Wheel-side drive system based on bevel worm transmission

Abstract

The present invention discloses a wheel-side drive system based on bevel worm transmission, including a driving mechanism, a transmission mechanism and an actuator, wherein the driving mechanism is connected to the actuator through the transmission mechanism, the driving mechanism is a low-voltage servo motor, the actuator includes a replaceable wheel and a gear, the transmission mechanism is a bevel worm reduction box, which includes a housing and a bevel worm and a bevel worm wheel matched in the housing, the low-voltage servo motor is installed at one end of the housing, one end of the bevel worm is fixedly connected to the output end of the low-voltage servo motor, and the other end is matched to the inner side of the front end cover of the housing, one end of the bevel worm wheel is matched to the inner side of the front end cover, and the other end extends out of the housing and is connected to the gear, and the replaceable wheel is connected to the gear. The present invention effectively solves the problem of insufficient output torque and insufficient climbing ability of various current drive modules under size restrictions, and is suitable for light-load mobile equipment in various complex working conditions such as smart homes, industrial AGV trolleys, and small special vehicles.

Description

Technical Field

[0001] The invention belongs to the technical field of drive systems, and in particular relates to a wheel-side drive system based on bevel worm transmission. Background Art

[0002] A reduction motor is an integration of a reducer and a motor. It is widely used in the reduction transmission mechanism of various general mechanical equipment such as metallurgy, transportation, smart home, medical equipment, office supplies, etc. due to its simplified design, space saving, high reliability, and easy maintenance. With the development of power electronics technology and the transformation and upgrading of the manufacturing industry, reduction motors are developing in the direction of miniaturization and lightness, and at the same time require higher reliability and stability. At present, the most widely used reduction motors on the market are multi-stage gear transmission reduction motors, planetary transmission reduction motors, cycloid pinwheel reduction motors, harmonic reduction motors, etc.

[0003] With the development of science and technology and the increase in demand, industrial AGV, smart home, medical equipment, service robots and other fields have put forward requirements for drive systems such as miniaturization and lightweight, high power density, compact structure, stability, and versatility.

[0004] Therefore, how to solve the defects of the above-mentioned prior art has become the direction of efforts of technicians in this field. Summary of the invention

[0005] The purpose of the present invention is to provide a wheel-side drive system based on bevel worm transmission, which can completely solve the shortcomings of the above-mentioned prior art.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A wheel-side drive system based on bevel worm transmission includes a driving mechanism, a transmission mechanism and an actuator, wherein the driving mechanism is connected to the actuator via the transmission mechanism, the driving mechanism is a low-voltage servo motor, the actuator includes a replaceable wheel and a gear, the transmission mechanism is a bevel worm reduction box, which includes a box body and a bevel worm and a bevel worm wheel matched in the box body, a front end cover is provided at the front end of the box body, the low-voltage servo motor is installed at one end of the box body, one end of the bevel worm is fixedly connected to the output end of the low-voltage servo motor, and the other end is matched with the inner side of the front end cover, one end of the bevel worm wheel is matched with the inner side of the front end cover, and the other end extends out of the box body and is connected to the gear, the replaceable wheel is connected to the gear, and the outer diameter of the replaceable wheel is larger than the outer diameter of the gear.

[0008] Furthermore, a protrusion is provided inside the front end cover, a first supporting hole for supporting the bevel worm and a second supporting hole for supporting the bevel worm wheel are provided on the protrusion, and the bevel worm and the bevel worm wheel are arranged in a cross-staggered manner. This design is conducive to shortening the length of the bevel worm and the bevel worm wheel.

[0009] Furthermore, the end of the bevel worm is installed in the first support hole through a needle bearing, and the end of the bevel worm wheel is installed in the second support hole through a needle bearing. This design is conducive to reducing the installation size.

[0010] Furthermore, a deep groove ball bearing is installed on the bevel worm, and a thrust bearing is installed on the bevel worm wheel. The deep groove ball bearing is used to bear the axial force on the bevel worm, and the thrust bearing is used to bear the axial force on the bevel worm wheel.

[0011] Furthermore, the low-voltage servo motor is arranged along the axial direction of the bevel worm. This design is beneficial to shortening the axial dimension of the driving mechanism.

[0012] Furthermore, the conical worm comprises a worm and a worm shaft, the worm and the worm shaft are integrally formed, and the worm shaft is a stepped shaft. This design is conducive to mass production.

[0013] Furthermore, the bevel worm gear comprises a worm wheel and a worm wheel shaft, the worm wheel and the worm wheel shaft are integrally formed, and the worm wheel shaft is a stepped shaft. This design is conducive to mass production.

[0014] Furthermore, a lip seal ring is installed at the input end of the bevel worm, a lip seal ring is installed at the output end of the bevel worm wheel, and an O-ring is provided on the front cover and the top cover. The use of such a sealing system makes the overall structure more excellent in sealing performance.

[0015] Furthermore, the replaceable wheels are rail wheels, anti-skid wheels or Mecanum wheels.

[0016] Furthermore, the front cover is provided with a pin hole, and the front cover and the box body are positioned by the pin; and the top cover is provided with a vent hole. This design simplifies the structure and facilitates assembly.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The integrated design of the drive mechanism, transmission mechanism and actuator is conducive to the miniaturization of the overall structure and reduces the burden of selection;

[0019] 2. The transmission mechanism adopts a bevel worm transmission pair, which not only has the advantages of a large transmission ratio, stable transmission, and self-locking of ordinary worm transmission pairs, but also has a smaller center distance and can be applied to smaller space structures;

[0020] 3. The supporting structure of the bevel worm and bevel worm wheel has been improved, and the overall structural rigidity has been improved by shortening the length of the supporting shaft, and the vibration noise has been reduced;

[0021] 4. The actuator has been improved, adopting a dual output form of replaceable wheels and gears. Through the meshing of gears and rack tracks, it can run on the ground with a larger slope or vertical wall. Through the replaceable wheels, it can be used in various occasions on ordinary roads, effectively solving the problems of insufficient output torque and insufficient climbing ability of various current drive modules due to size limitations. It is suitable for light-load mobile equipment in various complex working conditions such as smart homes, industrial AGV carts, small special vehicles, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0023] Figure 2 It is a partial cross-sectional schematic diagram of the present invention after removing the top cover;

[0024] Figure 3 It is a schematic diagram of the structure of the present invention after removing the box body;

[0025] Figure 4 It is a structural schematic diagram of the conical worm gear in the present invention;

[0026] Figure 5 This is the matching relationship diagram between the bevel worm and the low-voltage servo motor;

[0027] Figure 6 This is the matching relationship diagram between the bevel worm gear and the front end cover;

[0028] Figure 7 It is a structural schematic diagram of the front end cover in the present invention;

[0029] Figure 8 It is a structural schematic diagram of the casing of the bevel worm gear reduction box in the present invention;

[0030] Fig. 9 It is a usage state diagram of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] like Figures 1 to 9 As shown, a wheel-side drive system based on bevel worm transmission includes a driving mechanism, a transmission mechanism and an actuator, and the driving mechanism is connected to the actuator through the transmission mechanism.

[0033] The driving mechanism comprises a low-voltage servo motor 1, a motor driver (not shown in the figure, belonging to the existing mature technology, and will not be described here) and an encoder 14. In order to shorten the axial dimension of the driving mechanism, the low-voltage servo motor 1 is wired along the axial direction of the bevel worm, which is different from the traditional wiring along the axial direction of the worm gear.

[0034] The actuator includes a replaceable wheel 2 and a gear 3. The replaceable wheel 3 includes a hub inner ring and a hard rubber outer ring, and can be replaced with special wheels such as rail wheels, anti-skid wheels, Mecanum wheels, etc. according to needs without changing the connection method.

[0035] The transmission mechanism is a bevel worm gear reduction box, which includes a box body 4 and a bevel worm 5 and a bevel worm wheel 6 fitted in the box body 4. The top and front end of the box body 4 are open, and a top cover 7 is installed at the top opening. The top cover 7 is provided with an O-ring and a vent hole 8, and an oil seal groove 9 is provided at the top opening corresponding to the O-ring. A front cover 10 is installed at the front opening, and two pin holes are provided on the front cover 10. The front cover 10 is positioned with the box body 4 by means of the pin 11. The front cover 11 is provided with an O-ring 12 for sealing with the box body 4. A motor mounting hole 13 is provided on the right side of the box body 4, and the output end of the low-voltage servo motor 1 is fixed to the motor mounting hole 13 by bolts, and an encoder 14 is provided at the tail end of the low-voltage servo motor 1. The front end cover 10 has a protrusion 15 on the inner side, and a first supporting hole 16 for supporting the bevel worm 5 and a second supporting hole 17 for supporting the bevel worm wheel 6 are formed on the protrusion 15, and the bevel worm 5 and the bevel worm wheel 6 are arranged in a cross-staggered manner.

[0036] The bevel worm 5 includes a worm 501 and a worm shaft 502. The worm 501 and the worm shaft 502 are integrally formed, and the worm shaft 501 is a stepped shaft. The input end of the worm shaft 501 is opened, and the hole is connected to the output end of the low-voltage servo motor 1 through a key or interference fit, and the other end is fitted in the first support hole 16 through a needle bearing 18. A deep groove ball bearing 19 is installed at the input end of the worm shaft 501 to cooperate with the motor mounting hole 13 on the housing to withstand the axial force on the worm shaft 502, and is positioned by a shaft shoulder and a hole with an elastic retaining ring 20, and a lip seal 21 is used to achieve sealing between the worm shaft 502 and the housing 4.

[0037] The bevel worm gear 6 includes a worm wheel 601 and a worm wheel shaft 602. The worm wheel 601 and the worm wheel shaft 602 are integrally formed. The worm wheel shaft 602 is a stepped shaft. One end of the worm wheel shaft 602 is fitted in the second support hole 17 through a needle bearing 18, and the other end extends out of the housing and is connected to the gear 3. The replaceable wheel 2 is connected to the gear 3, and the outer diameter of the replaceable wheel 2 is greater than the outer diameter of the gear 3. Specifically, the gear 3 is connected to the worm wheel shaft 602 through a key or interference fit, and the replaceable wheel 2 is connected to the gear 3 through bolts. A fixed end plate 21 is provided on the outside of the replaceable wheel 2, and the fixed end plate 21 is fixedly connected to the replaceable wheel 2 and the worm wheel shaft 602 through bolts. A thrust bearing 22, a needle bearing 18 and a lip seal 21 are sequentially mounted on the worm shaft 602 at the rear end of the worm wheel 601. The thrust bearing 22 is used to withstand the axial force exerted on the worm shaft, the needle bearing 18 is used to cooperate with the housing 4, and the lip seal 21 is used for sealing between the housing 4 and the worm shaft.

[0038] During operation, the low-voltage servo motor 1 drives the bevel worm 5 to rotate, and then drives the bevel worm wheel 6 to rotate, and the bevel worm wheel 6 rotates with the gear 3 and the replaceable wheel 2. According to different working conditions, the replaceable wheel 3 can be replaced with special wheels such as track wheels, anti-skid wheels, Mecanum wheels, etc. according to needs. The gear 3 is used to travel on the rack track on the ground with a large slope or a vertical wall; at the same time, the characteristics of the bevel worm pair are used to realize the mechanical self-locking of the drive system to ensure safety and reliability.

[0039] The present invention integrates the low-voltage servo motor-bevel worm gearbox-replaceable wheels and gears into an integrated design, thereby reducing the burden of selection. The transmission mechanism adopts a bevel worm gear pair. In addition to the advantages of a common worm gear pair such as a large transmission ratio, smooth transmission, and self-locking, it also has a smaller center distance, so that it can be used in a smaller space structure. The present invention can achieve a large torque output by using a relatively small power motor. The present invention optimizes the support structure of the bevel worm shaft and the bevel worm wheel shaft, and increases the rigidity of the overall structure and reduces the vibration noise by shortening the length of the support shaft. The present invention ensures the sealing of the reduction box body through O-rings, lip seals and reasonable layout.

[0040] In summary, the present invention can select different actuators for different application scenarios, accurately matching various occasions with high requirements on spatial structure, power density and reliability, and is suitable for miniaturized and lightweight mobile devices such as industrial AGVs, smart homes, service robots and medical devices.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A wheel-side drive system based on bevel worm drive, comprising a drive mechanism, a transmission mechanism and an actuator, wherein the drive mechanism is connected to the actuator through the transmission mechanism, and characterized in that: The driving mechanism is a low-voltage servo motor, the actuator includes a replaceable wheel and gears, the transmission mechanism is a bevel worm reduction box, which includes a box body and a bevel worm and a bevel worm wheel matched in the box body, the front end of the box body is provided with a front end cover, the low-voltage servo motor is installed at one end of the box body, one end of the bevel worm is fixedly connected to the output end of the low-voltage servo motor, and the other end is matched to the inner side of the front end cover, one end of the bevel worm wheel is matched to the inner side of the front end cover, and the other end extends out of the box body and is connected to the gear, the replaceable wheel is connected to the gear, and the outer diameter of the replaceable wheel is larger than the outer diameter of the gear; the low-voltage servo motor is wired along the axial direction of the bevel worm; The conical worm gear comprises a worm and a worm shaft, wherein the worm and the worm shaft are integrally formed, and the worm shaft is a stepped shaft, and a deep groove ball bearing is installed at the input end of the worm shaft to cooperate with the motor mounting hole on the housing to bear the axial force on the worm shaft, and is positioned by an elastic retaining ring through the shaft shoulder and the hole, and a lip sealing ring is used to achieve sealing between the worm shaft and the housing; The bevel worm gear includes a worm wheel and a worm wheel shaft. The worm wheel and the worm wheel shaft are integrally formed. The worm wheel shaft is a stepped shaft. A thrust bearing, a needle roller bearing and a lip sealing ring are installed in sequence on the worm wheel shaft at the rear end of the worm wheel. The thrust bearing is used to bear the axial force exerted on the worm wheel shaft, the needle roller bearing is used to cooperate with the box body, and the lip sealing ring is used for sealing between the box body and the worm wheel shaft.

2. The wheel-side drive system based on bevel worm gear transmission according to claim 1 is characterized in that: A protrusion is provided on the inner side of the front end cover, and a first supporting hole for supporting the bevel worm and a second supporting hole for supporting the bevel worm wheel are provided on the protrusion, and the bevel worm and the bevel worm wheel are arranged in a cross-staggered manner.

3. The wheel-side drive system based on bevel worm gear transmission according to claim 2 is characterized in that: The end of the bevel worm is installed in the first supporting hole through a needle bearing, and the end of the bevel worm wheel is installed in the second supporting hole through a needle bearing.

4. The wheel-side drive system based on bevel worm transmission according to claim 3 is characterized in that: A deep groove ball bearing is installed on the bevel worm, and a thrust bearing is installed on the bevel worm wheel.

5. The wheel-side drive system based on bevel worm transmission according to claim 3 is characterized in that: A lip seal ring is installed at the input end of the bevel worm, a lip seal ring is installed at the output end of the bevel worm wheel, and an O-type seal ring is arranged on the front end cover and the top cover.

6. The wheel-side drive system based on bevel worm transmission according to claim 3 is characterized in that: The replaceable wheels are rail wheels, anti-skid wheels or Mecanum wheels.

7. The wheel-side drive system based on bevel worm transmission according to claim 3 is characterized in that: The front end cover is provided with a pin hole, and the front end cover and the box body are positioned by the pin; the top cover is provided with a ventilation hole.

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