer mechanism K is provided which narrows the gap between the drive wheel 2 and the roller 26r supported by the housing 26. Thus, the punching and external force applied to the drive wheels 2, 3 can be withstood by the housing 26. Therefore, it is possible to suppress the flushing applied to the drive wheels 2, 3 and the transmission of the external force to the gears (22, 23, 24, 25) of the speed reduction mechanism.

Therefore, the reliability of the speed reduction mechanism (22, 23, 24, 25) is high, and the life can be extended.

6. The three planetary gears 23 are made of an elastic body, that is, an elastic material, and the vibration generated by the external force during movement is absorbed between the motor 21 and each of the gears, and the noise generated when the autonomous walking type cleaning robot S is driven is reduced.

7. As described above, it is possible to realize a small-sized, high-output torque, a mechanically reliable deceleration mechanism that reduces the generated stress, and an autonomous walking type sweeping robot S that can reduce noise during movement.

Further, in the first embodiment, the case where the three planetary gears 23 are used is exemplified, but the number of the planetary gears 23 may be appropriately selected as long as the number of the planetary gears 23 is plural.

Further, although the gears using the elastic body are three planetary gears 23, the other one or a plurality of gears may be formed of an elastic body in a range in which the strength of the gears is not significantly lowered.

<<Embodiment 2>> Next, the wheel assemblies 20A and 30A each including the drive wheels 2 and 3 of the autonomous walking type cleaning robot S of the second embodiment will be described.

Further, the wheel assembly 20A including the drive wheels 2 and the wheel assembly 30A including the drive wheels 3 can have the same structure with respect to the center plane on the left and right sides of the autonomous walking type sweeping robot S, so that the wheel assembly 20A is provided. The description of the structure can be the same as that of the wheel assembly 30A, so that the description of the wheel assembly 30A is not repeated.

Fig. 12 is a perspective view of the wheel assembly of the second embodiment viewed from obliquely rear upper side.

Fig. 13 is an exploded perspective view of the wheel assembly of the embodiment 2, and Fig. 14 is an exploded perspective view of the wheel assembly viewed from the opposite direction of Fig. 13.

Fig. 15 is a cross-sectional view taken along line D-D of Fig. 12, and Fig. 16 is a cross-sectional view showing a cross section of the pinion gear and the gear.

The speed reduction mechanism of the wheel assembly 20A between the drive wheel 2 and the motor 31 is a speed reduction mechanism using a planetary gear having a cycloidal curve.

As shown in Fig. 16, the motor 31 (rotation shaft 31j) is provided to the rotation shaft of the drive wheel 2 (the position of the cam shaft 34). A pinion gear 32 is fixed to the rotating shaft 31j of the motor 31.

As shown in Fig. 12, the motor 31 is fixed to the first casing ha. The first housing ha is a second housing hb that is fixed to a structural member that serves as the drive wheel 2.

Specifically, as shown in FIG. 13, the screw insertion hole ha1 is formed in the first casing ha, and the female screw hb1 is screwed in the second casing hb. A screw (not shown) is inserted into the screw insertion hole ha1 of the first housing ha, and is screwed to the female screw hb1 of the second housing hb, whereby the first housing ha is fixed to the second housing hb. .

Further, the gear 33 is engaged with the pinion gear 32, and is provided with a larger number of teeth than the pinion gear 32 (refer to FIG. 16).

Here, in order to reduce noise, a helical gear is used for the pinion 32 and the gear 33 of the first stage gear.

Further, the gear 33 is a molded component of an elastic body, that is, an elastic member, and the vibration at the time of driving the motor 31 is absorbed by the gear 33 when being transmitted from the pinion gear 32, and is reduced, and is not transmitted to the cam shaft 34 or the planetary gear 35. To reduce noise.

A cam shaft 34 is fixed to the rotation shaft of the gear 33 (see FIGS. 13 and 14 and the like).

Thereby, the output of the motor 31 is transmitted through the pinion gear 32 and the gear 33, and is decelerated and transmitted to the cam shaft 34.

As shown in FIGS. 13 and 14, the cam shaft 34 has a first central shaft 34a, a first cam portion 34b, a second cam portion 34c, and a second central shaft 34d.

The first central shaft 34a of the cam shaft 34 is formed coaxially with the rotational axis of the drive wheel 2 and has a rectangular cross section that brakes the central axis of the gear 33. The first central shaft 34a is a central shaft that is embedded and fixed to the gear 33.

The first cam portion 34b is a cylindrical shaft that is eccentric to the first central axis 34a.

The second cam portion 34c is a cylindrical shaft that is eccentric to the first central axis 34a and that is shifted from the first central portion 34a by a phase of about 180 degrees with respect to the first cam portion 34b.

The second central shaft 34d is the same as the first central shaft 34a and is a cylindrical shaft coaxial with the rotational axis of the drive wheel 2. The second central shaft 34d is rotatably supported by a bearing 38t that is inserted into a central axis of the drive wheel 2.

Therefore, the cam shaft 34 rotates coaxially with the rotation shaft of the drive wheel 2. However, as will be described later, the rotation of the drive wheel 2 is independent of the rotation of the cam shaft 34.

In the first cam portion 34b of the cam shaft 34, a planetary gear 35 is disposed through the bearing 34t1, and the planetary gear 35 forms a tooth 35h by using a cycloidal curve.

The planetary gear 35 is formed with a plurality of cylindrical recesses 35a for rotating the rotary plate 38 coaxially. The cylindrical recessed portion 35a is a recessed portion having a cylindrical shape that does not penetrate through the motor 31 side.

A drive wheel 2 is fixed to the rotating plate 38. The drive wheel 2 is rotationally driven by rotationally driving the rotary plate 38.

As shown in Fig. 15, the rotary plate 38 is built in the bearing 39 (see Figs. 13 and 14). The bearing 39 can also be a sliding bearing or a ball bearing. On the other hand, the rotary plate 38 is coupled to the cam shaft 34 through the bearing 38t.

A planetary gear 36 is disposed through the bearing 34t2 in the second cam portion 34c of the cam shaft 34. The planetary gear 36 forms a tooth 36h using a cycloidal curve. The planetary gear 35 and the planetary gear 36 are gears of the same shape, and the shaft is supported by the first cam portion 34b and the second cam portion 34c, whereby the phase is shifted by 180 degrees to be mounted.

Further, the planetary gears 35 and 36 have two phases in which the phases of the cams are shifted by 180 degrees, and the vibration is reduced. In other words, the planetary gear 36 is eccentric to the planetary gear 35 in the opposite direction, thereby canceling the movement caused by the eccentricity of the planetary gear 35, and suppressing vibration, noise, and the like.

In the planetary gear 36, an insertion hole 36a for rotating the rotary plate 38 is provided in a plurality of coaxially. The insertion hole 36a of the planetary gear 36 is formed at the same interval as the cylindrical recess 35a of the planetary gear 35.

Figure 17 is a cross-sectional view taken along line E-E of Figure 15. Fig. 18 is a sectional view taken along line F-F of Fig. 15;

The teeth 35h, 36h of the planetary gears 35, 36 are each engaged with the teeth 37h of the external gear 37. The outer gear 37 is a fixed gear.

Since the teeth 35h and 36h of the planetary gears 35 and 36 are each formed using a cycloidal curve, the external gear 37 that is engaged therewith is a tooth 37h formed in a cylindrical shape. Further, when a normal involute gear is used as the planetary gears 35 and 36, involute interference occurs, so that the shapes of the teeth 35h and 36h and the cylindrical teeth 37h of the cycloidal curve are used.

The cylindrical tooth 37h is formed by a roller 37h2 that is rotatably supported by the pin 37h1.

As shown in FIG. 18, a roller 38r is rotatably supported by the cylindrical recess 35a of the planetary gear 35 and the insertion hole 36a of the planetary gear 36, and the roller 38r is rotatably supported by the rotating plate 38. The pin 38p.

As shown in FIGS. 13 and 14, the rotary plate 38 is an annular member and is rotatably supported by the second central shaft 34d of the cam shaft 34 via a bearing 38t.

According to the above configuration, the planetary gears 35 and 36 are rotated around the cylindrical teeth 37h of the external gear 37, and are passed through the cylindrical recess 35a and the roller 38r of the insertion hole 36a, thereby rotating the rotating plate 38. The second central shaft 34d of the camshaft 34 rotates.

As shown in Fig. 14, on the rotary plate 38, a female thread 38n is screwed at three places.

The screw n2 is inserted into the three through holes 2s4 provided in the drive wheel 2, and is screwed to the female screw 38n of the rotary plate 38, whereby the drive wheel 2 is fixed to the rotary plate 38.

The drive wheel 2 has a disk-shaped bottom plate 2s and a cylindrical wheel portion 2w. The drive wheel 2 is shaped, for example, from an elastomer. Further, the drive wheel 2 may be formed of a material other than an elastic material. The outer diameter dimension s3 of the wheel portion 2w of the drive wheel 2 is a size of about 50 mm to about 80 mm. That is, the outer diameter dimension s3 (see FIG. 17) of the wheel portion 2w is set to be approximately 80 mm at the most, and the minimum outer diameter dimension is approximately 50 mm.

The wheel portion 2w is a portion that comes into contact with the ground during traveling, and the inside is a cylindrical surface 2w1. On the other hand, the outer side of the drive wheel 2 is an uneven cylindrical surface 2w2 formed into a cylindrical shape having a concave shape 2wo and a convex shape 2wt.

As shown in FIG. 14, the above-described three through holes 2s4 are formed in the disk-shaped bottom plate 2s.

According to the above configuration, when the cam shaft 34 rotates, the planetary gears 35 and 36 revolve by the respective operations of the first cam portion 34b and the second cam portion 34c of the cam shaft 34 (to make the planetary gears 35, 36 Each of the shaft portions rotates, and is rotated by the engagement of the teeth 37h of the external gear 37 with the respective teeth 35h and 36h.

In other words, the number of teeth 37h of the fixed external gear 37 is different from the number of teeth 35h (35h) of the planetary gears 35 (36), and is taken out as a rotation of the planetary gear 35.

Specifically, the number of rotations of the planetary gears 35 and 36 is transmitted through the cylindrical recess 35a and the roller 38r of the insertion hole 36a, and is taken out by the rotary plate 38.

The engagement state of the speed reduction mechanism between the drive wheel 2 and the motor 31 is as shown in Fig. 19(a). 19(a) is a vertical cross-sectional view showing a state in which the speed reduction mechanism between the drive wheel and the motor is engaged, and FIG. 19(b) is a view showing the principle of the load application mode of the bearings on both sides of the speed reduction mechanism and the cam shaft. Figure.

Here, when the number of teeth of the pinion gear 32 is z1, the number of teeth of the gear 33 is z2, the number of teeth of the planetary gears 35 and 36 is z3, and the number of teeth of the external gear is z4, the reduction ratio N2 is expressed by the following formula (5).

For example, if the number of teeth of the pinion gear 32 is z1 = 12, the number of teeth of the gear 33 is z2 = 48, the number of teeth of the planetary gears 35, 36 is z3 = 17, and the number of teeth of the external gear 37 is z4 = 18, the reduction ratio N2 = 68.0. . According to the above configuration, the reduction ratio N2 = about 40 to about 80 can be set.

In this case, the reduction ratio N2A of the rotary plate 38 transmitted by the rotation of the cam shaft 34 (z2=48) by the rotation of the cam shaft 34 through the planetary gears 35 and 36 is as follows.

That is, the rotational speed of the shaft, that is, the cam shaft 34, is different from the rotational speed of the drive wheel 2 (rotating plate 38). Thereby, miniaturization is made possible.

As shown in Fig. 17, when the cam shaft 34 rotates in the direction of the arrow γ1, the planetary gears 35 fixed to the cam shaft 34 rotate in the same direction (the direction of the arrow γ1). Since the number of teeth z3 of the planetary gear 35 is 17 and is smaller than the number of teeth z4 = 18 of the external gear 37, the planetary gear 35 is rotated in the direction of the arrow γ2 in the direction opposite to the rotational direction of the cam shaft 34 (arrow γ1). Thereby, miniaturization is made possible.

According to the structure of the second embodiment, the following effects are exhibited. Further, the following description is not necessarily explained to describe only the effects of the embodiment, and may include other structures of the embodiment.

1. A deceleration of only two stages of the gear 33 and the planetary gear 35 and the planetary gear 35 and the external gear 37 can be achieved, and a higher reduction ratio can be obtained (for example, the reduction ratio N is about 40 to about 80, preferably 65 to 80). Therefore, a highly efficient speed reduction mechanism can be disposed inside the drive wheels 2, 3.

2. As shown in FIGS. 16 to 18, the speed reduction mechanism (32, 33, 34, 35) of the drive wheels 2 and 3 including the motor 31 can be viewed from the direction of each axle of the drive wheels 2, 3. Each of them is housed in each outer diameter dimension s3 (see FIG. 17) of the drive wheels 2, 3. Therefore, the rechargeable battery 9, the dust collecting case 12, the suction port 14i, and the rotating brush 5 can be disposed at any position in the front and rear directions other than the driving wheels 2 and 3 of the autonomous walking type cleaning robot S. Therefore, miniaturization of the autonomous walking type sweeping robot S is possible. Further, since the rechargeable battery 9, the dust collecting case 12, the suction port 14i, and the rotating brush 5 can be sufficiently disposed in the left-right direction except for the regions of the driving wheels 2, 3, the basic functions of the autonomous walking type cleaning robot S can be improved. .

3. When the autonomous walking type sweeping robot S is viewed from the front-rear direction (refer to Figs. 1 and 4), as shown in Fig. 12, the motor 31 and the deceleration can be accommodated in the respective width dimensions s4 of the drive wheels 2, 3. Part or all of each gear (32, 33, 34, 35, 37) of the mechanism.

4. The teeth 35h and 36h of the planetary gears 35 and 36 are each formed using a cycloidal curve, so that stress concentration can be suppressed and stress is strong.

5. Since the gear 33 and the planetary gears 35 and 36 that rotate the components are supported at both ends, they have a strong external force.

6. Since the planetary gears 35 and 36 which are fixed to the cam shaft 34 and whose phases are shifted by 180 degrees are used, vibration can be suppressed.

7. In the drive wheels 2, 3, although the punching or external force is applied from the ground Y, the rotating plates 38 to which the driving wheels 2, 3 are fixed are connected to the planetary gears 35, 36 through the rollers 38r, the rollers 38r is a cylindrical recess 35a and an insertion hole 36a that are movably fitted to the planetary gears 35 and 36. Further, the drive wheels 2, 3 are subjected to the punching or external force by the rotating plate 38 or the like, so that the driving or the external force applied to the driving wheels 2, 3 is transmitted to the gear portions (32, 33, 34, 35, 37).

8. In the wheel assembly 20A of the second embodiment, as shown in FIG. 19(b), the load applied to the drive wheels 2 (3) during the travel of the autonomous walking type sweeping robot S is transmitted through the rotating plate 38 and the bearing. 38t, communicated to the camshaft 34. The loads W1 and W2 transmitted to the cam shaft 34 are transmitted to the first casing ha and the second casing hb (see FIG. 15) through the bearings 34t1 and 38t. Therefore, the speed reduction mechanism provided between the drive wheel 2 and the motor 31 does not receive the loads W1, W2. Therefore, the reliability and durability of the speed reduction mechanism are high.

On the other hand, in Patent Document 1, as shown in FIG. 23, the hub (32) to which the drive wheels are fixed is supported by the hub bearing (33).

Further, the wheel-side rotating member (28) to which the hub (32) is fixed is supported by the outer wheel of the bearing (64). The inner wheel of the bearing (64) supports the one end of the input shaft (25) of the damping portion. The other portion of the attenuation portion input shaft (25) is rotatably supported by the pump casing (22p) through the rolling bearing (62). Therefore, the load applied to the drive wheel is not only the hub bearing (33) but also the pump casing through the wheel side rotating member (28), the bearing (64), the attenuator input shaft (25), the rolling bearing (62), and the like. (22p) withstand. Therefore, the load applied to the drive wheels is received by the mechanism portion, so that the reliability of the mechanism portion is lower than that of the second embodiment (invention of the present invention).

9. As shown in Fig. 15, the cam shaft 34 is supported by the first bearing 34t1 and the second bearing 38t. Further, the rotary plate 38 is supported by the second housing hb through the third bearing 39.

By providing the first bearing 38t and the second bearing 34t1, the mechanism for driving the drive wheel 2 can be miniaturized. The first bearing 38t is a support camshaft 34, and is disposed on the camshaft 34 and the drive wheel 2 of the wheel. The second bearing 34t1 supports the cam shaft 34 and is disposed on the center side of the first bearing 38t.

The diameter dimension 39s of the inner circumferential surface of the third bearing 39 is larger than either the diameter 38t1 of the outer circumferential surface of the first bearing 38t and the diameter dimension 34s of the outer circumferential surface of the second bearing 34t1, and the one of the diameters Bearing overlap configuration. In the example shown in FIG. 15, the diameter 39s of the inner peripheral surface of the third bearing 39 is larger than the diameter 38t1 of the outer peripheral surface of the first bearing 38t, and the third bearing 39 and the first bearing 38t are arranged to overlap each other. The diameter dimension 39s of the inner circumferential surface of the third bearing 39 is larger than either the diameter dimension 38t1 of the outer circumferential surface of the first bearing 38t and the diameter dimension 34s of the outer circumferential surface of the second bearing 34t1, whereby the third dimension can be obtained. The bearing 39 is placed on the first bearing 34t1 or the second bearing 38t in an overlapping manner.

Conventionally, a wheel that is fixed to a shaft is rotated, or a fixed shaft is transmitted through a bearing to rotatably support the wheel, and the wheel and the shaft are independently rotated.

On the other hand, in the second embodiment (the present invention), the cam shaft 34 of the shaft and the drive wheel 2 (rotating plate 38) are rotated independently.

From the above, it is known that the speed reduction mechanism of the drive wheel 2 (3) can be simplified.

On the other hand, in Patent Document 1, as shown in FIG. 1 of Patent Document 1, the bearing (64) is transmitted through the bearing (64), and the external force is received by the bearing housing (22c) outside the housing, so that the speed reducing mechanism is going to the speed reducing portion. The input shaft (25) and the rotating shaft (35) have a large orientation.

10. The gear of the second stage, that is, the gear 33, is an elastic body, that is, an elastic material, and the vibration generated by the external force during movement is absorbed between the motor 31 and each of the gears, and the motor generated by the autonomous walking type cleaning robot S is reduced. noise.

11. From the above, it is known that the autonomous walking type sweeping robot S is a small-sized and high-output torque, and has a mechanically reliable deceleration mechanism that reduces the generated stress.

Further, in the second embodiment, the case where the two planetary gears 35 and 36 are used has been described, but the planetary gears may be singular.

Further, although the structure in which the rotation of the planetary gears 35 and 36 is transmitted to the drive wheels 2 and 3 through the rotary plate 38 has been described, the rotation of the planetary gears 35 and 36 can be transmitted to the drive wheels 2 and 3, respectively. The driving force can be directly transmitted from the planetary gears 35, 36 directly to the drive wheels 2, 3. Alternatively, a configuration other than the rotating plate 38 may be used to transmit the rotation of the planetary gears 35 and 36 to the rotating plate 38.

Further, although the gear using the elastic body is the gear 33, the strength of the gear may be configured by an elastic body in a range in which the life is not significantly lowered.

Further, the present invention is not limited to the structures of the first and second embodiments, and various modifications and specific forms are possible within the scope of the technical idea contained in the present invention. This case contains the following technical ideas. [Supplement 1] A wheel with a driving device, comprising: a wheel that moves a vehicle body, a shaft that is rotated by an input of a driving source, and supports a load of the vehicle body, and a deceleration provided between the shaft and the wheel a first bearing that supports the shaft and is disposed between the shaft and the wheel, and a second bearing that is disposed on a center side of the first bearing and a second gear that is the speed reduction mechanism To reduce the two planetary gears of the vibrating elastomer. [Attachment 2] The wheel of the drive device according to the first aspect of the invention, wherein the elastic gear is a gear having one helical gear structure instead of the plurality of planetary gears. [Attachment 3] The wheel of the drive device according to the second aspect of the invention, wherein the elastic gear is a gear that includes the first, second, or a plurality of elastic bodies instead of the second gear.

2, 3‧‧‧ drive wheels (wheels)

21, 21A, 31, 41, 41A‧‧‧ motor (travel motor)

2B, 3B‧‧‧ shaft bushing (wheel fixing part)

2i, 3i‧‧‧ cylindrical surface (outer peripheral surface of the inner side of the drive wheel)

2o, 3o‧‧‧ outer cylinder surface (outer peripheral surface on the outer side of the drive wheel)

5‧‧‧Rotary brush

5m‧‧‧Rotary brush motor (motor)

8‧‧‧Sensor (obstacle detection means)

8a‧‧‧ bumper sensor (obstacle detection means)

8b‧‧‧Ranging sensor (obstacle detection means)

8c‧‧‧Range distance measuring sensor (obstacle detection means)

9‧‧‧Rechargeable battery

11‧‧‧Attraction fan

12‧‧‧ dust box

14i‧‧‧ mouthpiece

20, 20A, 30A, 20B, 30B‧‧‧ wheel assemblies (wheels with drive)

22‧‧‧Sun gear (speed reduction mechanism)

23‧‧‧ planetary gears (stress suppression means, gears, speed reduction mechanisms)

24‧‧‧1st external gear (1st external gear, speed reduction mechanism)

24h‧‧‧ internal teeth

25‧‧‧2nd external gear (2nd external gear, speed reduction mechanism)

25h‧‧‧ internal teeth

32‧‧‧Spindle

33‧‧‧ Gears (1st gear)

34‧‧‧Camshaft (support member, shaft)

34b‧‧‧First cam section (cam section)

34c‧‧‧Second cam section (cam section)

34s‧‧‧ Diameter size (outer diameter size) of the outer peripheral surface

34t1‧‧‧ bearing (2nd bearing)

35‧‧‧ planetary gears (stress suppression means, gears, first planetary gears, speed reduction mechanisms)

36‧‧‧ planetary gears (stress suppression means, gears, second planetary gears, speed reduction mechanism)

37‧‧‧External gear (speed reduction mechanism)

38t‧‧‧ bearing (1st bearing)

Diameter size (outer diameter size) of the outer circumference of 38t1‧‧

39‧‧‧ Bearing (3rd bearing)

Diameter size (inner diameter size) of the inner circumference of 39s‧‧

S1, s3, s5‧‧‧ outer diameter (outer diameter of the drive wheel)

S2, s4, s6‧‧‧ width dimensions

S‧‧‧ Self-discipline walking sweeping robot

Sh‧‧‧ body part (non-rotating part, car body)

Fig. 1 is a perspective view of an autonomous walking type sweeping robot according to an embodiment of the present invention viewed from the left front side. 2 is a bottom view of the autonomous walking type sweeping robot. Fig. 3 is a cross-sectional view taken along line A-A of Fig. 1; 4 is a perspective view showing an internal structure in which a casing of an autonomous walking type sweeping robot is removed. Fig. 5 is a perspective view of the wheel assembly of the first embodiment as seen from the obliquely rear upper side. Fig. 7A is a side sectional view showing the wheel assembly of the first embodiment; Fig. 7B is a cross-sectional view taken along line C-C of Fig. 7A. Figure 8 is an exploded perspective view of the wheel assembly. Figure 9 is an exploded perspective view of the wheel assembly as viewed from the opposite direction of Figure 8. Figure 10 is an exploded perspective view of the planetary gear assembly. Fig. 11 is a vertical cross-sectional view showing a state in which a speed reduction mechanism between a drive wheel and a motor is engaged. Fig. 12 is a perspective view of the wheel assembly of the second embodiment as seen obliquely from the upper rear side. Figure 13 is an exploded perspective view of the wheel assembly of the second embodiment. Figure 14 is an exploded perspective view of the wheel assembly as viewed from the opposite direction of Figure 13 . Figure 15 is a cross-sectional view taken along line D-D of Figure 12; Figure 16 is a cross-sectional view showing a section of the pinion gear and the gear that can be seen. Figure 17 is a cross-sectional view taken along line E-E of Figure 15; Fig. 18 is a sectional view taken along line F-F of Fig. 15; 19(a) is a vertical cross-sectional view showing a state in which the speed reduction mechanism between the drive wheel and the motor is engaged, and (b) is a schematic diagram showing a load application mode of the bearings on both sides of the speed reduction mechanism and the cam shaft.

Claims (3)

A wheel with a driving device includes: a driving wheel for moving a vehicle body; a motor for rotating the driving wheel; and a speed reducing mechanism provided between the driving wheel and the motor, wherein the speed reducing mechanism has a pinion gear and the The first gear that meshes with the pinion and has a longer diameter than the pinion, the first gear has an elastic body or an elastic body. The wheel of the drive device according to claim 1, wherein the speed reduction mechanism is a planetary gear speed reduction mechanism, and the pinion gear is fixed to a rotation shaft of the motor, and the rotation shaft of the motor is positioned The position of the axis of rotation of the drive wheel is eccentric. The wheel of the drive device according to claim 1 or 2, wherein the pinion gear and the first gear are helical gears.