Differential travel roller driven by built-in external rotor motor

Abstract

The invention discloses a differential walking roller driven by an internal outer rotor motor. The differential walking roller comprises a left roller, a right roller, a support shaft, a driving device and a sealing device installed in the inner cavities of the left and right rollers, wherein a sealing structure is formed between the left roller and the right roller, the support shaft is arranged on the axes of the left and right rollers, a left supporting plate is connected to the inner wall of the left roller, and a right supporting plate is connected to the inner wall of the right roller, and a notch is arranged on the outer ring of the supporting plate for dust to flow out, the driving device comprises an outer rotor motor sleeved on the support shaft, a motor end cover and a transmission device, the motor end cover is connected to the end wall of the outer rotor motor, a rotating shaft of an active planetary gear of the transmission device is fixedly connected to the side wall of a rotor body of the outer rotor motor, a passive side gear of the transmission device is connected to a corresponding supporting plate, the sealing device is installed between the left and right supporting plates and is arranged in an annular manner outside the active planetary gear, left and right supporting sealing plates are respectively installed on the supporting shafts at the ends of the left and right rollers, and a flat position is arranged at the end of the supporting shaft to prevent the supporting shaft from rotating.

Description

[0001] This invention is a divisional application of the invention patent application with application number 202011558347.X, application date December 25, 2020, and invention name “Differential walking roller driven by built-in outer rotor motor”. Technical Field

[0002] The invention relates to a differential travel roller driven by a built-in outer rotor motor. Background Art

[0003] Traditional walking rollers rely on engines or motors to drive the walking roller shaft through chains or belts. The walking roller is equipped with a built-in differential device or ratchet pawl device; there are also engines or motors that drive the walking roller shaft through external differential devices. This structure is complex due to the existence of the transmission system, the transmission efficiency is low, and the system weight is heavy. In addition, due to the existence of gaps between rollers, the system sealing effect is poor, and dust can easily enter the roller, causing wear of the differential device. Summary of the invention

[0004] The purpose of the present invention is to solve the above technical problems and provide a differential walking roller driven by an internal outer rotor motor. The roller has a simple structure and is driven by an external rotor motor. Part of the differential mechanism is integrated on the external rotor of the motor, thereby achieving the purpose of walking and steering. A sealing structure is also built in to protect the differential device from dust intrusion.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A differential walking roller driven by an internal outer rotor motor comprises a left roller, a right roller, a support shaft, a driving device and a sealing device installed in the inner cavities of the left and right rollers, a sealing structure being provided between the left roller and the right roller, the support shaft being arranged on the axes of the left and right rollers, a left supporting plate being connected to the inner wall of the left roller, and a right supporting plate being connected to the inner wall of the right roller, and a notch being provided on the outer ring of the supporting plate for dust to flow out, the driving device comprises an outer rotor motor sleeved on the support shaft, a motor end cover and a transmission device, the motor end cover being connected to the end wall of the outer rotor motor, a rotating shaft of an active planetary gear of the transmission device being fixedly connected to the side wall of a rotor body of the outer rotor motor, a passive side gear of the transmission device being connected to a corresponding supporting plate, the sealing device being installed between the left and right supporting plates and being arranged in a ring outside the active planetary gear, left and right supporting sealing plates being respectively installed on the supporting shafts at the ends of the left and right rollers, and a flat position being provided at the end of the support shaft for preventing the support shaft from rotating.

[0007] The driving planetary gears are respectively mounted on two corresponding surfaces of the side wall of the motor rotor body through a rotating shaft, each surface is a gear or a group of gears, wherein a group of gears is three parallel meshing gears.

[0008] The sealing device includes an annular spacer, which is arranged outside the outer rotor motor and close to the support plates on both sides. An annular stopper sleeve is respectively provided at both ends of the annular spacer, and the outer end of the annular stopper sleeve is clamped on the side wall of the wheel frame sleeve or the side wall of the passive side gear.

[0009] A differential walking roller driven by a built-in outer rotor motor, characterized in that it comprises a left roller, a middle roller, a right roller, a support shaft, and a driving device and a sealing device installed in the inner cavities of the left, middle and right rollers, a sealing structure is provided between the middle roller and the left roller and the right roller, the support shaft is arranged on the axes of the left, middle and right rollers, a left supporting plate is connected to the inner wall of the left roller, and a right supporting plate is connected to the inner wall of the right roller, and a notch is provided on the outer ring of the support plate for dust to flow out, the driving device comprises an outer rotor motor and a transmission device sleeved on the support shaft, the transmission device comprises an active planetary gear and a passive side gear, the active planetary gear is fixed to the side wall of the rotor body of the outer rotor motor through a rotating shaft, the rotating shaft is fixedly connected to the middle roller, or the rotor body of the motor is directly fixedly connected to the middle roller, the passive side gear is fixedly connected to the support plate, a sealing device is provided between the middle roller and the support plate, left and right supporting sealing plates are respectively installed on the supporting shafts at the ends of the left and right rollers, and a flat position is provided at the end of the support shaft to prevent the support shaft from rotating.

[0010] The sealing device comprises two annular sleeves corresponding to the sealing structure between the middle roller and the left and right rollers respectively. The outer end of the annular sleeve is fixed on the side wall of the wheel frame sleeve or the side wall of the passive side gear, and the inner end extends toward and is close to the middle roller.

[0011] Beneficial effects of the present invention: The present invention adopts an outer rotor motor driving mode, utilizes the characteristics of the outer rotor motor, integrates part of the transmission device on the outer rotor of the motor, thereby achieving the purpose of walking and turning, and has a built-in sealing structure to protect the driving device from dust intrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiment of the present invention, the embodiment will be described below with reference to the accompanying drawings.

[0013] Figure 1 It is a schematic structural diagram of the first embodiment of the present invention.

[0014] Figure 2 It is a schematic structural diagram of a second embodiment of the present invention.

[0015] Figure 3 It is a schematic structural diagram of a third embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following examples are merely used to illustrate possible implementations of the present invention, but are not intended to limit the scope of the present invention, so it is necessary to explain them first.

[0017] like Figure 1 The above is the first preferred embodiment of the present invention, a differential walking roller driven by a built-in outer rotor motor, which includes a left roller 1A and a right roller 2A, the left roller 1A and the right roller 2A are connected by a labyrinth seal, a left support plate 11A is welded to the inner wall of the left roller 1A, and a right support plate corresponding to the left support plate 11A is welded to the inner wall of the right roller 2A, the left support plate and the right support plate have the same structure, the left support plate 11A includes an annular plate body, the outer ring of the annular plate body is welded to the inner walls of the left and right rollers, and notches 111A are arranged at intervals on the outer ring of the annular plate body, and threaded holes 112A are arranged at intervals on the inner ring of the annular plate body; a support shaft 3A is inserted at the central axis of the left and right rollers, and left and right support sealing plates 9A are sleeved on the support shafts at the ends of the left and right rollers, the support sealing plates are welded to the inner walls of the rollers on the corresponding sides, and an outer rotor motor 4A is sleeved in the middle of the support shaft 3A. A transmission device is arranged between the rotor body and the support plate of the outer rotor motor, a motor end cover 5A is sleeved on the support shafts on both sides of the outer rotor motor 4A, a bearing 30 is arranged between the motor end cover and the support shaft, the motor end cover 5A is fixedly connected to the rotor body 41A of the outer rotor motor 4A by bolts, the transmission device includes a driving planetary gear 6A and a passive side gear 7A, two or six driving planetary gear shafts 6B are evenly spaced and fixedly connected to the side wall of the rotor body of the outer rotor motor, each of the driving planetary gear shafts 6B is sleeved with the driving planetary gear 6A, the passive side gear 7A meshing with the driving planetary gear is sleeved on the support shafts on both sides of the outer rotor motor, the passive side gear 7A is sleeved on the support shaft 3A through the bearing 40, the passive side gear is provided with a countersunk hole 61A aligned with the threaded hole 112A of the support plate, and is fixedly connected by bolts. A sealing device is clamped between the left and right support plates, and the sealing device is arranged outside the active planetary gear 6A. The sealing device includes an annular spacer 81A. Annular stopper sleeves 82A are respectively arranged between the annular spacer and the left and right support plates. The annular spacer 81A is arranged between the rotor body of the outer rotor motor and the inner walls of the left and right rollers. The annular spacer includes a circular tube body. The annular stopper sleeve 82A includes a cone cylinder 821A. The ring cover 822A of the cone cylinder 821A is inserted into the slot of the passive side gear, and the large diameter end of the cone cylinder extends into the circular tube body and rests on the inner wall.

[0018] The revolution of the active planetary gear of this embodiment is realized by the outer rotor motor; the left and right passive side gears are respectively connected to the left and right rollers. When the active planetary gear revolves, it can drive the left and right rollers to rotate. The outer rotor motor is arranged at the center of the left and right rollers, and the support shaft serves as the motor shaft and the support shaft of the left and right rollers. Specifically, the two ends of the support shaft are fixed on the frame by the positioning structure to prevent the support shaft from rotating, and are integrated with the stator to maintain a static state; the positioning structure is a flat position opened at the end of the support shaft or a key set at the end of the support shaft; the active planetary gear shaft and the rotor body are an integral whole, and the two relatively arranged active planetary gear shafts are respectively equipped with active planetary gears. The active planetary gear can rotate around the active planetary gear shaft (called self-rotation) and can also rotate around the stator and the support shaft with the rotor body of the motor (called revolution). When driving in a straight line, since the resistance of the left and right rollers is the same, the active planetary gear only revolves but does not rotate. The active planetary gear and the left and right passive side gears are equivalent to a rigid connection, and the rotation speed of the left and right rollers is the same. When turning, the resistance of the left and right rollers is different through external force, which is fed back to the passive side gear, forcing the active planetary gear to rotate, slowing down the speed of the inner roller or even rotating in the opposite direction, while the speed of the outer roller is accelerated, resulting in a difference in the speed of the left and right rollers, thereby achieving turning or turning on the spot. Sealing description: The left and right rollers adopt radial labyrinth sealing, and are equipped with annular spacers and annular retaining sleeves. The annular spacers are supported by the left and right annular retaining sleeves. When impurities such as dust enter the roller through the labyrinth, the annular spacers separate them from the internal structure. As the roller rotates, the dust will pass through the annular retaining sleeve and enter the gap of the support plate, effectively preventing dust from entering the working parts.

[0019] like Figure 2 As shown, it is the second preferred embodiment of the present invention. The difference between this embodiment and the second preferred embodiment is that the above-mentioned active planetary gear 6A is replaced by three small active planetary gears 6C that are meshed in parallel. The diameter of a single active planetary gear 6A will be too large, and the radial space between the roller and the outer rotor of the motor is limited and the axial space is too large. When it is split into three independent small planetary gears 6C, the problem of space size is solved. When driving in a straight line, the three gears are equivalent to a rigid connection and can be regarded as a whole, thereby driving the passive side gears on both sides to rotate; when turning, due to the large resistance of the inner roller, the edge active planetary gears will drive the inner active planetary gears to rotate one by one, thereby completing the turning action.

[0020] like Figure 3As shown, it is the third preferred embodiment of the present invention, which is different from the first preferred embodiment in that: the walking roller includes a three-section roller type, including a left roller, a middle roller 12A and a right roller, and the middle roller is sealed with the left and right rollers respectively. The length of the middle roller is relatively short, and its length is preferably about 20% of the length of the entire walking roller. The rotating shaft of the active planetary gear is fixedly connected to the middle roller by a screw 13A, or the rotating shaft of the active planetary gear is not connected to the middle roller, and only the middle roller is directly fixedly connected to the motor rotor body as a whole, so that the middle roller rotates with the rotor body. When driving in a straight line, the three rollers rotate synchronously; when turning, the resistance of the left and right rollers is different through external force, which is fed back to the passive side gear, forcing the active planetary gear to rotate, so that the speed of the inner roller slows down or even rotates in the opposite direction, and the speed of the outer roller speeds up, so that the speed of the left and right rollers is different, and the speed of the middle roller is between the left and right rollers, thereby realizing turning or turning in place. The sealing device only includes an annular sleeve 82C, which corresponds to a labyrinth sealing structure. The large diameter end of the annular sleeve extends into and fits tightly against the inner wall of the middle roller. When dust enters the roller through the labyrinth, it will enter the left and right rollers along the annular sleeve, thereby effectively protecting the drive device and the transmission device.

[0021] The present invention adopts an outer rotor motor driving mode, utilizes the characteristics of the outer rotor motor, integrates part of the transmission device on the outer rotor of the motor, thereby achieving the purpose of walking and turning, and has a built-in sealing structure to protect the driving device and the transmission device from dust intrusion.

Claims

1. A differential travel roller driven by a built-in outer rotor motor, characterized in that: It includes a left roller, a right roller, a support shaft, and a driving device and a sealing device installed in the inner cavities of the left and right rollers. There is a sealing structure between the left roller and the right roller. The support shaft is arranged on the axes of the left and right rollers. The inner wall of the left roller is connected to a left supporting plate, and the inner wall of the right roller is connected to a right supporting plate. A notch for dust to flow out is arranged on the outer ring of the support plate. The driving device includes an outer rotor motor, a motor end cover and a transmission device sleeved on the support shaft. The motor end cover is connected to the end wall of the outer rotor motor. The rotating shaft of the active planetary gear of the transmission device is fixedly connected to the side wall of the rotor body of the outer rotor motor. The passive side gear of the transmission device is connected to the corresponding support plate. The sealing device is installed between the left and right support plates and is arranged around the active planetary gear. Left and right supporting sealing plates are respectively installed on the supporting shafts at the ends of the left and right rollers. A flat position is arranged at the end of the support shaft to prevent the support shaft from rotating.

2. The differential travel roller driven by the internal outer rotor motor according to claim 1, characterized in that: The driving planetary gears are respectively mounted on two corresponding surfaces of the side wall of the motor rotor body through a rotating shaft, each surface is a gear or a group of gears, wherein a group of gears is three parallel meshing gears.

3. The differential travel roller driven by the internal outer rotor motor according to claim 1, characterized in that: The sealing device comprises an annular spacer, which is arranged outside the outer rotor motor and close to the support plates on both sides. An annular stopper sleeve is respectively arranged at both ends of the annular spacer, and the outer end of the annular stopper sleeve is clamped on the side wall of the passive side gear.

4. A differential travel roller driven by a built-in outer rotor motor, characterized in that: The invention comprises a left roller, a middle roller, a right roller, a support shaft, and a driving device and a sealing device installed in the inner cavities of the left, middle and right rollers, wherein sealing structures are arranged between the middle roller and the left roller and the right roller, the support shaft is arranged on the axes of the left, middle and right rollers, the inner wall of the left roller is connected to the left supporting plate, the inner wall of the right roller is connected to the right supporting plate, and a notch for dust to flow out is arranged on the outer ring of the supporting plate, the driving device comprises an outer rotor motor and a transmission device sleeved on the support shaft, the transmission device comprises an active planetary gear and a passive side gear, the active planetary gear is fixed to the side wall of the rotor body of the outer rotor motor through a rotating shaft, the rotating shaft is fixedly connected to the middle roller, or the rotor body of the motor is directly fixedly connected to the middle roller, the passive side gear is fixedly connected to the supporting plate, a sealing device is arranged between the middle roller and the supporting plate, left and right supporting sealing plates are respectively installed on the supporting shafts at the ends of the left and right rollers, and a flat position is arranged at the end of the support shaft to prevent the support shaft from rotating.

5. The differential travel roller driven by the internal outer rotor motor according to claim 4, characterized in that: The sealing device comprises two annular stoppers respectively corresponding to the sealing structures between the middle roller and the left and right rollers. The outer ends of the annular stoppers are fixed on the side walls of the passive side gears, and the inner ends extend toward and are close to the middle roller.

Images