Wheel type mobile robot drive wheel

Abstract

A kind of wheeled mobile robot drive wheel, it relates to the field of robot wheel hub drive wheel.The present application solves the problem that the existing wheel hub motor drive wheel has low system integration degree, and output torque and bearing bending moment are non-separation structure, leading to weak impact resistance.The motor housing is coaxially installed with torque motor stator inside, motor shaft is coaxially inserted inside torque motor stator, torque motor rotor is sleeved outside motor shaft, the torque motor rotor is oppositely arranged with the torque motor stator, motor shaft right end is rotatably connected with torque motor motor end cover through bearing support assembly II, motor shaft left end shaft is inserted in the shaft hole of RV reducer and is connected by flat key, wheel assembly includes wheel hub, tire and wheel hub flange, RV reducer is fixedly connected with wheel hub through wheel hub flange, and tire is wrapped around wheel hub.The present application is used to improve the system integration degree of wheel hub motor drive wheel.

Description

Technical Field

[0001] This invention relates to the field of robot hub drive wheels, and more specifically to a drive wheel for a wheeled mobile robot. Background Technology

[0002] Wheel-legged humanoid robots combine the advantages of wheeled and legged robots. By employing a wheel-leg hybrid design, they solve the problems of slow movement in legged robots and the inability of wheeled robots to adapt to uneven terrain, significantly improving the robot's adaptability and maneuverability in complex environments. Wheel-legged humanoid robots replace the feet at the ends of the humanoid robot's legs with wheels. This allows the robot to move quickly on flat ground using wheels, and to achieve stable passage on rough terrain by adjusting the posture of its legs and upper body. Under good road conditions, wheel-legged humanoid robots can leverage their high speed advantage, mainly due to the use of hub motor-driven drive wheels, which simplifies the transmission structure, improves transmission efficiency, reduces weight, and enables the robot's rapid movement capabilities.

[0003] Hub motor-driven wheels improve overall vehicle transmission efficiency and simplify wheel structure by eliminating transmission components such as clutches, differentials, and half-shafts. The power unit is directly integrated into the wheel, and its driving force is determined by the magnetic fields of the rotor and stator; the stronger the rotor and stator magnetic fields, the greater the driving force of the hub motor. Currently, due to the high-speed mobility requirements of wheeled robots, the system integration level of most hub motor-driven wheels needs further improvement.

[0004] In summary, existing hub motor-driven wheels suffer from low system integration and a non-separate structure between output torque and load-bearing bending moment, resulting in weak impact resistance. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low system integration and weak impact resistance caused by the non-separate structure of output torque and load-bearing bending moment in existing hub motor drive wheels, and to provide a wheeled mobile robot drive wheel.

[0006] The technical solution of this invention is:

[0007] A drive wheel for a wheeled mobile robot includes a motor and reducer assembly, a bearing support assembly I, and a wheel assembly. The wheel assembly is rotatably mounted on the motor and reducer assembly via the bearing support assembly I. The wheel assembly is connected to the output end of the motor and reducer assembly. The motor and reducer assembly includes a torque motor and an RV reducer 7. The torque motor includes a motor housing 9, a torque motor stator 4, a motor shaft 6, a torque motor rotor 11, and a bearing support assembly II. The torque motor stator 4 is coaxially mounted inside the motor housing 9, and the motor shaft... The motor shaft 6 is coaxially inserted inside the stator 4 of the torque motor. The rotor 11 of the torque motor is sleeved on the outside of the motor shaft 6. The rotor 11 of the torque motor is arranged opposite to the stator 4 of the torque motor. The right end of the motor shaft 6 is rotatably connected to the motor end cover 19 of the torque motor through the bearing support assembly II. The left end of the motor shaft 6 is inserted into the shaft hole of the RV reducer 7 and connected by a flat key. The wheel assembly includes a hub 22, a tire 1 and a hub flange 3. The RV reducer 7 is fixedly connected to the hub 22 through the hub flange 3. The tire 1 is wrapped around the hub 22.

[0008] Furthermore, the bearing support assembly I includes a collar 2, a large end cap I18, a large end cap I21, and two deep groove ball bearings I10. The motor housing 9 is coaxially inserted inside the hub 22. Two parallel deep groove ball bearings I10 are sequentially fitted onto the outer end of the motor housing 9 from right to left along the axial direction. The hub 22 is supported on the motor housing 9 by the two deep groove ball bearings I10. A collar 2 is provided between the two deep groove ball bearings I10, and the collar 2 is fitted onto the outer end of the motor housing 9. A shoulder is machined on the outer end of the motor housing 9, and the shoulder is connected to one side of the deep groove ball bearing I10. The outer end faces of the inner rings abut against each other. The large end cover II8 is coaxially mounted on the side of the deep groove ball bearing I10 on the other side. The large end cover II8 is fixedly connected to the motor housing 9 through a connector. The large end cover II8 abuts against the outer end face of the inner ring of the deep groove ball bearing I10 on the other side. The large end cover I21 is coaxially mounted on the side of the deep groove ball bearing I10 on one side. The large end cover I21 is fixedly connected to the hub 22 through a connector. The large end cover I21 abuts against the outer end face of the outer ring of the deep groove ball bearing I10 on one side. The hub 22 has a hub shoulder machined inside. The hub shoulder abuts against the outer end face of the outer ring of the deep groove ball bearing I10 on the other side.

[0009] Furthermore, the torque motor also includes a motor end cover 19, and a motor housing shoulder is machined inside the motor housing 9. The motor housing shoulder abuts against one end of the torque motor stator 4. The motor end cover 19 is coaxially disposed on the side of the torque motor stator 4. The motor end cover 19 is fixedly connected to the motor housing 9 through a connector, and the motor end cover 19 abuts against the other end of the torque motor stator 4.

[0010] Furthermore, the bearing support assembly II includes a motor retaining ring 5, a deep groove ball bearing II 16, and a motor bearing cover 12. From right to left, the outer right end of the motor shaft 6 is machined with a motor shaft shoulder II and a motor shaft shoulder I. The motor shaft shoulder I abuts against the left end face of the torque motor rotor 11. From right to left, the outer right end of the motor shaft 6 is fitted with the motor bearing cover 12, the deep groove ball bearing II 16, and the motor retaining ring 5. The left end of the motor retaining ring 5 abuts against the right end face of the torque motor rotor 11, the left end of the motor retaining ring 5 abuts against the left end face of the outer ring of the deep groove ball bearing II 16, the left end face of the inner ring of the deep groove ball bearing II 16 abuts against the motor shaft shoulder II, and the right end of the deep groove ball bearing II 16 abuts against the motor bearing cover 12. The motor bearing cover 12 is fixedly connected to the motor end cover 19 via a connector.

[0011] Furthermore, the motor and reducer assembly also includes an encoder 13 and an encoder retaining ring 17. The encoder 13 is fitted onto the right end of the motor shaft 6, and the encoder 13 is fixedly connected to the motor shaft 6 through the encoder retaining ring 17.

[0012] Furthermore, the motor and reducer assembly also includes a reading head 15 and a reading head fixing member 18. The reading head 15 is installed inside the reading head fixing member 18. The reading head fixing member 18 is fixedly connected to the motor bearing cover 12 through a connector. The reading head 15 is arranged opposite to the encoder 13.

[0013] Furthermore, the motor and reducer assembly also includes a dustproof end cover 14. The dustproof end cover 14 is installed on the right end of the motor housing 9, and the dustproof end cover 14 is fixedly connected to the motor housing 9 through a connector.

[0014] Furthermore, the leg wheel connector 20 includes a fixing part and a connecting part. The fixing part is a rectangular plate structure, and the connecting part includes a middle connecting plate and two end connecting sleeves. The fixing part is fixedly connected to the motor housing 9 through the connector. Two vertically arranged end connecting sleeves are vertically connected to the upper end face of the fixing part. The two end connecting sleeves are connected by the middle connecting plate. The two end connecting sleeves are machined with threaded holes that are perpendicular to the inner hole. The two end connecting sleeves are sleeved on the end of the robot's lower leg.

[0015] Furthermore, the torque motor is a frameless torque motor.

[0016] Furthermore, tire 1 is a high-elasticity tubeless tire.

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

[0018] 1. The wheeled mobile robot of the present invention adopts a highly integrated in-wheel drive method, that is, the motor and reducer are integrated inside the wheel hub 22, which has a compact structure and a higher degree of system integration.

[0019] 2. The motor shaft 6 and RV reducer 7 of the drive wheel of the wheeled mobile robot of the present invention serve as its output shaft, supported by two parallel deep groove ball bearings I10, which transmit force and bending moment; the torque output by the RV reducer 7 is connected to the wheel hub 22 through the wheel hub flange 3. The separation of output torque and load-bearing bending moment makes the structural design more reliable and greatly enhances its impact resistance. Attached Figure Description

[0020] Figure 1 This is a cross-sectional view of the drive wheel of the wheeled mobile robot of the present invention;

[0021] Figure 2 This is an isometric view of the drive wheel of the wheeled mobile robot of the present invention.

[0022] In the diagram: 1-Tire; 2-Shaft collar; 3-Hub flange; 4-Torque motor stator; 5-Motor retaining ring; 6-Motor shaft; 7-RV reducer; 8-Large end cover II; 9-Motor housing; 10-Deep groove ball bearing I; 11-Torque motor rotor; 12-Motor bearing cover; 13-Encoder; 14-Dustproof end cover; 15-Reading head; 16-Deep groove ball bearing II; 17-Encoder retaining ring; 18-Reading head fixing component; 19-Motor end cover; 20-Leg wheel connector; 21-Large end cover I; 22-Hub. Detailed Implementation

[0023] Specific implementation method one: Combining Figures 1 to 2 This embodiment describes a drive wheel for a wheeled mobile robot. It includes a motor and reducer assembly, a bearing support assembly I, and a wheel assembly. The wheel assembly is rotatably mounted on the motor and reducer assembly via the bearing support assembly I. The wheel assembly is connected to the output end of the motor and reducer assembly. The motor and reducer assembly includes a torque motor and an RV reducer 7. The torque motor includes a motor housing 9, a torque motor stator 4, a motor shaft 6, a torque motor rotor 11, and a bearing support assembly II. A torque motor is coaxially mounted inside the motor housing 9. The stator 4 and motor shaft 6 are coaxially inserted inside the torque motor stator 4. The motor shaft 6 is fitted with a torque motor rotor 11. The torque motor rotor 11 is arranged opposite to the torque motor stator 4. The right end of the motor shaft 6 is rotatably connected to the motor end cover 19 of the torque motor through the bearing support assembly II. The left end of the motor shaft 6 is inserted into the shaft hole of the RV reducer 7 and connected by a flat key. The wheel assembly includes a wheel hub 22, a tire 1 and a wheel hub flange 3. The RV reducer 7 is fixedly connected to the wheel hub 22 through the wheel hub flange 3. The tire 1 is wrapped around the wheel hub 22.

[0024] In this embodiment, an RV reducer 7 with strong impact resistance is used, exhibiting near-zero backlash and a high fatigue life. The combination of a small reduction ratio and a torque motor makes the system output more stable. The RV reducer 7 is connected to the motor housing 9 and the hub flange 3 via bolts and fixed to the extended end of the motor shaft 6. The motor shaft 6 is made of titanium alloy to ensure high specific strength. The hub 22 is made of forged aluminum alloy, ensuring high strength and low weight. The hub 22 is wrapped with a high-elasticity vacuum tire, which can effectively absorb the impact and vibration transmitted from the ground.

[0025] Specific Implementation Method Two: Combining Figure 1 This embodiment describes a bearing support assembly I comprising a collar 2, a large end cap II 8, a large end cap I 21, and two deep groove ball bearings I 10. A motor housing 9 is coaxially inserted inside a hub 22. Two parallel deep groove ball bearings I 10 are sequentially fitted onto the outer end of the motor housing 9 from right to left along the axial direction. The hub 22 is supported on the motor housing 9 by the two deep groove ball bearings I 10. A collar 2 is provided between the two deep groove ball bearings I 10, fitted onto the outer end of the motor housing 9. A shoulder is machined on the outer end of the motor housing 9, and this shoulder is connected to one side of the deep groove ball bearing. The inner ring outer end face of bearing I10 abuts against each other. Large end cover II8 is coaxially mounted on the side of deep groove ball bearing I10 on the other side. Large end cover II8 is fixedly connected to the motor housing 9 via a connector. Large end cover II8 abuts against the outer end face of the inner ring of deep groove ball bearing I10 on the other side. Large end cover I21 is coaxially mounted on the side of deep groove ball bearing I10 on one side. Large end cover I21 is fixedly connected to the hub 22 via a connector. Large end cover I21 abuts against the outer end face of the outer ring of deep groove ball bearing I10 on one side. A hub shoulder is machined inside the hub 22, and the hub shoulder abuts against the outer end face of the outer ring of deep groove ball bearing I10 on the other side. With this configuration, the left ends of the two angular contact ball bearings 10 are connected to the large end cover I21 with bolts for axial positioning of the bearings. Other components and connections are the same as in specific embodiment one.

[0026] Specific implementation method three: Combining Figure 1 This embodiment of the torque motor further includes a motor end cover 19. A motor housing shoulder is machined inside the motor housing 9, and this shoulder abuts against one end of the torque motor stator 4. The motor end cover 19 is coaxially disposed on the side of the torque motor stator 4 and is fixedly connected to the motor housing 9 via a connector. The motor end cover 19 abuts against the other end of the torque motor stator 4. With this configuration, the torque motor stator 4 is axially positioned by the internal shoulder and the motor end cover 19. Other components and connections are the same as in specific embodiments one or two.

[0027] Specific implementation method four: Combination Figure 1This embodiment describes the bearing support assembly II, which includes a motor retaining ring 5, a deep groove ball bearing II 16, and a motor bearing cover 12. From right to left, the outer right end of the motor shaft 6 is machined with a motor shaft shoulder II and a motor shaft shoulder I. The motor shaft shoulder I abuts against the left end face of the torque motor rotor 11. From right to left, the outer right end of the motor shaft 6 is fitted with the motor bearing cover 12, the deep groove ball bearing II 16, and the motor retaining ring 5. The left end of the motor retaining ring 5 abuts against the right end face of the torque motor rotor 11, the left end of the motor retaining ring 5 abuts against the left end face of the outer ring of the deep groove ball bearing II 16, the left end face of the inner ring of the deep groove ball bearing II 16 abuts against the motor shaft shoulder II, and the right end of the deep groove ball bearing II 16 abuts against the motor bearing cover 12. The motor bearing cover 12 is fixedly connected to the motor end cover 19 via a connector. With this configuration, the torque motor rotor 11, the motor retaining ring 5, and the deep groove ball bearing II 16 are axially positioned by the shaft shoulder on the motor shaft 6 and the motor bearing cover 12, while the motor shaft 6 is radially fixed by the deep groove ball bearing II 16 on the left and the RV reducer 7 on the right. Other components and connections are the same as in specific embodiments one, two, or three.

[0028] Specific Implementation Method Five: Combining Figure 1 This embodiment further includes an encoder 13 and an encoder retaining ring 17. The encoder 13 is fitted onto the right end of the motor shaft 6, and the encoder 13 is fixedly connected to the motor shaft 6 via the encoder retaining ring 17. With this configuration, the angular displacement of the motor shaft 6 is controlled by the encoder 13. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0029] Specific Implementation Method Six: Combination Figure 1 This embodiment further includes a reading head 15 and a reading head fixing member 18. The reading head 15 is installed inside the reading head fixing member 18. The reading head fixing member 18 is fixedly connected to the motor bearing cover 12 via a connector. The reading head 15 is positioned opposite to the encoder 13. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0030] Specific implementation method seven: Combination Figure 1 This embodiment further includes a dustproof end cover 14. The dustproof end cover 14 is mounted on the right end of the motor housing 9, and is fixedly connected to the motor housing 9 via a connector. This configuration, by providing the dustproof end cover 14 at the end of the motor housing 9, prevents external dust from entering the motor housing 9 and contaminating the internal components. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0031] Specific implementation method eight: Combination Figure 1This embodiment describes a leg wheel connector 20 comprising a fixing part and a connecting part. The fixing part is a rectangular plate structure, and the connecting part includes a middle connecting plate and two end connecting sleeves. The fixing part is fixedly connected to the motor housing 9 via the connector. Two vertically arranged end connecting sleeves are vertically connected to the upper surface of the fixing part, and the two end connecting sleeves are connected by the middle connecting plate. The two end connecting sleeves have threaded holes perpendicular to their inner diameters, and are fitted onto the ends of the robot's lower legs. With this configuration, the drive wheel is bolted to the robot's lower leg via the leg wheel connector 20. The motor inside the drive wheel is controlled by a motor driver via an electrical connection to rotate, enabling rapid forward and backward movement of the robot. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0032] Specific Implementation Method Nine: Combining Figure 1 This embodiment describes a frameless torque motor. In this configuration, the torque motor rotor 11 is mounted on the motor shaft 6, and the torque motor stator 4 is fixed to the motor housing 9 by the motor end cover 19. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0033] Specific Implementation Method Ten: Combining Figure 1 In this embodiment, the tire 1 is a high-elasticity tubeless tire. This configuration, with the rim 22 surrounded by the high-elasticity tubeless tire, effectively absorbs impacts and vibrations transmitted from the ground. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0034] Working principle

[0035] Combination Figure 1 and Figure 2 Explanation of the working principle of the drive wheels of the wheeled mobile robot of the present invention:

[0036] When in operation, the torque motor is energized, generating a magnetic field in the torque motor stator 4 and torque motor rotor 11. This causes the torque motor rotor 11 to drive the motor shaft 6 to rotate, which is then transmitted to the RV reducer 7 for deceleration. The deceleration is then transmitted to the wheel hub 22 through the wheel hub flange 3 connected to the RV reducer 7, thus driving the tire 1 to rotate and realizing the movement of the drive wheel.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drive wheel for a wheeled mobile robot, characterized in that: It includes a motor and reducer assembly, a bearing support assembly I, and a wheel assembly. The wheel assembly is rotatably mounted on the motor and reducer assembly via the bearing support assembly I. The wheel assembly is connected to the output end of the motor and reducer assembly. The motor and reducer assembly includes a torque motor and an RV reducer (7). The torque motor includes a motor housing (9), a torque motor stator (4), a motor shaft (6), a torque motor rotor (11), and a bearing support assembly II. The torque motor stator (4) is coaxially mounted inside the motor housing (9). The motor shaft (6) is coaxially inserted inside the torque motor stator (4). The motor shaft (6) is fitted with a torque motor on the outside. The motor rotor (11) is arranged opposite to the torque motor stator (4). The right end of the motor shaft (6) is rotatably connected to the motor end cover (19) of the torque motor through the bearing support assembly II. The left end of the motor shaft (6) is inserted into the shaft hole of the RV reducer (7) and connected by a flat key. The wheel assembly includes a hub (22), a tire (1) and a hub flange (3). The RV reducer (7) is fixedly connected to the hub (22) through the hub flange (3). The hub (22) is surrounded by the tire (1). The bearing support assembly I includes a collar (2), a large end cover II (8), and a large end cover I (21). The motor housing (9) is coaxially inserted inside the hub (22) and two deep groove ball bearings I (10). The outer end of the motor housing (9) is axially fitted with two parallel deep groove ball bearings I (10) from right to left. The hub (22) is supported on the motor housing (9) by the two deep groove ball bearings I (10). A collar (2) is provided between the two deep groove ball bearings I (10). The collar (2) is fitted on the outer end of the motor housing (9). The outer end of the motor housing (9) is machined with a motor housing shoulder. The motor housing shoulder abuts against the outer end face of the inner ring of one of the deep groove ball bearings I (10). The large end cover II ( 8) Coaxially disposed on the side of the other deep groove ball bearing I (10), the large end cover II (8) is fixedly connected to the motor housing (9) through a connector, the large end cover II (8) abuts against the outer end face of the inner ring of the other deep groove ball bearing I (10), the large end cover I (21) is coaxially disposed on the side of the other deep groove ball bearing I (10), the large end cover I (21) is fixedly connected to the hub (22) through a connector, the large end cover I (21) abuts against the outer end face of the outer ring of the other deep groove ball bearing I (10), the hub (22) has a hub shoulder machined inside, the hub shoulder abuts against the outer end face of the outer ring of the other deep groove ball bearing I (10).

2. The drive wheel for a wheeled mobile robot according to claim 1, characterized in that: The torque motor also includes a motor end cover (19). The motor housing (9) has a motor housing shoulder machined inside. The motor housing shoulder abuts against one end of the torque motor stator (4). The motor end cover (19) is coaxially arranged on the side of the torque motor stator (4). The motor end cover (19) is fixedly connected to the motor housing (9) through a connector. The motor end cover (19) abuts against the other end of the torque motor stator (4).

3. The drive wheel for a wheeled mobile robot according to claim 2, characterized in that: The bearing support assembly II includes a motor retaining ring (5), a deep groove ball bearing II (16), and a motor bearing cover (12). The motor shaft (6) has a motor shaft shoulder II and a motor shaft shoulder I processed from right to left on the outer right end. The motor shaft shoulder I abuts against the left end face of the torque motor rotor (11). The motor shaft (6) has a motor bearing cover (12), a deep groove ball bearing II (16), and a motor retaining ring (5) processed from right to left on the outer right end. The left end of the motor retaining ring (5) abuts against the right end face of the torque motor rotor (11). The left end of the motor retaining ring (5) abuts against the left end face of the outer ring of the deep groove ball bearing II (16). The left end face of the inner ring of the deep groove ball bearing II (16) abuts against the motor shaft shoulder II. The right end of the deep groove ball bearing II (16) abuts against the motor bearing cover (12). The motor bearing cover (12) is fixedly connected to the motor end cover (19) through a connector.

4. The drive wheel for a wheeled mobile robot according to claim 3, characterized in that: The motor and reducer assembly also includes an encoder (13) and an encoder retaining ring (17). The encoder (13) is fitted on the right end of the motor shaft (6), and the encoder (13) is fixedly connected to the motor shaft (6) through the encoder retaining ring (17).

5. The drive wheel for a wheeled mobile robot according to claim 3, characterized in that: The motor and reducer assembly also includes a reading head (15) and a reading head fixing member (18). The reading head (15) is installed inside the reading head fixing member (18). The reading head fixing member (18) is fixedly connected to the motor bearing cover (12) through a connector. The reading head (15) is set opposite to the encoder (13).

6. A drive wheel for a wheeled mobile robot according to claim 1 or 5, characterized in that: The motor and reducer assembly also includes a dustproof end cover (14). The right end of the motor housing (9) is equipped with a dustproof end cover (14), which is fixedly connected to the motor housing (9) by a connector.

7. The drive wheel for a wheeled mobile robot according to claim 6, characterized in that: The motor and reducer assembly also includes a leg wheel connector (20), one end of which is fixedly connected to the robot's lower leg via a connector, and the other end of which is fixedly connected to the motor housing (9) via a connector.

8. The drive wheel of a wheeled mobile robot according to claim 3, characterized in that: The leg wheel connector (20) includes a fixing part and a connecting part. The fixing part is a rectangular plate structure. The connecting part includes a middle connecting plate and two end connecting sleeves. The fixing part is fixedly connected to the motor housing (9) through the connector. The upper end face of the fixing part is vertically connected to two vertically arranged end connecting sleeves. The two end connecting sleeves are connected by the middle connecting plate. The two end connecting sleeves are machined with threaded holes that are perpendicular to the inner hole. The two end connecting sleeves are fitted onto the ends of the robot's lower legs.

9. The drive wheel of a wheeled mobile robot according to claim 3, characterized in that: The torque motor is a frameless torque motor.

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