Steering wheel gear motor and autonomous mobile robot

Abstract

The embodiment of the invention provides a steering wheel gear motor and an autonomous mobile robot, and the steering wheel gear motor comprises a supporting seat, one side of the supporting seat is provided with a cavity, and one side, away from the cavity, of the supporting seat is provided with a mounting end; the hub module is mounted on the mounting end; the transmission module is mounted in the cavity; and the motor module is located on the side, close to the cavity, of the supporting base, the motor module comprises an output shaft connected with the transmission module, and the transmission module is driven through the output shaft so that the hub module can rotate. According to the steering wheel gear motor and the autonomous mobile robot, the motor module and the hub module are installed on the two sides of the supporting base respectively, and the motor and a hub are not located on the same side, so that the whole machine is not affected by the size of the motor, the motors of different sizes and powers can be adjusted according to the requirement for bearing capacity, and the bearing capacity of the steering wheel gear motor is improved. The motor module and the hub module are convenient to disassemble and assemble, and later maintenance is facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of autonomous mobile robots, and in particular, relates to a steering wheel reduction motor and an autonomous mobile robot. Background Art

[0002] In recent years, industrial mobile robots have rapidly emerged in various industries, replacing humans to complete work requirements in different working conditions, such as warehousing AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot), handling AGV or AMR, traction AGV or AMR, assembly AGV or AMR and other industries. Automation technology has significantly improved the automation level of the production process, and can automatically identify goods and carry out handling operations, thereby reducing dependence on manual labor and improving production efficiency. It can replace humans to operate in harsh environments and reduce the risk of workers being exposed to dangerous environments. In addition, it can automatically avoid obstacles during the handling process to ensure safety, thereby improving overall safety. It is not restricted by fixed tracks and can move freely in various venues and environments to adapt to different operating requirements. This flexibility enables AGV to play an important role in a variety of scenarios such as warehouses, production lines, and airports and ports. AGV can work continuously and stably, reduce manual intervention and waiting time, and improve overall work efficiency. In practical applications, AGV is widely used in many industries such as medical, electronics, food, and logistics. In the warehouse, AGV can automatically complete tasks such as warehousing, outbound storage, handling and palletizing of goods; on the production line, it can automatically transfer materials according to process requirements to improve production efficiency.

[0003] The AGV or AMR machine is mainly divided into the body part, drive device, actuator, safety protection device, control system, power supply device, navigation device, communication device, human-computer interaction system and other devices. The drive device is the core component. In the existing market products, the motor and encoder in the drive device are on the same side as the wheel hub, and the lead wire needs to pass through the center of the cast iron bracket to connect to the controller. The lead wire is clamped inside the wheel hub, and the wheel hub itself is a consumable part, which makes disassembly more complicated and inconvenient for after-sales and maintenance. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a steering wheel reduction motor and an autonomous mobile robot to solve the technical problems of difficult disassembly and inconvenient maintenance in existing drive devices.

[0005] In a first aspect, an embodiment of the present application provides a steering wheel reduction motor, comprising:

[0006] A support seat, wherein a cavity is formed on one side of the support seat, and a mounting end is formed on a side of the support seat away from the cavity;

[0007] A wheel hub module, mounted on the mounting end;

[0008] a transmission module, installed in the cavity; and

[0009] The motor module is located on a side of the support seat close to the cavity. The motor module includes an output shaft connected to the transmission module. The transmission module is driven by the output shaft to rotate the hub module.

[0010] In some embodiments, the steering wheel reduction motor also includes a lead assembly, the lead assembly includes lead wires for connecting a brake and an encoder, the support seat is located on one side of the cavity and an oil separator is formed, the lead wire portion is located in the oil separator, and one end of the lead wire is connected to the brake, and the other end of the lead wire extends toward the outside of the oil separator, and a sealing cover is provided on the oil separator.

[0011] In some embodiments, a seal is further provided between the sealing cover and the oil separator.

[0012] In some embodiments, the transmission module comprises:

[0013] A first gear, disposed on the rotor of the motor;

[0014] A double-gear assembly is installed in the cavity, and the double-gear assembly includes a second gear and a third gear. The second gear passes through the support seat and meshes with the hub module, and the third gear meshes with the first gear.

[0015] In some embodiments, the hub module comprises:

[0016] An inner gear ring, disposed on the mounting end, the inner gear ring being meshed with the second gear;

[0017] A bearing assembly is disposed in the inner gear ring;

[0018] a wheel hub, mounted on the inner gear ring; and

[0019] A sealing ring is arranged between the inner gear ring and the wheel hub.

[0020] In some embodiments, the support seat is further formed with a avoidance position near the mounting end, and the steering wheel reduction motor further includes a brake and an encoder, the brake is installed at the avoidance position, and the encoder is arranged on the brake.

[0021] In some embodiments, the steering wheel reduction motor also includes a steering module, which is installed on the support seat. The steering module achieves steering by adjusting the rotation angle of the wheel hub module.

[0022] In some embodiments, the steering module includes:

[0023] A fixing plate, located on the supporting seat;

[0024] A steering motor is arranged on a side of the fixing plate away from the supporting seat;

[0025] A first steering gear, rotatably connected to an output shaft of the steering motor, the first steering gear being located on a side of the fixing plate close to the steering motor;

[0026] A second steering gear is disposed on a side of the fixing plate away from the steering motor; and

[0027] A limit assembly is arranged on a side of the fixing plate away from the steering motor, and the limit assembly limits the steering angle of the steering module.

[0028] In some embodiments, the motor module includes one of a permanent magnet DC motor, a permanent magnet brushless DC motor, an AC motor, and a servo motor.

[0029] In some embodiments, the support base is integrally formed.

[0030] In a second aspect, an embodiment of the present application provides an autonomous mobile robot, comprising:

[0031] Robot body;

[0032] The steering wheel reduction motor as described in the first aspect is arranged on the robot body;

[0033] A power supply and control device is installed on the robot body, and is used to supply power to and perform control on the steering wheel reduction motor.

[0034] The steering wheel reduction motor and autonomous mobile robot provided by the embodiment of the present application are arranged on both sides of the support base by respectively arranging the wheel hub module and the motor module, so that the motor module and the wheel hub module are on different sides of the support base, which can avoid the problem that the wheel hub is not easy to disassemble and assemble and after-sales maintenance due to the setting of leads in the wheel hub module, and also provide installation space for the brake and the magnetic encoder. It is convenient to replace the motor with different specifications, performances, sizes or types, and the motor housing will not bear the load force of the wheel hub.

[0035] In application, by integrating the support base, wheel hub module, transmission module and motor module together, the overall structure is more compact and the occupied space is reduced. The modular design makes installation and maintenance more convenient, and each component can be replaced or repaired independently, which improves the maintainability of the system. One side of the support base forms a cavity to accommodate the transmission module, and the other side serves as a mounting end to fix the wheel hub module. This layout can provide better mechanical support and ensure the stability and safety of the entire device during operation. The motor module is located on the side of the support base close to the cavity and is directly connected to the transmission module through the output shaft. This arrangement helps to reduce vibration and noise and improve the smoothness of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a schematic diagram of the structure of the steering wheel reduction motor provided in the embodiment of the present application. Figure 1 ;

[0038] Figure 2 yes Figure 1 Explosion hint Figure 1 ;

[0039] Figure 3 This is a schematic diagram of the structure of the support seat in the steering wheel reduction motor provided in the embodiment of the present application Figure 1 ;

[0040] Figure 4 This is a schematic diagram of the structure of the support seat in the steering wheel reduction motor provided in the embodiment of the present application Figure 2 ;

[0041] Figure 5 is a schematic cross-sectional structure diagram of a hub in a steering wheel reduction motor provided in an embodiment of the present application;

[0042] Figure 6 is a schematic cross-sectional structure diagram of a steering wheel reduction motor provided in an embodiment of the present application;

[0043] Figure 7 This is a schematic diagram of the explosion of the steering wheel reduction motor provided in the embodiment of the present application Figure 2 ;

[0044] Figure 8 This is a schematic diagram of the structure of the steering wheel reduction motor provided in the embodiment of the present application. Figure 2 ;

[0045] Fig. 9 This is a schematic diagram of the structure of the steering wheel reduction motor provided in the embodiment of the present application. Figure 3 ;

[0046] Fig.10 yes Fig. 9 A schematic diagram of the structure of the steering module;

[0047] Fig.11 yes Fig.10 Schematic diagram of the explosion.

[0048] Among them, the figure numbers are:

[0049] 10. Support seat; 100. Cavity; 101. Mounting end; 102. Oil separator; 103. Sealing cover; 104. Sealing element; 105. Avoidance; 106. Lead wire; 107. Gear support plate;

[0050] 20. Hub module; 21. Internal gear ring; 22. Bearing assembly; 23. Hub; 24. Sealing ring;

[0051] 30. Transmission module; 31. First gear; 32. Double gear assembly; 321. Second gear; 322. Third gear; 33. Box cover;

[0052] 40. Motor module; 41. Stator assembly; 42. Rotor assembly; 43. Output shaft; 44. Rear cover;

[0053] 50. Brakes;

[0054] 60. Encoder;

[0055] 70. Steering module; 71. Fixing plate; 72. Steering motor; 73. First steering gear; 74. Second steering gear; 75. Limiting assembly; 751. Limiting screw; 752. Limiting block; 76. Distance switch. DETAILED DESCRIPTION

[0056] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the embodiments of the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the embodiments of the present application.

[0057] It should also be understood that the term “and / or” used in the description of the embodiments of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0058] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0059] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0060] In addition, in the description of the embodiments of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0061] References to "some embodiments" or "some embodiments" etc. described in the specification of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in the different parts of this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" refers to two or more.

[0062] In a first aspect, an embodiment of the present application provides a steering wheel reduction motor, such as Figures 1 to 4 ,as well as Figure 7 As shown, it includes a support base 10, a hub module 20, a transmission module 30, and a motor module 40;

[0063] A cavity 100 is formed on one side of the support base 10, and a mounting end 101 is formed on the side of the support base 10 facing away from the cavity 100, and the hub module 20 is mounted on the mounting end 101; the transmission module 30 is mounted in the cavity 100; the motor module 40 is located on the side of the support base 10 close to the cavity 100, and the motor module 40 includes an output shaft 43 connected to the transmission module 30, and the transmission module 30 is driven by the output shaft 43 to cause the hub module 20 to rotate.

[0064] The steering wheel reduction motor provided in the embodiment of the present application is provided with the wheel hub module 20 and the motor module 40 on both sides of the support base 10, so that the motor module 40 and the wheel hub module 20 are on different sides of the support base 10, so that the problem of the wheel hub 23 being inconvenient to disassemble and assemble and after-sales maintenance due to the setting of leads in the wheel hub module 20 can be avoided, and installation space is also provided for the brake 50 and the magnetic encoder 60. It is convenient to replace the motor with different specifications, performances, sizes or types, and the motor housing will not bear the load force of the wheel hub 23.

[0065] In application, by integrating the support base 10, the hub module 20, the transmission module 30 and the motor module 40 together, the overall structure is more compact and the occupied space is reduced. The modular design makes installation and maintenance more convenient, and each component can be replaced or repaired independently, which improves the maintainability of the system. A cavity 100 is formed on one side of the support base 10 to accommodate the transmission module 30, and the other side is used as a mounting end 101 to fix the hub module 20. Such a layout can provide better mechanical support and ensure the stability and safety of the entire device during operation. The motor module 40 is located on the side of the support base 10 close to the cavity 100, and is directly connected to the transmission module 30 through the output shaft 43. This arrangement helps to reduce vibration and noise and improve the smoothness of operation.

[0066] In application, the support base 10 is an integrated molding setting, which is conducive to enhancing the structural strength and stability. The integrated support base 10 has no seams or welding points, reducing the risk of breakage or deformation caused by weak joints. The overall structure is more solid and can withstand greater loads and impact forces, and is particularly suitable for use in harsh environments. Integral molding can ensure that the relative positions between the various parts are very precise and reduce assembly errors, which is very important for applications that require high-precision transmission. Compared with the support base 10 assembled from multiple parts, the one-piece design eliminates complex assembly steps and reduces production costs. The need for additional fasteners (such as bolts and nuts) is reduced, which not only saves materials, but also avoids problems caused by loose fasteners.

[0067] In application, a cavity 100 is formed on one side of the support base 10, and the transmission module 30 is installed in the cavity 100. The design of the cavity 100 provides physical protection for the transmission module 30, preventing pollutants such as moisture and dust from the external environment from entering, thereby extending the service life of the transmission module 30 and other internal components.

[0068] In application, a mounting end 101 is formed on the other side of the support seat 10, wherein the mounting end 101 is a portion protruding relative to the support seat 10 body, and is used for the hub module 20 to be installed. In this way, an installation position is provided for the hub module 20. The support seat 10 adopts an integrated design, with a cavity 100 for installing the transmission module 30 on one side of the support seat 10, and a mounting end 101 for installing the hub module 20 on the other side, and the bearing capacity is all on this support seat 10. The advantages of this design are that it can ensure the relative accuracy of the gear meshing in the transmission module 30, enhance the bearing capacity, provide a clearance space for the brake 50 and the magnetic encoder 60, and reduce the axial size of the whole machine.

[0069] In applications, such as Figure 5 As shown, the figure shows a schematic cross-sectional structure diagram of the hub module 20. It can be seen from the figure that the outer end of the entire hub module 20 is a closed structure except for the screw holes, and it is a sealed structure after assembly, which is beneficial to improving the waterproof performance.

[0070] In some embodiments, Figure 2 , Figure 6 and Figure 7 As shown, a avoidance position 105 is formed near the mounting end 101 of the support seat 10 , and the steering wheel reduction motor further includes a brake 50 and an encoder 60 . The brake 50 is installed at the avoidance position 105 , and the encoder 60 is disposed on the brake 50 .

[0071] In application, by rationally utilizing the structure of the support seat 10, the brake 50 and the encoder 60 are integrated without increasing the extra volume, making the entire steering wheel reduction motor system more compact. Additional brackets or mounting platforms are avoided, reducing the complexity and weight of the overall system. The design of the escape 105 provides a dedicated installation position for the brake 50, making the installation process simpler and faster, reducing assembly time and difficulty. If the brake 50 or the encoder 60 needs to be maintained or replaced, these components can be directly accessed without disassembling other parts, thereby improving maintenance efficiency. Placing the brake 50 and the encoder 60 in the escape 105 can effectively prevent them from colliding or interfering with other components, and also facilitates the waterproofing of these components, ensuring the stable operation of the system. The brake 50 is directly mounted on the support seat 10, and can respond to emergency stop commands more reliably, enhancing the safety performance of the system. The encoder 60 is combined with the brake 50 to provide accurate position feedback during braking, ensuring that the steering wheel stops accurately at the desired position. The encoder 60 is arranged on the brake 50, and can directly monitor the state of the brake 50 and the position of the steering wheel, and provide a high-precision position feedback signal. This helps to achieve more accurate mobile position control, especially in applications that require frequent starts and stops (such as automatic navigation systems). Through the feedback information provided by the encoder 60, the control system can adjust the output of the motor in real time to ensure that the steering wheel is always in the correct mobile position, thereby improving the response speed and control accuracy of the system.

[0072] Furthermore, the design of the escape 105 can allow air circulation, helping the brake 50 and the encoder 60 to dissipate heat better, especially in long-term operation or high-temperature environments, ensuring that these key components will not overheat and extend their service life. The brake 50 and the encoder 60 are directly mounted on the support base 10, reducing the noise and wear caused by looseness or vibration, and improving the smooth operation of the system. In some embodiments, the design of the escape 105 can add shock-absorbing materials or structures as needed to further reduce the possibility of vibration transmission to other components and improve the quiet effect of the overall system. The escape 105 can also be combined with sealing measures to protect the brake 50 and the encoder 60 from the influence of the external environment, such as dust, water vapor, etc., and is particularly suitable for outdoor or harsh working conditions. Application. Through reasonable material selection and surface treatment, the escape 105 and its internal components can have good corrosion resistance and extend the service life of the equipment.

[0073] In some embodiments, Figure 6 and Figure 7As shown, the steering wheel reduction motor also includes a lead assembly, which includes a lead wire 106 for connecting the brake 50 and the encoder 60. The support seat 10 is located on one side of the cavity 100 and is also formed with an oil separator 102. The lead wire 106 is partially located in the oil separator 102, and one end of the lead wire 106 is connected to the brake 50, and the other end of the lead wire 106 extends toward the outside of the oil separator 102. A sealing cover 103 is provided on the oil separator 102. Placing the lead wire assembly part in the oil separator 102 and sealing it with the sealing cover 103 not only effectively protects the electrical components and improves the reliability and safety of the system, but also optimizes the wiring management and heat dissipation performance, which is convenient for maintenance and repair.

[0074] In application, the design of the oil trap 102 can effectively prevent lubricating oil or other liquids from entering the lead assembly, avoiding problems such as short circuits and corrosion caused by oil or moisture. The oil trap 102 can also block dust and other pollutants, ensuring the cleanliness of the lead and connection points, and extending their service life.

[0075] In application, the oil trap 102 is sealed by the sealing cover 103 to form a relatively closed environment, which further enhances the sealing performance of the system and reduces the impact of external factors on the internal electrical components. A good sealing design can reduce the risk of moisture, oxidation or physical damage to the lead components, thereby reducing the possibility of failure and improving the overall reliability of the system.

[0076] The oil trap 102 provides a dedicated channel for the lead wire, making the wiring more orderly, reducing the entanglement and interference between the cables, and facilitating installation and maintenance. One end of the lead wire is connected to the brake 50, and the other end extends toward the outside of the oil trap 102. This layout simplifies the assembly process and reduces the time and difficulty of cable arrangement.

[0077] The sealing design of the oil separator 102 can effectively prevent current leakage and improve the safety of the system, especially when working in high humidity or underwater environments. The design of the sealing cover 103 allows the oil separator 102 to be quickly opened when the lead assembly needs to be inspected or repaired, which is convenient for technicians to operate. If a problem occurs with a component, the lead assembly can be replaced or repaired individually without disassembling the entire system, thereby improving maintenance efficiency. The design of the oil separator 102 allows the lead assembly to be hidden inside, making the appearance of the entire steering wheel reduction motor more neat and beautiful, and improving the overall quality of the product. The simple wiring and sealing design make it difficult for users to come into contact with complex electrical components during use, thereby improving safety and convenience of use.

[0078] In some embodiments, Figure 7As shown, a sealing member 104 is further provided between the sealing cover 103 and the oil trap box 102. The sealing member 104 is a sealing gasket, so as to enhance the sealing performance of the oil trap box 102 and improve the waterproof, dustproof and oilproof properties of the lead assembly.

[0079] In some embodiments, Figure 1 , Figure 2 , Figure 6 as well as Figure 7 As shown, the transmission module 30 includes a first gear 31 and a double-linked gear assembly 32;

[0080] The first gear 31 is disposed on the rotor of the motor module 40;

[0081] The double gear assembly 32 is installed in the cavity 100, and the double gear assembly 32 includes a second gear 321 and a third gear 322. The second gear 321 passes through the support seat 10 and meshes with the hub 23 module 20, and the third gear 322 meshes with the first gear 31. Through multi-stage reduction, efficient, stable and high-precision power transmission is achieved, while optimizing the spatial layout and enhancing the reliability and durability of the system.

[0082] In application, a two-stage reduction system is formed by meshing the first gear 31 with the third gear 322 and the second gear 321 with the hub 23 module 20. This multi-stage reduction can significantly reduce the speed and greatly increase the output torque, and is suitable for applications requiring a large torque. The first gear 31 is arranged on the rotor of the motor module 40, which directly utilizes the space of the motor and reduces the need for additional installation positions. The double-tooth assembly 32 is installed in the cavity 100, which further optimizes the use of the internal space and makes the entire device more compact. This layout achieves a high degree of integration of the motor, the reducer and the hub 23 module 20, reduces the use of external connectors, and simplifies the overall structure. The meshing between the gears can provide smooth power transmission, reduce vibration and noise, especially under low speed and high torque conditions. Through multi-stage gear transmission, the load is dispersed to multiple gears, reducing the wear of a single gear and extending the service life of the system. Gear transmission has high positioning accuracy, especially when used with an encoder 60, it can achieve very precise position control, and is suitable for applications with high steering accuracy requirements. Due to the directness and efficiency of gear transmission, the system can quickly respond to control commands and achieve precise steering operations. The double-linked gear assembly 32 is installed in the cavity 100 as an independent module. If it needs to be replaced or repaired, it can be directly taken out without disassembling the entire system, which improves the convenience of maintenance.

[0083] In the application, the specific working principle of the transmission module 30 is driven by a motor: the rotor of the motor module 40 drives the first gear 31 to rotate. First stage deceleration: the first gear 31 is meshed with the third gear 322 to achieve the first deceleration, and at the same time, the power is transmitted to the double gear assembly 32. Second stage deceleration: the second gear 321 in the double gear assembly 32 continues to decelerate, and transmits the power to the hub 23 module 20, and finally realizes the rotation of the steering wheel.

[0084] In some embodiments, Figure 1 , Figure 2 as well as Figure 7 As shown, the hub module 20 includes an inner gear ring 21, a bearing assembly 22, a hub 23 and a sealing ring 24;

[0085] The inner gear ring 21 is disposed on the mounting end 101 , and the inner gear ring 21 is meshed with the second gear 321 ;

[0086] The bearing assembly 22 is disposed in the inner gear ring 21;

[0087] The wheel hub 23 is mounted on the inner gear ring 21;

[0088] The sealing ring 24 is arranged between the inner gear ring 21 and the wheel hub 23. Through efficient power transmission, stable rotation support and enhanced sealing performance, a reliable, durable and easy-to-maintain rotation system is realized. The specific working principle includes: the second gear 321 is engaged with the inner gear ring 21 to transmit power from the transmission module 30 to the wheel hub module 20. The bearing assembly 22 provides stable rotation support for the wheel hub 23 to ensure its smooth rotation. The sealing ring 24 prevents external contaminants from entering, while preventing internal lubricating oil from leaking, protecting internal components. The wheel hub 23 rotates under the drive of the inner gear ring 21 to complete the steering operation of the steering wheel.

[0089] In application, the meshing of the inner gear ring 21 and the second gear 321 ensures efficient transmission of power from the transmission module 30 to the hub 23 module 20. The design of the inner gear ring 21 can provide a larger contact area, reduce wear and improve transmission accuracy. Through the cooperation of the second gear 321 and the inner gear ring 21, deceleration is further achieved, the output torque is increased, and it is suitable for applications requiring a larger steering torque. The bearing assembly 22 is installed in the inner gear ring 21, providing stable rotation support, reducing friction and wear, and extending the service life of the system. High-quality bearings can significantly reduce friction resistance during rotation and improve efficiency. The bearings can withstand large radial and axial loads to ensure stable operation under various working conditions.

[0090] In some embodiments, the sealing ring 24 is disposed between the inner gear ring 21 and the wheel hub 23 to effectively prevent moisture, dust and other pollutants in the external environment from entering the interior and protect the internal components from corrosion and damage. The design of the sealing ring 24 usually meets the protection level of IP65 or even higher, and can maintain good sealing performance in harsh environments.

[0091] In some embodiments, Figure 7 As shown, the motor module 40 includes a stator assembly 41, a rotor assembly 42 and an output shaft 43, wherein the rotor assembly 42 is disposed on the output shaft 43, and one end of the rotor assembly 42 away from the output shaft 43 is connected to the stator assembly 41. The working principle of the motor is not the focus of this application and will not be described here. In other embodiments, a rear cover 44 is further provided on the side of the stator assembly 41 away from the rotor assembly 42 to provide physical protection.

[0092] In applications, such as Figure 6 , Figure 7 as well as Fig.11 As shown, the steering wheel reduction motor also includes a support base 10, a transmission module 30, a brake 50, an encoder 60, a hub module 20 and a motor module 40. A gear support plate 107 is provided above the support base 10 and below the second steering gear 74. The gear support plate 107 connects the steering module 70 and the support base 10. The gear support plate 107 is assembled and fixed on the support base 10 by screws, and then the gear support plate 107 is assembled and fixed with the outer circle of the second steering gear 74 by screws, so as to realize the connection between the steering module 70 and the reduction motor. A lead assembly is inserted into a preset hole inside the oil separator 102 on one side of the support base 10, one end of the lead assembly is inserted into a preset hole of the support base 10 near the brake 50 end, and the other end is inserted out of the outer end of the side of the support base 10 to be connected to the controller at the outer end.

[0093] A sealing gasket is arranged on the end surface of the oil trap 102, and a sealing cover 103 is fixed to the screw holes preset in the oil trap 102 by screws, thereby forming a sealed oil trap 102, thereby sealing and isolating the cavity 100 where the transmission module 30 is installed. A box cover 33 is also arranged on the oil trap 102, and a sealing ring is also arranged between the box cover 33 and the oil trap 102. The motor module 40 is first installed on the box cover 33. The motor module 40 includes first placing the rotor assembly 42 into the stator assembly 41, the outlet end of the stator assembly 41 is close to the box cover 33, and the other end is installed in the rear cover 44. The main wave washer is placed in the preset bearing hole of the rear cover 44, and the oil seal is pressed into the preset oil seal hole of the box cover 33 near the motor end. Then, the assembled motor module 40 is assembled and fixed to the box cover 33 with screws. The output shaft 43 of the rotor assembly 42 passes through the box cover 33, and then a flat key is placed on the output shaft 43, and the first gear 31 is installed. The output shaft 43 is preset on the end face of the first gear 31. The shaft elastic circlip is inserted into the retaining ring groove, and the shaft elastic circlip is close to the first gear 31, and then installed in the preset bearing hole between the support seat 10 and the box cover 33, and the bearing is pressed into the preset bearing hole of the support seat 10, and then the sealing ring 24 is placed in the middle of the components assembled by the support seat 10 and the box cover 33, and the box is closed, and then the screws are passed through the box cover 33 and the sealing ring 24 are assembled and fixed in the preset threaded hole of the support seat 10, and the first gear 31 is meshed with the third gear 322 of the double-toothed assembly 32, and then the positioning pin is pressed into the pin hole position concentrically preset between the support seat 10 and the box cover 33. At this time, the output shaft 43 on the rotor assembly 42 will also be exposed at the avoidance position 105, and the coupling of the brake 50 will be installed on this shaft, and the encoder 60 magnet assembly will be installed at the end face of the output shaft 43. The second gear 321 of the double-toothed assembly 32 passes through the gear avoidance position 105 of the support seat 10.

[0094] An oil seal is press-fitted at the preset oil seal position on the other side of the support seat 10, and a brake 50 and an encoder 60 are installed at the central avoidance position 105 of the support seat 10 housing. The encoder 60 is fixed to the brake 50 with screws, and an oil seal is installed in the preset hole of the support seat 10 between the coupling end of the brake 50 and the support seat 10. The brake 50 is then fixed to the central avoidance position 105 of the housing with the screws provided by the brake 50. At the same time, the brake 50 cooperates with the coupling provided by the brake 50 provided on the motor shaft of the rotor assembly 42, and the motor shaft passes through the central position of the brake 50 at the same time. The encoder 60 magnet assembly installed at the end of the output shaft 43 will be close to the preset position with the encoder 60 module, and the induction work outputs the required signal.

[0095] A bearing is first pressed into the bearing hole preset in the inner gear ring 21, and then an elastic retaining ring for the hole is installed in the retaining ring position preset in the inner gear ring 21, and then the shaft sleeve and another bearing are installed close to the bearing, and then the assembled hub 23 module 20 is installed on the support seat 10, and then the shaft is fixed to the retaining ring position preset on the support seat 10 with an elastic retaining ring, and the shaft is close to another bearing with an elastic retaining ring. After the assembly of this structure is completed, the teeth in the inner gear ring 21 will mesh with the second gear 321 of the double gear assembly 32 at the gear avoidance position 105 of the support seat 10, completing the gear transmission of the entire box module, and the rotation of the first gear 31 on the rotor assembly 42 will drive the inner gear ring 21 to output rotation through the double gear assembly 32.

[0096] In some embodiments, Figures 8 to 11 The steering wheel reduction motor also includes a steering module 70, which is installed on the support seat 10. The steering module 70 achieves steering by adjusting the rotation angle of the wheel hub 23 module 20.

[0097] In some embodiments, Figures 8 to 11 The steering module 70 includes a fixing plate 71, a steering motor 72, a first steering gear 73, a second steering gear 74 and a limit assembly 75;

[0098] The fixing plate 71 is located on the supporting seat 10;

[0099] The steering motor 72 is disposed on a side of the fixing plate 71 away from the supporting base 10;

[0100] The first steering gear 73 is connected to the output shaft of the steering motor 72 , and the first steering gear 73 is located on a side of the fixing plate 71 close to the steering motor 72 ;

[0101] The second steering gear 74 is disposed on a side of the fixing plate 71 away from the steering motor 72;

[0102] The limit assembly 75 is arranged on the side of the fixed plate 71 away from the steering motor 72, and the limit assembly 75 is used to limit the steering angle of the steering module 70. The steering motor 72 is installed on the side of the fixed plate 71 away from the support seat 10, and the output shaft of the motor 72 drives the first steering gear 73 to rotate. The first steering gear 73 is meshed with the second steering gear 74 to achieve power transmission and deceleration, ensuring accurate control of the steering angle. When used in conjunction with the encoder 60 or other sensors, the steering angle can be monitored in real time, providing high-precision position feedback to ensure that the steering wheel stops accurately at the desired position.

[0103] The fixing plate 71 is located on the support base 10, providing a stable mounting platform for the steering motor 72 and other components, ensuring that the entire steering module 70 remains stable during operation. The design of the fixing plate 71 can evenly distribute the steering force, reduce the load of a single component, and extend the service life of the system.

[0104] It is located on the side of the fixed plate 71 away from the steering motor 72, and is used to limit the maximum steering angle of the steering module 70 to prevent damage or danger caused by oversteering. The steering angle is directly limited by mechanical structures (such as blocks, limit switches, etc.) to ensure safe operation even in extreme situations. The limit assembly 75 can not only limit the steering angle, but also prevent the steering motor 72 from overloading, protecting the motor and transmission system from damage.

[0105] In some embodiments, Fig.11 As shown, the limit assembly 75 includes a limit screw 751 disposed on the side of the fixed plate 71 away from the steering motor 72, and the limit screw 751 serves as a mechanical limit for the steering module 70. In some embodiments, the limit assembly 75 also includes a limit block 752 disposed on the side of the fixed plate 71 away from the steering motor 72, and the limit block 752 is used to limit the rotation limit of the second steering gear 74. The limit block 752 cooperates with the limit screw 751 to realize the rotation of the steering area within a preset range, thereby limiting the turning angle of the whole machine. A distance switch 76 is also provided on the steering motor 72 to cooperate with the limit.

[0106] In some embodiments, Figure 8 and Fig.11 As shown, a gear support plate 107 is further provided on the support seat 10 , and the gear support plate 107 is used to support and fix the second steering gear 74 to stably support the installation of the steering module 70 .

[0107] In applications, such as Fig.11 As shown, the steering module 70 includes a fixing plate 71, a steering motor 72, a first steering gear 73, a second steering gear 74, a limit screw 751 and a limit block 752; the fixing plate 71 is fixed with a steering motor 72 by screws, and a distance switch 76 is installed at the same time. The shaft of the steering motor 72 penetrates into the preset avoidance position of the fixing plate 71, and the first steering gear 73 is installed on the shaft of the steering motor 72. At the same time, the end is fixed with screws and gaskets to prevent the first steering gear 73 from loosening and falling off. A limit screw 751 is installed under the fixing plate 71, and the limit screw 751 is a mechanical limit for the electric steering. A second steering gear 74 is provided under the fixed plate 71 (the large steering gear belongs to an external gear slewing bearing, which is a component. The inner and outer rings can rotate in a circular direction under the action of steel balls. The structure is similar to that of a bearing but with teeth on the outside). A fixed limit block 752 is installed on the inner rotating circle of the second steering gear 74 with screws. The inner rotating circle of the second steering gear 74 is fixed to the fixed plate 71 by screws. The steering swing angle is controlled by the distance switch 76 sensing, the distance of the limit block 752 and the limit screw 751 to ensure that the electric steering rotates in this range, while limiting the turning angle of the whole machine.

[0108] In some embodiments, the motor module 40 includes one of a permanent magnet DC motor, a permanent magnet DC brushless motor, an AC motor, and a servo motor. The type of motor to be selected depends on the specific application requirements, including factors such as power requirements, response speed, accuracy, maintenance costs, and working environment. For steering wheel reduction motors, permanent magnet DC brushless motors and servo motors are usually better choices because they provide efficient energy conversion, precise control capabilities, and a long service life, and are particularly suitable for application scenarios that require high precision and reliability. The motor module 40 adopts a multi-pole flat structure design with a thin axial dimension.

[0109] In some embodiments, the steering wheel reduction motor provided in the present application adopts a modular design as a whole, separating the motor position from the supporting wheel hub 23. The characteristics of this design are small size, strong waterproofness, compact and reasonable structural layout, strong applicability and easy realization of series products.

[0110] The embodiment of the present application also provides an autonomous mobile robot, a robot body (not shown in the figure), the steering wheel reduction motor mentioned above, and a power supply device (not shown);

[0111] The steering wheel reduction motor is arranged on the robot body;

[0112] The power supply and control device are installed on the robot body, and are used to supply power to the steering wheel reduction motor and perform control. This autonomous mobile robot design, which includes the robot body, steering wheel reduction motor, and power supply and control device, achieves reliable, durable, and easy-to-maintain autonomous mobility through precise steering control, stable mechanical support, reliable limit protection, and efficient energy management. This design is particularly suitable for scenarios with high requirements for steering accuracy, stability, and safety, such as logistics warehousing, medical care, cleaning and maintenance, agriculture, security patrols, education, and scientific research.

[0113] The autonomous mobile robot provided in the embodiment of the present application adopts a steering wheel reduction motor to achieve efficient and accurate power transmission through a multi-stage gear transmission system (such as a first gear, a double gear assembly, etc.), ensuring high-precision control of the steering angle. The permanent magnet DC brushless motor or servo motor in the steering wheel reduction motor can provide fast dynamic response, which is suitable for applications where frequent direction adjustment is required. The support seat and fixing plate of the steering wheel reduction motor provide a stable installation platform for the entire steering module to ensure stability during movement. Reasonable mechanical design can evenly distribute the steering force, reduce the load of a single component, and extend the service life of the system. The limit assembly in the steering module can effectively limit the maximum steering angle, prevent damage or danger caused by oversteering, and ensure the safe operation of the robot. The power supply and control device installed on the robot body supplies power and performs control for the steering wheel reduction motor to ensure its normal operation. The power supply and control device can select batteries or other forms of energy supply according to specific needs. High-quality batteries can provide a longer battery life and are suitable for scenarios where long-term autonomous operation is required. The efficient energy conversion and low power consumption design of the steering wheel reduction motor can extend the battery life and improve energy efficiency.

[0114] The steering wheel reduction motor and its related components (such as brakes, encoders, etc.) are highly integrated, which reduces the space occupied and makes the robot body more compact. The connecting cables between the power supply and control device and the steering wheel reduction motor can be reasonably routed to reduce the risk of cable entanglement and interference. The sealing design of the steering wheel reduction motor (such as oil separator, sealing ring, etc.) can effectively prevent moisture, dust and other pollutants in the external environment from entering the interior, and is suitable for various complex working environments. The selection of suitable materials (such as stainless steel or specially treated alloys) can improve the corrosion resistance of the system, which is particularly suitable for applications in outdoor or humid environments.

[0115] The encoder can provide real-time position feedback information, and combined with sensors and other control systems, it can realize intelligent path planning and obstacle avoidance functions. The closed-loop control system of the steering wheel reduction motor can ensure that the robot always follows the predetermined trajectory, improving the accuracy and stability of navigation. The standardized interface between the various components makes replacement and maintenance easier, reducing maintenance costs. Key components (such as brakes, encoders, etc.) can be directly inspected and adjusted from the outside, improving maintenance efficiency.

[0116] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application are described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the embodiments of the present application, and should all be included in the protection scope of the embodiments of the present application.

Claims

1. A steering wheel reduction motor, characterized in that: include: A support seat, wherein a cavity is formed on one side of the support seat, and a mounting end is formed on a side of the support seat away from the cavity; A wheel hub module, mounted on the mounting end; A transmission module is installed in the cavity; as well as The motor module is located on a side of the support seat close to the cavity. The motor module includes an output shaft connected to the transmission module. The transmission module is driven by the output shaft to rotate the hub module.

2. The steering wheel reduction motor according to claim 1, characterized in that: The steering wheel reduction motor also includes a lead assembly, which includes lead wires for connecting the brake and the encoder. The support seat is located on one side of the cavity and an oil separator is formed. The lead wire portion is located in the oil separator, and one end of the lead wire is connected to the brake, and the other end of the lead wire extends toward the outside of the oil separator. A sealing cover is provided on the oil separator.

3. The steering wheel reduction motor according to claim 2, characterized in that: A sealing member is also provided between the sealing cover and the oil separator.

4. The steering wheel reduction motor according to claim 1, characterized in that: The transmission module comprises: A first gear, disposed on the rotor of the motor module; A double-gear assembly is installed in the cavity, and the double-gear assembly includes a second gear and a third gear. The second gear passes through the support seat and meshes with the hub module, and the third gear meshes with the first gear.

5. The steering wheel reduction motor according to claim 4, characterized in that: The wheel hub module comprises: An inner gear ring, disposed on the mounting end, the inner gear ring being meshed with the second gear; A bearing assembly is disposed in the inner gear ring; a wheel hub, mounted on the inner gear ring; and A sealing ring is arranged between the inner gear ring and the wheel hub.

6. The steering wheel reduction motor according to claim 1, characterized in that: The support seat is also formed with an avoidance position near the mounting end, and the steering wheel reduction motor also includes a brake and an encoder. The brake is installed at the avoidance position, and the encoder is arranged on the brake.

7. The steering wheel reduction motor according to claim 1, characterized in that: The steering wheel reduction motor also includes a steering module, which is installed on the support seat. The steering module achieves steering by adjusting the rotation angle of the wheel hub module.

8. The steering wheel reduction motor according to claim 7, characterized in that: The steering module comprises: A fixing plate, located on the supporting seat; A steering motor is arranged on a side of the fixing plate away from the supporting seat; A first steering gear, rotatably connected to an output shaft of the steering motor, the first steering gear being located on a side of the fixing plate close to the steering motor; A second steering gear is disposed on a side of the fixing plate away from the steering motor; and A limit assembly is arranged on a side of the fixing plate away from the steering motor, and the limit assembly is used to limit the steering angle of the steering module.

9. The steering wheel reduction motor according to any one of claims 1 to 8, characterized in that: The motor module includes one of a permanent magnet DC motor, a permanent magnet DC brushless motor, an AC motor, and a servo motor; And / or, the support base is integrally formed.

10. An autonomous mobile robot, characterized in that: include: Robot body; The steering wheel reduction motor according to any one of claims 1 to 9, arranged on the robot body; A power supply and control device is installed on the robot body, and is used to supply power to and perform control on the steering wheel reduction motor.

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