Wheel arm composite structure driven by single motor and control method thereof

Abstract

The invention discloses a single-motor-driven wheel arm composite structure and a control method thereof.The single-motor-driven wheel arm composite structure comprises a fixed arm, the fixed arm comprises an outer connecting wing plate and an inner connecting wing plate, a rotating arm is rotationally arranged between the outer connecting wing plate and the inner connecting wing plate through a speed reduction assembly, and a hollow motor is arranged on the inner connecting wing plate and comprises a stator and a rotor; a wheel rim is arranged on the rotor and sleeved with a tire, a brake disc is arranged on the side, close to the inner connecting wing plate, of the wheel rim in a supported mode and located between the wheel rim and the speed reduction assembly, a brake caliper matched with the brake disc is arranged on the inner connecting wing plate, the hollow motor is hollow, a clutch is installed in the hollow motor, one end of the clutch is connected with the speed reduction assembly, and the other end of the clutch is connected with the speed reduction assembly. The other end of the clutch and the rim rotate at the same angular speed, and connection and disconnection of force of the speed reduction assembly driving the rotating arm to rotate are controlled through the clutch. The single motor drives the wheel and the rotating arm at the same time, the integration degree of the wheel arm structure is improved, and the number of motors and occupied space are reduced.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and more specifically, to a wheel-arm composite structure driven by a single motor and a control method thereof. Background Art

[0002] Wheel-legged robots are designed to adapt to terrain with significant height differences and can operate freely on any surface that wheeled robots cannot travel on. They can even jump over or cross obstacles, and gradually show advantages that traditional vehicles and legged robots cannot match in industrial construction, disaster relief, and military defense. With the continuous progress and innovation of composite materials technology, electric drive technology, and control technology, the application of robots in many fields has become increasingly widespread. They not only ensure the high efficiency of material transportation, but also can replace humans to perform detection and rescue tasks in dangerous environments such as fires and earthquakes, significantly improving the safety and efficiency of rescue work. However, the wheel-arm composite structure design of wheel-legged robots usually requires multiple motor drives, such as hub motors and joint motors, which makes its structure relatively complex. In addition, this design leads to low overall integration because it is necessary to coordinate the work of multiple motors, which increases the complexity of the entire system. This complexity not only increases the manufacturing cost of the robot, but also puts higher requirements on maintenance and repair due to the need for more parts and more sophisticated assembly processes. Maintenance and repair work requires professional technicians and takes a long time, which undoubtedly increases the cost of using the robot. In addition, the complex structure also reduces the reliability of the robot in practical applications. Once a component has a problem, it may affect the operation of the entire robot. Therefore, this complexity limits the popularity and promotion of wheeled-legged robots in practical applications, especially in cost-sensitive and maintenance-intensive fields. Summary of the invention

[0003] In order to solve the technical problems of the large number of motors used and low integration of the wheel-arm composite structure of the existing robot, the present invention innovatively provides a wheel-arm composite structure driven by a single motor, which drives the wheel and the rotating arm at the same time by a single motor, thereby improving the integration of the wheel-arm structure and reducing the number of motors and space occupancy.

[0004] To achieve the above-mentioned technical objectives, an embodiment of the present invention discloses a wheel arm composite structure driven by a single motor, including a fixed arm, the fixed arm including an outer connecting wing plate and an inner connecting wing plate, a rotating arm is rotatably installed between the outer connecting wing plate and the inner connecting wing plate via a reduction assembly, a hollow motor is provided on the inner connecting wing plate, the hollow motor includes a stator and a rotor coaxially arranged from the inside to the outside, a rim is integrally formed on the rotor, a tire is sleeved on the rim, a brake disc is supported on one side of the rim close to the inner connecting wing plate, the brake disc is between the rim and the reduction assembly, a brake caliper cooperating with the brake disc is provided on the inner connecting wing plate, the hollow motor is hollow, a clutch is installed in the hollow motor, one end of the clutch is connected to the reduction assembly, and the other end of the clutch rotates at the same angular velocity as the rim, and the connection and disconnection of the force of the reduction assembly to drive the rotating arm to rotate is controlled by the clutch.

[0005] Furthermore, the present invention provides a wheel-arm composite structure driven by a single motor, wherein the hollow motor also includes a hollow shaft, the stator is fixedly sleeved in the middle of the outer circumferential wall of the hollow shaft, an inner end cover is rotatably sleeved on one end of the outer circumferential wall of the hollow shaft close to the inner connecting wing plate, and an outer end cover is rotatably sleeved on one end of the outer circumferential wall of the hollow shaft away from the inner connecting wing plate, the rim is fixed between the inner end cover and the outer end cover, an input flange is coaxially fixed at the center of the outer end cover, the clutch is installed in the hollow shaft, one end of the clutch passes through the hollow shaft and is connected to the deceleration assembly, and the other end of the clutch is fixedly connected to the input flange.

[0006] Furthermore, the present invention provides a wheel-arm composite structure driven by a single motor, wherein the clutch comprises an active part, a rotating shaft and a driven part, the active part is fixedly connected to an input flange, one end of the rotating shaft is rotatably sleeved on the active part, the other end of the rotating shaft is connected to the input end of the shaft reduction assembly, the driven part is fixedly sleeved on the middle part of the rotating shaft, the active part and the driven part are electromagnetically attracted to cooperate, an electromagnet is provided on the driven part of the clutch for attracting the active part and the driven part, and a reset assembly is provided on the active part of the clutch for resetting the active part.

[0007] Furthermore, the present invention provides a wheel arm composite structure driven by a single motor, wherein the active part includes a connecting sleeve, a fixed toothed disc and a sliding toothed disc which are coaxially arranged in sequence, one end of the connecting sleeve is fixedly connected to the input flange, and the other end of the connecting sleeve is fixedly connected to the fixed toothed disc, an external spline is provided on the outer peripheral wall of the fixed toothed disc, the sliding toothed disc is provided with a receiving groove for accommodating the fixed toothed disc, the groove wall of the receiving groove of the sliding toothed disc is provided with an internal spline matching the external spline of the fixed toothed disc, the sliding toothed disc is slidably connected to the external spline of the fixed toothed disc through the internal spline, a reset slot hole is provided on the end face of the sliding toothed disc opposite to the receiving slot, and the reset assembly includes a reset bolt and a reset spring, the reset spring is coaxially arranged in the reset slot hole, the reset bolt passes through the reset spring, the sliding toothed disc and the fixed toothed disc in sequence and is fixedly connected to the connecting sleeve, and the rotating shaft passes through the sliding toothed disc and the fixed toothed disc in sequence and is rotatably sleeved in the connecting sleeve.

[0008] Furthermore, the present invention provides a wheel arm composite structure driven by a single motor, wherein the driven part includes a transition flange, an anti-rotation bracket and a rotating core shaft which are coaxially arranged in sequence, one end of the transition flange is fixedly connected to the inner connecting wing plate, and the other end is fixedly connected to the hollow shaft, the transition flange is provided with an extension sleeve extending toward the inside of the hollow shaft, the extension sleeve is rotatably sleeved with the rotating shaft, the anti-rotation bracket is cylindrical, one end of the anti-rotation bracket is fixedly connected to the transition flange, and the other end is provided with a plurality of anti-rotation legs evenly spaced along the circumferential direction, the rotating core shaft is fixedly connected to the rotating shaft via a transmission key, the electromagnet is rotatably sleeved on the outer peripheral wall of the rotating core shaft, and the electromagnet is provided with a slot for installing the anti-rotation legs.

[0009] Furthermore, the present invention provides a wheel arm composite structure driven by a single motor, wherein the side walls opposite to the sliding toothed disc and the rotating core shaft are provided with teeth that fit together in a concave-convex manner.

[0010] Furthermore, the present invention provides a wheel arm composite structure driven by a single motor, wherein the inner end cover is provided with a support sleeve extending toward the inner connecting wing plate, and the brake disc is fixed on the support sleeve.

[0011] Furthermore, the present invention provides a wheel-arm composite structure driven by a single motor, wherein the reduction assembly includes a first gear ring, an input gear, a second gear ring, a sun gear, a planetary carrier and a planetary gear, the first gear ring is a barrel-shaped structure with an opening toward the external connecting wing plate, the closed end of the first gear ring is fixedly connected to the internal connecting wing plate, the gear teeth of the first gear ring are arranged on its own inner circumferential wall and close to the opening, and a copper sleeve with a rollover-proof edge is fixedly provided on one end of the outer circumferential wall of the first gear ring close to the internal connecting wing plate, the input gear is the input end of the reduction assembly, and the gear shaft of the input gear passes through the first gear ring and the internal connecting wing plate in sequence It is connected to the rotating shaft through a straight groove, and the second gear ring is a barrel-shaped structure with an opening facing the first gear ring. The second gear ring is coaxially arranged in the first gear ring and meshes with the input gear. One end of the sun gear is coaxially fixed on the surface of the second gear ring facing the external connecting wing plate, and the other end of the sun gear is rotatably connected to the rotating arm. The end of the rotating arm is rotatably installed between the anti-overturning edge copper sleeve and the external connecting wing plate. The planet carrier is floatingly arranged between the second gear ring and the rotating arm. The planetary gears are installed on the planet carrier and the rotating arm through planetary gear bearings, and the planetary gears are respectively meshed with the sun gear and the first gear ring.

[0012] Furthermore, the present invention provides a wheel arm composite structure driven by a single motor, wherein a sensor protection box is provided on the outer connecting wing plate, an angle sensor is provided in the sensor protection box, and the angle sensor is coaxially fixed with the end of the rotating arm.

[0013] The embodiment of the present invention further provides a control method for a wheel-arm composite structure driven by a single motor, the control method comprising the following steps:

[0014] The wheel arm composite structure detects terrain through the vehicle system;

[0015] After starting to move, the motor controller is used to enter the wheel drive mode;

[0016] The motor controller converts the feedback speed signal into the vehicle speed, obtains the control signal through the feedback control method, and drives the hollow motor to rotate;

[0017] In complex terrain or emergency situations, when it is determined that the arm assistance is needed, the clutch is used to control the electromagnet to energize, so that the clutch is engaged and the arm starts to move, entering the mechanical arm drive mode;

[0018] When the assistance of the rotating arm is not needed, the clutch controller is used to control the electromagnet to cut off the power, so that the clutch is disengaged and switched to the wheel drive mode;

[0019] When braking is required, the brake controller is used to control the brake caliper to start braking.

[0020] The beneficial effects of the present invention are as follows: the design of the wheel-arm composite structure adopts a single motor-driven setting, which significantly simplifies its overall structure. In this way, the integration of the wheel-arm structure is significantly improved, because this design eliminates the need to coordinate multiple motors to work together, thereby greatly reducing the complexity of the entire structure. This simplification not only reduces the cost of the robot during the manufacturing process, but also makes the maintenance and repair of the robot easier due to the reduction in the number of required parts and the simpler assembly process, thereby reducing the cost of using the robot. In addition, compared with the traditional wheel arm with a complex multi-motor structure, the simplification of this structure significantly improves the reliability in practical applications and reduces the possibility of mechanical failures. Therefore, the simplification of this structure not only promotes the popularization and promotion of wheel-legged robots in practical applications, but also has unique advantages in cost-sensitive and maintenance-intensive fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of a wheel arm composite structure driven by a single motor of the present invention;

[0022] Figure 2 It is a front view structural schematic diagram of a wheel arm composite structure driven by a single motor of the present invention;

[0023] Figure 3 For along Figure 2 Schematic diagram of the cross-sectional structure in the AA direction. DETAILED DESCRIPTION

[0024] A single-motor driven wheel arm composite structure of the present invention is explained and illustrated in detail below in conjunction with the accompanying drawings of the specification.

[0025] like Figure 1-3 As shown, the embodiment of the present invention discloses a wheel arm composite structure driven by a single motor, including a fixed arm 1, the fixed arm 1 including an outer connecting wing plate 11 and an inner connecting wing plate 12, and a rotating arm 2 is rotatably installed between the outer connecting wing plate 11 and the inner connecting wing plate 12 through a reduction assembly. A hollow motor 3 is provided on the inner connecting wing plate 12, and the hollow motor 3 includes a stator 31 and a rotor 32 coaxially arranged from the inside to the outside, and a rim 4 is integrally formed on the rotor 32, and a tire 5 is sleeved on the rim 4. A brake disc 6 is supported on one side of the rim 4 close to the inner connecting wing plate 12, so that the brake disc 6 is between the rim 4 and the reduction assembly, and a brake caliper 7 cooperating with the brake disc 6 is provided on the inner connecting wing plate 12. The hollow motor 3 is hollow, and a clutch is installed in the hollow motor 3, one end of the clutch is connected to the reduction assembly, and the other end of the clutch rotates at the same angular velocity as the rim 4, and the clutch controls the connection and disconnection of the force of the reduction assembly to drive the rotating arm 2 to rotate.

[0026] In actual use, the clutch is in a disengaged state to control the disconnection of the force of the reduction assembly driving the rotating arm 2 to rotate, and the clutch is in a coupled state to control the connection of the force of the reduction assembly driving the rotating arm 2 to rotate. The wheel-arm composite structure of the present invention has two driving modes, one is the wheel drive mode, and the other is the mechanical arm drive mode. In the wheel drive mode, the clutch is in a disengaged state, the reduction assembly and the rotating arm 2 do not generate movement, that is, the driving force of the rotating arm 2 controlled by the clutch is in a disconnected state, the hollow motor 3 is energized to drive the rotor 32 to rotate, the rotor 32 drives the wheel rim 4 to rotate, and then drives the tire 5 to rotate, entering the wheel drive mode; in the mechanical arm drive mode, the clutch is in an engaged state, the reduction assembly and the rotating arm 2 generate movement, that is, the driving force of the rotating arm 2 controlled by the clutch is in a fully linked state, when the hollow motor 3 is energized to drive the rotor 32 to rotate, the clutch will drive the reduction assembly to rotate, and then the reduction assembly drives the rotating arm 2 to rotate, and the rotating arm 2 completes a series of moving actions (such as walking, jumping, etc.).

[0027] The design of the wheel-arm composite structure of the present invention adopts a single motor-driven setting, which significantly simplifies its overall structure. In this way, the integration of the wheel-arm structure is significantly improved, because this design eliminates the need to coordinate multiple motors to work together, thereby greatly reducing the complexity of the entire structure. This simplification not only reduces the cost of the robot during the manufacturing process, but also makes the maintenance and repair of the robot easier due to the reduction in the number of required parts and the simpler assembly process, thereby reducing the cost of using the robot. In addition, compared with the traditional wheel arm with a complex multi-motor structure, the simplification of this structure significantly improves the reliability in practical applications and reduces the possibility of mechanical failure. Therefore, the simplification of this structure not only promotes the popularization and promotion of wheel-legged robots in practical applications, but also has unique advantages in cost-sensitive and maintenance-intensive fields.

[0028] In one embodiment of the present invention, the hollow motor 3 further includes a hollow shaft 33, the stator 31 is fixedly sleeved in the middle of the outer peripheral wall of the hollow shaft 33, an inner end cover 34 is rotatably sleeved at one end of the outer peripheral wall of the hollow shaft 33 close to the inner connecting wing plate 12, and an outer end cover 35 is rotatably sleeved at one end of the outer peripheral wall of the hollow shaft 33 away from the inner connecting wing plate 12. The rim 4 is fixed between the inner end cover 34 and the outer end cover 35, an input flange 36 is coaxially fixed in the center of the outer end cover 35, and the clutch is installed in the hollow shaft 33, so that one end of the clutch passes through the hollow shaft 33 and is connected to the reduction assembly, and the other end of the clutch is fixedly connected to the input flange 36. By setting the hollow shaft 33, the hollow motor 3 can have a core support structure to ensure that the stator 31 can be stably installed in a suitable position. By setting the inner end cover 34 and the outer end cover 35, the sealing and stability of the hollow motor 3 can be guaranteed, and the assembly of the hollow motor 3 can also be facilitated. Fixing the wheel rim 4 between the inner end cover 34 and the outer end cover 35 can ensure the stability of the structure of the entire hollow motor 3 and the smoothness of operation. The clutch power can be transmitted through the input flange 36. The above setting method can make the structure of the hollow motor 3 more compact and improve the transmission efficiency. The setting method of setting the clutch on the hollow shaft 33 not only optimizes the spatial layout of the motor, but also improves the compactness of the overall structure, making the overall structure more integrated. A support sleeve extending toward the inner connecting wing plate 12 is provided on the inner end cover 34, and the brake disc 6 is fixed on the support sleeve.

[0029] In one embodiment of the present invention, the clutch comprises an active part 81, a rotating shaft 82 and a driven part 83. The active part 81 is fixedly connected to the input flange 36, one end of the rotating shaft 82 is rotatably sleeved on the active part 81 and can rotate freely relative to the active part 81, the other end of the rotating shaft 82 is connected to the input end of the shaft reduction assembly, and the driven part 83 is fixedly sleeved on the middle part of the rotating shaft 82. The active part 81 and the driven part 83 are electromagnetically matched. In order to ensure that the active part 81 can be tightly attracted with the driven part 83, an electromagnet 84 is provided on the driven part 83 of the clutch to attract the active part 81 and the driven part 83. In order to quickly reset the active part 81 when necessary, a reset component 85 is provided on the active part 81 of the clutch to reset the active part 81. In order to ensure the stability of the structural action, a plurality of reset components 85 can be evenly spaced along the circumference of the active part 81. This makes the clutch more flexible and efficient when working. Through the above-mentioned structural setting, the clutch can achieve precise control of the rotating arm 2. During actual use, in the wheel drive mode, the electromagnet 84 is in a de-energized state, the active part 81 and the driven part 83 of the clutch are in a separated state, the active part 81 of the clutch rotates synchronously with the input flange 36 on the rotating shaft 82, the rotating part rotates, and the driven part does not rotate; in the robot arm drive mode, the electromagnet 84 is in a energized state, the active part 81 and the driven part 83 of the clutch are in an engaged state, because the driven part 83 is fixed on the rotating shaft, under the transmission of the input flange 36, the rotating shaft 82 is driven to rotate, so that the rotating shaft 82 drives the reduction assembly to move, and the reduction assembly drives the rotating arm 2 to move.

[0030] More specifically, the specific connection structure of the clutch active part 81 is as follows: the active part 81 includes a connecting sleeve 811, a fixed toothed disc 812 and a sliding toothed disc 813 which are coaxially arranged in sequence. One end of the connecting sleeve 811 is fixedly connected to the input flange 36, and the other end of the connecting sleeve 811 is fixedly connected to the fixed toothed disc 812. An external spline is provided on the outer peripheral wall of the fixed toothed disc 812, and an accommodating groove for accommodating the fixed toothed disc 812 is provided on the sliding toothed disc 813. An internal spline matching the external spline of the fixed toothed disc 812 is provided on the accommodating groove wall of the sliding toothed disc 813, so that the sliding toothed disc 813 can be slidably connected with the external spline of the fixed toothed disc 812 through the internal spline, and the fixed toothed disc 812 guides the sliding toothed disc 813, so that the sliding toothed disc 813 can be away from or close to the fixed toothed disc 812 within a certain range. The matching mode of the internal spline and the external spline provides a more precise guide for the sliding toothed disc 813, ensuring the smooth and precise operation of the clutch. A reset slot 814 is provided on the end surface of the sliding toothed disc 813 opposite to the accommodating groove, and the reset assembly 85 includes a reset bolt 851 and a reset spring 852. The reset spring 852 is coaxially arranged in the reset slot 814. The reset bolt 851 passes through the reset spring 852, the sliding toothed disc 813 and the fixed toothed disc 812 in sequence and is fixedly connected to the connecting sleeve 811. The rotating shaft 82 passes through the sliding toothed disc 813 and the fixed toothed disc 812 in sequence and is rotatably sleeved in the connecting sleeve 811. When the sliding toothed disc 813 is away from the fixed toothed disc 812 (that is, the electromagnet 84 is in the energized state), the reset spring 852 is compressed and stores energy; when the electromagnet 84 is in the de-energized state, the reset spring 852 releases energy, and the reset spring 852 pushes the sliding toothed disc 813 to gradually approach the fixed toothed disc 812 to restore it to its original state.

[0031] The specific connection structure of the clutch driven part 83 is as follows: the driven part 83 comprises a transition flange 831, an anti-rotation bracket 832 and a rotating mandrel 833 which are coaxially arranged in sequence. One end of the transition flange 831 is fixedly connected to the inner connecting wing plate 12, and the other end is fixedly connected to the hollow shaft 33. The transition flange 831 is provided with an extension sleeve 8311 extending toward the inside of the hollow shaft 33, and the extension sleeve 8311 is rotatably sleeved with the rotating shaft 82 (that is, the rotating shaft 82 can rotate freely in the extension sleeve 8311), and the anti-rotation bracket 832 is set to a cylindrical shape, so that one end of the anti-rotation bracket 832 is fixedly connected to the transition flange 831, and the other end is provided with a plurality of anti-rotation legs 8321 evenly spaced along the circumferential direction, and the rotating core shaft 833 is fixedly connected to the rotating shaft 82 through a transmission key 834, and the electromagnet 84 is rotatably sleeved on the outer peripheral wall of the rotating core shaft 833 (that is, the rotating core shaft 833 can rotate freely relative to the electromagnet 84), and a slot for installing the anti-rotation leg 8321 is provided on the electromagnet 84, and a plurality of anti-rotation legs 8321 are inserted into the slot. The anti-rotation bracket 832 can prevent the electromagnet 84 from unnecessary rotation during the rotation of the rotating core shaft 833.

[0032] In order to ensure the firmness of the connection after the clutch active part 81 and the driven part 83 are engaged, and the integrity of the power transmission, teeth that match each other are provided on the opposite side walls of the sliding toothed disc 813 and the rotating mandrel 833. When the clutch active part 81 and the driven part 83 are engaged, the teeth on the moving toothed disc and the rotating mandrel 833 can be inserted into each other in an interlaced manner, thereby forming a stable bite state. This bite state not only enhances the firmness of the connection, but also ensures that the power can be smoothly and unimpededly transmitted from the clutch active part 81 to the driven part 83, and then to the deceleration component, making the entire power transmission process more efficient and reliable.

[0033] Through the above structural arrangement, in the wheel drive mode, the sliding toothed disc 813 and the rotating core shaft 833 are in a separated state, and the rotor 32 drives the rim 4, the tire 5, the inner end cover 34, the outer end cover 35 and the input flange 36 to rotate synchronously, and the power is transmitted to the connecting sleeve 811, the fixed toothed disc 812 and the sliding toothed disc 813 through the input flange 36. The connecting sleeve 811 can rotate freely on the rotating shaft 82, so the rotating shaft 82, the reduction assembly and the rotating shaft do not rotate; in the robot arm drive mode, the sliding toothed disc 813 and the rotating core shaft 833 are in an engaged state, and after the power is transmitted to the connecting sleeve 811, the fixed toothed disc 812 and the sliding toothed disc 813 through the input flange 36, the rotating core shaft 833 drives the rotating shaft 82 to rotate under the action of the transmission key 834, and then the rotating shaft 82 drives the rotating arm 2 to rotate through the reduction assembly.

[0034] In one embodiment of the present invention, the reduction assembly includes a first gear ring 91, an input gear 92, a second gear ring 93, a sun gear 94, a planet carrier 95 and a planet gear 96. The first gear ring 91 is a barrel-shaped structure with an opening facing the outer connecting wing plate 11, so that the closed end of the first gear ring 91 is fixedly connected to the inner connecting wing plate 12, and the gear teeth of the first gear ring 91 are arranged on its inner peripheral wall and close to the opening. A copper sleeve 97 with a stop edge is fixedly sleeved on one end of the outer peripheral wall of the first gear ring 91 close to the inner connecting wing plate 12. The input gear 92 is the input end of the reduction assembly, so that the gear shaft of the input gear 92 passes through the first gear ring 91 and the inner connecting wing plate 12 in sequence and is connected to the rotating shaft 82 through a straight groove, and the second gear ring 93 is set as a barrel-shaped structure with an opening facing the first gear ring 91, and the second gear ring 93 is coaxially set in the first gear ring 91 to mesh with the input gear 92, and one end of the sun gear 94 is coaxially fixed on the surface of the second gear ring 93 facing the outer connecting wing plate 11, and the other end of the sun gear 94 is rotatably connected to the rotating arm 2, and the end of the rotating arm 2 is rotatably installed between the anti-overturning side copper sleeve 97 and the outer connecting wing plate 11, and the rotating arm 2 is limited between the anti-overturning side copper sleeve 97 and the outer connecting wing plate 11, so as to limit the axial displacement of the rotating arm 2 and make the rotating arm 2 rotate between the anti-overturning side copper sleeve 97 and the outer connecting wing plate 11. The planet carrier 95 is arranged to float between the second gear ring 93 and the rotating arm 2, and the planetary gear 96 is installed on the planet carrier 95 and the rotating arm 2 through the planetary gear bearing, so that the planetary gear 96 is meshed with the sun gear 94 and the first gear ring 91 respectively. In order to ensure the stability of the action, the number of planetary gears 96 can be set to multiple. When the rotating shaft 82 rotates, the input gear 92 is driven to rotate through the slot, and the second gear ring 93 realizes the first stage of deceleration by internal meshing with the input gear 92. The second gear ring 93 drives the sun gear 94 to rotate, and the planetary gear 96, the sun gear 94 and the first gear ring 91 are meshed and transmitted. Finally, the planetary gear 96 drives the rotating arm 2 to rotate and realizes the second stage of deceleration. Its compact structural design enables the entire deceleration assembly to achieve an efficient deceleration function in a limited space. Due to the multi-stage deceleration design, the reduction ratio can reach a higher value, thereby meeting the deceleration requirements under different working conditions. In addition, the floating design of the planetary gear 96 enables the entire system to have good adaptive ability and can withstand large load fluctuations without affecting the stability of the transmission. This design also reduces friction between gears, improves transmission efficiency, and reduces energy loss. In practical applications, due to its simple structure, maintenance and replacement of parts are relatively easy, which greatly reduces maintenance costs and downtime. At the same time, the modular design of the reduction assembly enables it to be quickly customized and adjusted according to different application requirements, improving production flexibility.

[0035] In one embodiment of the present invention, a sensor protection box 98 is provided on the external connecting wing plate 11, and an angle sensor 99 is provided in the sensor protection box 98. The angle sensor 99 is coaxially fixed to the end of the rotating arm 2. The angle sensor 99 can accurately know the rotation angle of the rotating arm 2, which is conducive to the precise control of the rotating arm 2.

[0036] The embodiment of the present invention further provides a control method for the above-mentioned wheel arm composite structure driven by a single motor, and the control method comprises the following steps:

[0037] S1: The wheel arm composite structure detects the terrain through the vehicle system;

[0038] S2: After starting to move, use the motor controller to enter the wheel drive mode;

[0039] S3: The motor controller converts the feedback speed signal into the vehicle speed, obtains the control signal through the feedback control method, and drives the hollow motor 3 to rotate;

[0040] S4: In complex terrain or emergency situations, when it is determined that the assistance of the rotating arm 2 is needed, the clutch is used to control the electromagnet 84 to be energized, so that the clutch is engaged and the rotating arm 2 starts to move, entering the mechanical arm driving mode;

[0041] S5: When the assistance of the rotating arm is not needed, the clutch controller is used to control the electromagnet 84 to cut off the power, so that the clutch is disengaged and switched to the wheel drive mode;

[0042] S6: When braking is required, the brake controller is used to control the brake caliper 7 to start braking.

[0043] In this embodiment, the control method can flexibly switch the driving mode according to different terrains and driving conditions, thereby improving the robot's passability and safety. On flat roads, the robot mainly relies on the wheel drive mode to obtain higher driving efficiency and lower energy consumption. When encountering rough terrain or obstacles, the robot arm drive mode can provide additional traction and stability to help the robot pass through complex sections smoothly. In addition, the control method also has good real-time performance and reliability. By monitoring terrain changes in real time, judgments can be made quickly and switched to the most appropriate drive mode. At the same time, the fast response of the clutch ensures the smoothness of the mode switching and avoids robot bumps or power interruptions caused by improper switching. This single-motor-driven wheel-arm composite structure control method not only improves the robot's adaptability, but also optimizes energy efficiency.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred components or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and simple improvements made to the essential contents of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheel arm composite structure driven by a single motor, characterized in that: The invention comprises a fixed arm, wherein the fixed arm comprises an outer connecting wing plate and an inner connecting wing plate, a rotating arm is rotatably installed between the outer connecting wing plate and the inner connecting wing plate via a reduction assembly, a hollow motor is arranged on the inner connecting wing plate, the hollow motor comprises a stator and a rotor coaxially arranged from the inside to the outside, a rim is integrally formed on the rotor, a tire is sleeved on the rim, a brake disc is supported on one side of the rim close to the inner connecting wing plate, the brake disc is between the rim and the reduction assembly, a brake caliper cooperating with the brake disc is arranged on the inner connecting wing plate, the hollow motor is hollow, a clutch is installed in the hollow motor, one end of the clutch is connected to the reduction assembly, the other end of the clutch rotates at the same angular velocity as the rim, and the connection and disconnection of the force of the reduction assembly driving the rotating arm to rotate is controlled by the clutch.

2. The wheel arm composite structure driven by a single motor according to claim 1, characterized in that: The hollow motor also includes a hollow shaft, the stator is fixedly sleeved in the middle of the outer circumferential wall of the hollow shaft, an inner end cover is rotatably sleeved on one end of the outer circumferential wall of the hollow shaft close to the inner connecting wing plate, and an outer end cover is rotatably sleeved on one end of the outer circumferential wall of the hollow shaft away from the inner connecting wing plate, the rim is fixed between the inner end cover and the outer end cover, an input flange is coaxially fixed at the center of the outer end cover, the clutch is installed in the hollow shaft, one end of the clutch passes through the hollow shaft and is connected to the reduction assembly, and the other end of the clutch is fixedly connected to the input flange.

3. The wheel arm composite structure driven by a single motor according to claim 2, characterized in that: The clutch includes an active part, a rotating shaft and a driven part. The active part is fixedly connected to the input flange. One end of the rotating shaft is rotatably sleeved on the active part, and the other end of the rotating shaft is connected to the input end of the shaft reduction assembly. The driven part is fixedly sleeved on the middle part of the rotating shaft. The active part and the driven part are electromagnetically attracted to cooperate. The driven part of the clutch is provided with an electromagnet that attracts the active part and the driven part, and the active part of the clutch is provided with a reset assembly that resets the active part.

4. The wheel arm composite structure driven by a single motor according to claim 3, characterized in that: The active part includes a connecting sleeve, a fixed toothed disc and a sliding toothed disc which are coaxially arranged in sequence, one end of the connecting sleeve is fixedly connected to the input flange, and the other end of the connecting sleeve is fixedly connected to the fixed toothed disc, an external spline is provided on the outer peripheral wall of the fixed toothed disc, the sliding toothed disc is provided with a receiving groove for accommodating the fixed toothed disc, the receiving groove wall of the sliding toothed disc is provided with an internal spline matching the external spline of the fixed toothed disc, the sliding toothed disc is slidably connected to the external spline of the fixed toothed disc through the internal spline, and a reset slot is provided on the end surface of the sliding toothed disc opposite to the receiving slot, and the reset assembly includes a reset bolt and a reset spring, the reset spring is coaxially arranged in the reset slot, the reset bolt passes through the reset spring, the sliding toothed disc and the fixed toothed disc in sequence and is fixedly connected to the connecting sleeve, and the rotating shaft passes through the sliding toothed disc and the fixed toothed disc in sequence and is rotatably sleeved in the connecting sleeve.

5. The wheel arm composite structure driven by a single motor according to claim 4, characterized in that: The driven part includes a transition flange, an anti-rotation bracket and a rotating core shaft which are coaxially arranged in sequence, one end of the transition flange is fixedly connected to the inner connecting wing plate, and the other end is fixedly connected to the hollow shaft, the transition flange is provided with an extension sleeve extending to the inside of the hollow shaft, and the extension sleeve is rotatably sleeved with the rotating shaft, the anti-rotation bracket is cylindrical, one end of the anti-rotation bracket is fixedly connected to the transition flange, and the other end is provided with a plurality of anti-rotation legs evenly spaced along the circumferential direction, the rotating core shaft is fixedly connected to the rotating shaft through a transmission key, the electromagnet rotatably sleeved on the outer peripheral wall of the rotating core shaft, and the electromagnet is provided with a slot for installing the anti-rotation leg.

6. The wheel arm composite structure driven by a single motor according to claim 5, characterized in that: The sliding toothed disc and the rotating core shaft have side walls opposite to each other provided with teeth that are concave-convex and match each other.

7. The wheel arm composite structure driven by a single motor according to claim 6, characterized in that: The inner end cover is provided with a support sleeve extending toward the inner connecting wing plate, and the brake disc is fixed on the support sleeve.

8. The wheel arm composite structure driven by a single motor according to claim 7, characterized in that: The reduction assembly includes a first gear ring, an input gear, a second gear ring, a sun gear, a planet carrier and a planetary gear. The first gear ring is a barrel-shaped structure with an opening toward the outer connecting wing plate. The closed end of the first gear ring is fixedly connected to the inner connecting wing plate. The gear teeth of the first gear ring are arranged on its inner peripheral wall and close to the opening. The outer peripheral wall of the first gear ring close to the inner connecting wing plate is fixedly sleeved with a copper sleeve with a stop-overturning edge. The input gear is the input end of the reduction assembly. The gear shaft of the input gear passes through the first gear ring and the inner connecting wing plate in sequence and is connected to the rotating shaft through a straight groove. The second gear ring is a barrel-shaped structure with an opening toward the first gear ring. The second gear ring is coaxially arranged in the first gear ring and meshes with the input gear. One end of the sun gear is coaxially fixed on the surface of the second gear ring facing the outer connecting wing plate. The other end of the sun gear is rotatably connected to the rotating arm. The end of the rotating arm is rotatably installed between the copper sleeve with the stop-overturning edge and the outer connecting wing plate. The planet carrier is floatingly arranged between the second gear ring and the rotating arm. The planetary gears are installed on the planet carrier and the rotating arm through planetary gear bearings. The planetary gears are respectively meshed with the sun gear and the first gear ring.

9. The wheel arm composite structure driven by a single motor according to claim 8, characterized in that: A sensor protection box is provided on the external connection wing plate, an angle sensor is provided in the sensor protection box, and the angle sensor is coaxially fixedly arranged with the end of the rotating arm.

10. The control method of a wheel-arm composite structure driven by a single motor according to claim 9, characterized in that: The control method comprises the following steps: The wheel arm composite structure detects terrain through the vehicle system; After starting to move, the motor controller is used to enter the wheel drive mode; The motor controller converts the feedback speed signal into the vehicle speed, obtains the control signal through the feedback control method, and drives the hollow motor to rotate; In complex terrain or emergency situations, when it is determined that the swivel arm assistance is needed, the clutch is used to control the electromagnet to energize, so that the clutch is engaged and the swivel arm starts to move, entering the mechanical arm drive mode; When the assistance of the rotating arm is not needed, the clutch controller is used to control the electromagnet to cut off the power, so that the clutch is disengaged and switched to the wheel drive mode; When braking is required, the brake controller is used to control the brake caliper to start braking.

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