High-density micro differential electric control wheel

Abstract

The invention provides a high-density miniature differential electric control wheel which comprises a first wheel body, a second wheel body, a supporting frame, a support, a steering wheel, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device, and the first wheel body and the second wheel body are arranged on the two sides of the middle of the supporting frame respectively; the bracket is provided with a mounting cavity and a second opening communicated with the mounting cavity; the steering wheel is rotatably and movably connected with the inner side of the mounting cavity, and the supporting frame is rotatably arranged on the steering wheel; the steering driving assembly is arranged below the bracket and is in transmission connection with the steering wheel; the wheel body driving assembly is arranged on the upper portion of the support and penetrates through the second opening to be in transmission connection with the wheel body. The first driving device is in transmission connection with the steering driving assembly; the second driving device is in transmission connection with the wheel body driving assembly, and the second driving device drives the wheel body in transmission connection with the wheel body driving assembly to rotate through the wheel body driving assembly. The high-density micro differential electric control wheel is large in load, and the height of the high-density micro differential electric control wheel is lower than that of a large-load steering driving wheel of the same kind.

Description

Technical Field

[0001] The invention relates to the field of driving devices of mobile robots, in particular to a high-density micro differential electric-controlled wheel. Background Art

[0002] Mobile robots are widely used in a variety of industrial occasions, especially in the fields of aviation, parking systems, workshops and factories, intensive warehousing, etc., which urgently need drilling-type ultra-low height and high load capacity mobile robots. The robot body is required to be no higher than 120mm, and the working space in special narrow environments requires the thickness of the mobile robot to be no more than 100mm, and the lifting capacity of the robot is required to reach 3 tons. At the same time, this type of mobile robot has very high requirements for the drive module. However, the existing mobile robots cannot have both low height and high load capacity at the same time. The main reason is that the differential drive device structure of the mobile robot limits the performance of the mobile robot, because the wheel body of the heavy-load steering drive wheel needs to be made wide enough to support the vehicle body. After the height of the bracket and the drive motor are superimposed (the bracket is set above the wheel body, and the drive motor is set above or on the side of the wheel body), the steering drive wheel with a heavy load is large in size, high in height, and has a slow steering response. Summary of the invention

[0003] The object of the present invention is to overcome the deficiencies of the prior art and to provide a high-density micro differential electronically controlled wheel which has a large load and is lower in height than similar large-load steering drive wheels.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A high-density micro differential electronically controlled wheel comprises a first wheel body, a second wheel body, a support frame, a support, a steering wheel, a steering drive assembly, a wheel body drive assembly, a first drive device and a second drive device. The support frame is arranged horizontally parallel to a horizontal plane, the first wheel body and the second wheel body are arranged on both sides of the middle of the support frame respectively, and the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; the support frame is provided with a mounting cavity, and a second opening communicating with the mounting cavity is provided on the upper part of the support frame; the support frame is located in the middle of the mounting cavity; the steering wheel is located in the mounting cavity and can be axially rotatably connected to the inner side of the mounting cavity, the support frame is rotatably arranged on the steering wheel, and the steering wheel drives the support frame to turn when it rotates; the steering drive assembly is arranged at the lower part of the support and is transmission-connected to the steering wheel; the wheel body drive assembly is arranged at the upper part of the support and is transmission-connected to the first wheel body or the second wheel body through the second opening; the first drive device is arranged on the support and is transmission-connected to the steering drive assembly for driving the steering wheel to rotate; the second drive device is arranged on the support and is transmission-connected to the wheel body drive assembly, and the second drive device drives the wheel body transmission-connected to the wheel body drive assembly to rotate through the wheel body drive assembly.

[0006] Compared with the prior art, the high-density micro differential electronically controlled wheel of the present invention has the following beneficial effects:

[0007] (1) The high-density micro differential electronically controlled wheel has an installation cavity set in the bracket, and the support frame with the first wheel body and the second wheel body installed is placed in the middle of the installation cavity, so that the bracket is closer to the ground, reducing the space occupied by the present invention in terms of vertical height;

[0008] (2) The high-density micro differential electronically controlled wheel is provided with a first wheel body and a second wheel body, and the load is shared by the two wheels to realize the present invention for a robot with a large load requirement;

[0009] (3) The first wheel body and the second wheel body are steered by a steering wheel located outside the two wheel bodies. This arrangement is more efficient in achieving precise steering of the wheel bodies, so that the present invention can smoothly achieve steering of the two wheel bodies even when carrying a large load, thereby solving the problem of a large turning radius and a slow turning process (large friction between the wheel body and the ground) of the existing large-load omnidirectional drive unit;

[0010] (4) The support frame of the high-density micro differential electronically controlled wheel is rotatably arranged on the steering wheel, so that the support frame can swing and rotate to the left and right sides, so as to ensure that the present invention can adapt to harsh working environments. On uneven roads, the two wheels swing with the support frame and maintain contact with the ground, so that the present invention can maintain support for the vehicle body, effectively solving the problem that the existing heavy-load omnidirectional drive unit cannot be applied to applications with harsh road conditions and harsh environments;

[0011] (5) Compared with the case where the steering drive assembly and the wheel drive assembly are simultaneously arranged at the upper or lower part of the bracket, which results in the upper or lower part of the bracket needing to be long enough to provide sufficient installation space, the steering drive assembly and the wheel drive assembly are respectively arranged at the upper and lower parts of the bracket, and the two drive assemblies are arranged separately, thereby shortening the length of the bracket and making the design of the present invention more compact; secondly, the two drive assemblies are arranged separately, so that the rotation and driving actions of the wheel body are also separated in the vertical space. The steering drive assembly drives the wheel body to turn in the lower part of the vertical space, and the wheel drive assembly drives the wheel body to rotate in the upper part of the vertical space, thereby avoiding interference between the rotation and driving actions of the wheel body;

[0012] (6) The above-mentioned high-density micro differential electronically controlled wheel does not adopt an integral design, but a patchwork design, which improves productivity and overcomes the problems of difficulty in disassembling and maintaining each component, inconvenience in maintenance, large size, high equipment cost, and high production cost;

[0013] (7) The high-density micro differential electronically controlled wheel is a robot drive unit that integrates a high-load, high-reliability reducer, a low-profile body, and a small volume, and is suitable for the body of a narrow mobile robot;

[0014] (8) The robot using the above-mentioned high-density micro differential electronically controlled wheels simplifies the internal structure, making the robot easy to install, control and maintain.

[0015] Furthermore, the steering wheel is annular, the support frame is arranged so that the vertical center of the support frame coincides with the center of the steering wheel, and a first opening is provided in the middle of the steering wheel to accommodate the rotation of the first wheel body and the second wheel body.

[0016] The steering wheel is arranged in a ring shape, which is convenient for the rotation and driving of the steering wheel. When the ring-shaped steering wheel rotates, the force is evenly applied everywhere, which can extend the service life. In addition, the ring-shaped steering wheel can provide fixing points for both ends of the support frame, thereby facilitating the installation of the support frame.

[0017] Furthermore, a plurality of vertical teeth are provided at intervals on the outer peripheral edge of the lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear, the steering gear is linked with the steering wheel, and the first driving device drives the steering wheel to rotate through the steering gear;

[0018] Alternatively, the support frame is installed in the middle of the steering wheel, and a plurality of vertical teeth are arranged at intervals on the inner peripheral edge of the lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located inside the steering wheel and is linked with the steering wheel, the transmission member is arranged between the first drive device and the steering gear, and the first drive device drives the steering wheel to rotate through the transmission member and the steering gear;

[0019] Alternatively, the support frame is installed on the upper part of the steering wheel, and a plurality of vertical teeth are provided at intervals along the inner circumference of the middle or lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located on the inner side of the steering wheel and is linked to the steering wheel, the transmission member is arranged between the first drive device and the steering gear, and the first drive device drives the steering wheel to rotate through the transmission member and the steering gear.

[0020] In the above scheme, the steering wheel is driven to rotate by driving the vertical teeth on the outer side of the steering wheel, or the steering wheel is driven to rotate by driving the vertical teeth on the inner side of the steering wheel, so as to achieve precise rotation of the steering wheel and then achieve rapid steering of the wheel body.

[0021] Furthermore, the wheel driving assembly includes a turntable, a bevel gear and a linkage shaft, the turntable can be axially rotatably connected to the inner side of the second opening, the turntable is located above the second opening and is provided with an upper meshing portion, and the turntable is provided with a lower meshing portion on the lower side facing the mounting cavity; the second driving device is transmission-connected to the upper meshing portion; the bevel gear can be rotatably arranged on the steering wheel along a horizontal axis, and the bevel gear is meshed with the lower meshing portion; the bevel gear is fixedly connected to the middle part of the first wheel body through the linkage shaft, or the bevel gear is fixedly connected to the middle part of the second wheel body through the linkage shaft.

[0022] The wheel drive assembly has a small number of parts, low cost and high transmission efficiency; the setting of the second opening enables the wheel drive assembly to extend from the upper part of the bracket into the installation cavity and the driving wheel, thereby driving the wheel body to rotate, reducing the difficulty of arranging the wheel drive assembly and making full use of the structure of the bracket, thereby improving space utilization and reducing the space occupied by this product.

[0023] Furthermore, a third opening is provided in the middle of the turntable to accommodate the rotation of the first wheel body and the second wheel body.

[0024] The third opening can provide clearance for the upper parts of the first wheel body and the second wheel body, allowing the upper part of the bracket to further drop, thereby reducing the space occupied by the product in the vertical direction, making the product suitable for robots with strict height restrictions, thereby enabling the robot to be designed to be shorter.

[0025] Further, if the bevel gear is fixedly connected to the middle of the first wheel body through a linkage shaft; a mounting seat extending toward the middle of the first wheel body is provided on the corresponding inner side of the steering wheel, and the mounting seat is provided with a vertically arranged mounting portion aligned with the third opening, the bevel gear can be rotatably arranged on the mounting portion along a horizontal axis;

[0026] If the bevel gear is fixedly connected to the middle part of the second wheel body through a linkage shaft; a mounting seat extending toward the middle part of the second wheel body is provided on the corresponding inner side of the steering wheel, and the mounting seat is provided with a vertically arranged mounting portion corresponding to the third opening, and the bevel gear can be rotatably arranged on the mounting portion along a horizontal axis.

[0027] The above arrangement enables the bevel gear to be fixed relative to the steering wheel but to rotate with the steering wheel. On the one hand, it improves the compactness of the components and reduces the space occupied by the product. On the other hand, it reduces the difficulty of installing the wheel drive assembly, thereby facilitating the production and maintenance of the product.

[0028] Furthermore, it also includes at least one transmission gear, which is linked to the upper meshing portion, and the second driving device drives the turntable to rotate through the transmission gear.

[0029] Furthermore, the shaft for fixing the transmission gear and the shaft for fixing the steering drive assembly are respectively arranged on both sides of a vertical plane that bisects the bracket.

[0030] Since the transmission gear and the steering drive assembly are respectively arranged on the upper and lower parts of the bracket, combined with the above-mentioned arrangement, the transmission gear and the steering drive assembly are staggered on both sides of the vertical surface that bisects the bracket, which can compress the width of the bracket and make the product design smaller.

[0031] Furthermore, the support frame is installed on the upper end of the steering wheel.

[0032] The above-mentioned setting method enables the steering wheel to support the support frame, which is convenient for the arrangement of the wheel drive assembly. At the same time, the support frame is limited to the upper middle position of the installation cavity, and the axis of the wheel body is adjusted upward so that the bracket can be set closer to the ground, thereby compressing the height of this product.

[0033] Furthermore, the first wheel body and the second wheel body rotate relatively independently.

[0034] The two wheel bodies rotate independently, so that one wheel body actively rotates and the other wheel body follows. When the two wheel bodies turn, rotate and roll, the friction of the wheel body against the ground is mainly manifested as torsional sliding friction, which will not have a significant destructive effect on the ground and the wheel body, thereby effectively protecting the ground and the wheel body, reducing costs and service life, and facilitating the turning of the wheel body, with small steering resistance and reduced power consumption of the second drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a top view of the present invention;

[0036] Figure 2 is a bottom view of the present invention;

[0037] Figure 3 It is a first angle cross-sectional view of the present invention (cut along the axial direction of the first wheel body and the second wheel body);

[0038] Figure 4 is a second angle cross-sectional view of the present invention (cut along the axial direction of the support frame and observed from point B to point A);

[0039] Figure 5 is a cross-sectional view at a third angle of the present invention (cut along the axial direction of the support frame and observed from point C to point A);

[0040] Figure 6 It is a connection diagram of the support frame, the steering wheel and the first drive device of the second embodiment (excluding the power device);

[0041] Figure 7 It is a connection diagram of the support frame, steering wheel and first drive device of the third embodiment (excluding the power device).

[0042] Description of labels:

[0043] A first wheel body 1, a second wheel body 2, a support frame 3, a support shaft 4, a bracket 5, a mounting cavity 6, a second opening 7, a steering wheel 8, a first opening 9, a support seat 10, a mounting seat 11, a mounting portion 12, a steering drive assembly 13, a wheel body drive assembly 14, a turntable 15, an upper meshing portion 16, a lower meshing portion 17, a third opening 18, a bevel gear 19, a linkage shaft 20, a drive connecting plate 21, a first drive motor 22, a first power steering component 23, a second drive motor 24, a second power steering component 25, a steering gear 26, a transmission gear 27, a transmission member 28, and an axle seat 29. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present invention in conjunction with the accompanying drawings:

[0045] Embodiment 1

[0046] See also Figures 1 to 5 The high-density micro differential electronically controlled wheel of the present embodiment comprises a first wheel body 1, a second wheel body 2, a support frame 3, a bracket 5, a steering wheel 8, a steering drive assembly 13, a wheel body drive assembly 14, a first drive device and a second drive device. The support frame 3 is arranged horizontally parallel to the horizontal plane, the first wheel body 1 and the second wheel body 2 are arranged on both sides of the middle of the support frame 3 respectively, and the first wheel body 1 and the second wheel body 2 can rotate relative to the support frame 3 along a horizontal axis; the bracket 5 is provided with a mounting cavity 6, and a second opening 7 communicating with the mounting cavity 6 is provided on the upper part of the bracket 5; the support frame 3 is located in the middle of the mounting cavity 6; the steering wheel 8 is located in the mounting cavity 6 and can be axially rotated with the inner side of the mounting cavity 6. The support frame 3 is rotatably connected to the steering wheel 8, and the steering wheel 8 drives the support frame 3 to turn when it rotates; the steering drive assembly 13 is arranged at the lower part of the support frame 5 and is transmission-connected to the steering wheel 8; the wheel body drive assembly 14 is arranged at the upper part of the support frame 5, and is transmission-connected to the first wheel body 1 or the second wheel body 2 through the second opening 7; the first drive device is arranged on the support frame 5 and is transmission-connected to the steering drive assembly 13, and is used to drive the steering wheel 8 to rotate; the second drive device is arranged on the support frame 5 and is transmission-connected to the wheel body drive assembly 14, and the second drive device drives the wheel body transmission-connected to the wheel body drive assembly 14 to rotate through the wheel body drive assembly 14.

[0047] The steering wheel 8 is annular, and the support frame 3 is arranged so that the vertical center of the support frame 3 coincides with the center of the steering wheel 8. A first opening 9 is provided in the middle of the steering wheel 8 to accommodate the rotation of the first wheel body 1 and the second wheel body 2.

[0048] The steering wheel 8 is arranged in a ring shape, which is convenient for the rotation and driving of the steering wheel 8. When the ring-shaped steering wheel 8 rotates, the force is evenly applied everywhere, which can extend the service life. In addition, the ring-shaped steering wheel 8 can provide fixing points for both ends of the support frame 3, thereby facilitating the installation of the support frame 3.

[0049] The steering wheel 8 is provided with a plurality of vertical teeth at intervals on the outer peripheral edge of the lower part; the steering drive assembly 13 is provided with a steering gear 26, which is linked to the steering wheel 8, and the first driving device drives the steering wheel 8 to rotate through the steering gear 26.

[0050] In the above scheme, the steering wheel 8 is driven to rotate by driving the vertical teeth on the outside of the steering wheel 8 (in other embodiments, the steering wheel 8 is driven to rotate by driving the vertical teeth on the inside of the steering wheel 8), thereby achieving precise rotation of the steering wheel 8 and then achieving rapid steering of the wheel body.

[0051] The wheel driving assembly 14 includes a turntable 15, a bevel gear 19 and a linkage shaft 20. The turntable 15 can be axially rotatably connected to the inner side of the second opening 7. The turntable 15 is located above the second opening 7 and is provided with an upper meshing portion 16. The turntable 15 is provided with a lower meshing portion 17 on the lower side facing the mounting cavity 6. The second driving device is transmission-connected to the upper meshing portion 16. The bevel gear 19 can be rotatably arranged on the steering wheel 8 along a horizontal axis, and the bevel gear 19 meshes with the lower meshing portion 17. The bevel gear 19 is fixedly connected to the middle part of the first wheel body 1 through the linkage shaft 20, or the bevel gear 19 is fixedly connected to the middle part of the second wheel body 2 through the linkage shaft 20.

[0052] Teeth are arranged at intervals on the upper meshing portion 16 and the lower meshing portion 17 , and the linkage shaft 20 is connected to the corresponding wheel body via a driving connecting plate 21 arranged at the end thereof.

[0053] The wheel driving assembly 14 has a small number of parts, low cost and high transmission efficiency; the setting of the second opening 7 allows the wheel driving assembly 14 to extend from the upper part of the bracket 5 into the installation cavity 6 and the driving wheel, thereby driving the wheel body to rotate, reducing the difficulty of arranging the wheel driving assembly 14, and making full use of the structure of the bracket 5, improving space utilization and reducing the space occupied by this product.

[0054] A third opening 18 is provided in the middle of the rotating disk 15 to accommodate the rotation of the first wheel body 1 and the second wheel body 2 .

[0055] The third opening 18 can provide space for the upper parts of the first wheel body 1 and the second wheel body 2, so that the height of the bracket 5 can be further lowered, reducing the space occupied by the product in the vertical direction, making the product suitable for robots with strict height restrictions, thereby enabling the robot to be designed to be shorter.

[0056] In this embodiment, the bevel gear 19 is fixedly connected to the middle part of the second wheel body 2 through a linkage shaft 20; a mounting seat 11 extending toward the middle part of the second wheel body 2 is provided on the corresponding inner side of the steering wheel 8, and the mounting seat 11 is provided with a vertically arranged mounting portion 12 corresponding to the third opening 18, and the bevel gear 19 can be rotatably arranged on the mounting portion 12 along a horizontal axis.

[0057] In another embodiment, the bevel gear 19 is fixedly connected to the middle part of the first wheel body 1 through a linkage shaft 20; a mounting seat 11 extending toward the middle part of the first wheel body 1 is provided on the corresponding inner side of the steering wheel 8, and the mounting seat 11 is provided with a vertically arranged mounting portion 12 corresponding to the third opening 18, and the bevel gear 19 can be rotatably arranged on the mounting portion 12 along a horizontal axis.

[0058] The above arrangement enables the bevel gear 19 to be fixed relative to the steering wheel 8 but to rotate with the steering wheel 8. On the one hand, it improves the compactness of the components and reduces the space occupied by the product. On the other hand, it reduces the difficulty of installing the wheel drive assembly 14, thereby facilitating the production and maintenance of the product.

[0059] It also includes a transmission gear 27, which is linked to the upper meshing portion 16. The second driving device drives the turntable 15 to rotate through the transmission gear 27.

[0060] The shaft for fixing the transmission gear 27 and the shaft for fixing the steering drive assembly 13 are respectively arranged on both sides of a vertical plane that bisects the bracket 5 .

[0061] Since the transmission gear 27 and the steering drive assembly 13 are respectively arranged on the upper and lower parts of the bracket 5, combined with the above-mentioned arrangement, the transmission gear 27 and the steering drive assembly 13 are staggered on both sides of the vertical surface that bisects the bracket 5, which can compress the width of the bracket 5 and make the product design smaller.

[0062] The support frame 3 is installed on the upper end of the steering wheel 8.

[0063] Specifically, the two ends of the support frame 3 are cylindrical support shafts 4; two support seats 10 arranged opposite to each other are arranged on the inner side of the steering wheel 8, and the support shafts 4 are rotatably connected to the corresponding support seats 10.

[0064] The above-mentioned arrangement enables the steering wheel 8 to support the support frame 3, which is convenient for the arrangement of the wheel drive assembly 14. At the same time, the support frame 3 is limited to the upper middle position of the installation cavity 6, and the axis of the wheel body is adjusted upward, so that the bracket 5 can be set closer to the ground, thereby compressing the height of this product.

[0065] The first wheel body 1 and the second wheel body 2 rotate relatively independently.

[0066] The two wheel bodies rotate independently, so that one wheel body actively rotates and the other wheel body follows. When the two wheel bodies turn, rotate and roll, the friction of the wheel body against the ground is mainly manifested as sliding friction, which will not have a significant destructive effect on the ground and the wheel body, thereby effectively protecting the ground and the wheel body, reducing costs and service life, and facilitating the turning of the wheel body, with small steering resistance and reduced power consumption of the second drive device.

[0067] The first driving device includes a first driving motor 22 and a first power steering component 23 . The first driving motor 22 is horizontally arranged at one end of the bracket 5 away from the steering wheel 8 . The first power steering component 23 is arranged between the first driving motor 22 and the wheel driving assembly 14 .

[0068] The second driving device includes a second driving motor 24 and a second power steering component 25 . The second driving motor 24 is horizontally arranged at one end of the bracket 5 away from the steering wheel 8 . The second power steering component 25 is arranged between the second driving motor 24 and the steering driving assembly 13 .

[0069] The above arrangement enables the first driving device, the second driving device and the wheel body to be respectively arranged at both ends of the bracket 5, thereby reducing the space occupied by the product in the height direction and the width direction of the bracket 5.

[0070] The power steering component belongs to the existing technical equipment, which is mainly used for converting the power direction, such as converting the horizontal power to the vertical output, or converting the vertical power to the horizontal output. The power steering component of this scheme adopts the gear scheme, and other structural schemes can also be used according to actual conditions.

[0071] In this embodiment, the transmission gear 27, the steering gear 26, the first power steering component 23 and the second power steering component 25 are all provided with mounting shafts, and the mounting shafts are vertically mounted on the bracket 5 and can rotate relative to the bracket 5 (bearings are provided between the mounting shaft and the bracket 5). The installation and fixation of the transmission gear 27, the steering gear 26, the first power steering component 23 and the second power steering component 25 belong to the prior art and will not be described in detail here.

[0072] Working principle:

[0073] Forward / backward: The second drive device works, driving the transmission gear 27 to rotate, and the transmission gear 27 transmits power to the turntable 15 (upper meshing part 16). The turntable 15 (lower meshing part 17) rotates to drive the bevel gear 19 to rotate. Since the bevel gear 19 is fixedly connected to the second wheel body 2 through the linkage shaft 20, the second wheel body 2 connected to the bevel gear 19 rotates around its own axis, driving the high-density micro-differential electronically controlled wheel forward or backward, and the first wheel body 1 follows.

[0074] Steering: The first driving device works to drive the steering gear 26 to rotate, and the steering gear 26 transmits power to the steering wheel 8. The steering wheel 8 rotates and drives the support frame 3 to rotate. The first wheel body 1 and the second wheel body 2 rotate when the support frame 3 rotates, and the steering is completed.

[0075] Turning: The first driving device works to complete the turning of the first wheel body 1 and the second wheel body 2 (the rotation angle is less than ±90°), and then the second driving device works to drive the second wheel body 2 to rotate, while the first wheel body 1 follows.

[0076] Lateral movement: The first driving device works to complete the turning of the first wheel body 1 and the second wheel body 2 by ±90°, and then the second driving device works to drive the second wheel body 2 to rotate, while the first wheel body 1 follows.

[0077] Ground adaptation: During the movement, the first wheel body 1 and / or the second wheel body 2 contacts the inclined surface, and the inclination of the wheel body drives the support frame 3 to rotate around the central horizontal axis of the support frame 3.

[0078] Compared with the prior art, the high-density micro differential electronically controlled wheel of the present invention has the following beneficial effects:

[0079] (1) The high-density micro differential electronically controlled wheel has an installation cavity 6 arranged in the bracket 5, and the support frame 3 with the first wheel body 1 and the second wheel body 2 installed is placed in the middle of the installation cavity 6, so that the bracket 5 is closer to the ground, thereby reducing the space occupied by the present invention in terms of vertical height;

[0080] (2) The high-density micro differential electronically controlled wheel is provided with a first wheel body 1 and a second wheel body 2, and the two wheels are used to share the load to realize the present invention for a robot with a large load requirement;

[0081] (3) The first wheel body 1 and the second wheel body 2 are steered by a steering wheel 8 located outside the two wheel bodies. This arrangement is more efficient in achieving precise steering of the wheel bodies, so that the present invention can smoothly achieve steering of the two wheel bodies even when carrying a large load, thereby solving the problem of a large turning radius and a slow turning process (large friction between the wheel body and the ground) of the existing large-load omnidirectional drive unit;

[0082] (4) The high-density micro differential electronically controlled wheel, the support frame 3 is rotatably arranged on the steering wheel 8, so that the support frame 3 can swing and rotate to the left and right sides, so as to ensure that the present invention can adapt to the harsh working environment. On the uneven road surface, the two wheel bodies swing with the support frame 3 and keep in contact with the ground, so that the present invention can keep supporting the vehicle body, effectively solving the problem that the existing heavy-load omnidirectional drive unit cannot be applied to the application occasions with harsh road conditions and harsh environment;

[0083] (5) Compared with the case where the steering drive assembly 13 and the wheel drive assembly 14 are simultaneously arranged at the upper or lower part of the bracket 5, which results in the upper or lower part of the bracket 5 needing to be long enough to provide sufficient installation space, the steering drive assembly 13 and the wheel drive assembly 14 are respectively arranged at the upper and lower parts of the bracket 5, and the two drive assemblies are arranged separately, thereby shortening the length of the bracket 5 and making the design of the present invention more compact; secondly, the two drive assemblies are arranged separately, so that the rotation and driving actions of the wheel body are also separated in the vertical space. The steering drive assembly 13 drives the wheel body to turn in the lower part of the vertical space, and the wheel drive assembly 14 drives the wheel body to rotate in the upper part of the vertical space, thereby avoiding interference between the rotation and driving actions of the wheel body;

[0084] (6) The above-mentioned high-density micro differential electronically controlled wheel does not adopt an integral design, but a patchwork design, which improves productivity and overcomes the problems of difficulty in disassembling and maintaining each component, inconvenience in maintenance, large size, high equipment cost, and high production cost;

[0085] (7) The high-density micro differential electronically controlled wheel is a robot drive unit that integrates a high-load, high-reliability reducer, a low-profile body, and a small volume, and is suitable for the body of a narrow mobile robot;

[0086] (8) The robot using the above-mentioned high-density micro differential electronically controlled wheels simplifies the internal structure, making the robot easy to install, control and maintain.

[0087] Embodiment 2

[0088] See also Figure 6 This embodiment is a variation of the first embodiment, and is different from the first embodiment in the location of the support frame 3 and the steering drive assembly 13.

[0089] In this embodiment, the support frame 3 is installed in the middle of the steering wheel 8.

[0090] A plurality of vertical teeth are provided at intervals on the inner peripheral edge of the lower portion of the steering wheel 8 .

[0091] The steering drive assembly 13 is provided with at least one steering gear 26 and at least one transmission member 28. The steering gear 26 is located on the inner side of the steering wheel 8 and is linked with the steering wheel 8. The transmission member 28 is arranged between the first drive device and the steering gear 26. The first drive device drives the steering wheel 8 to rotate through the transmission member 28 and the steering gear 26.

[0092] In this embodiment, the bracket 5 is provided with a shaft seat 29 for mounting the transmission member 28. The transmission member 28 is a gear with teeth on both the upper and lower parts, and the radii of the upper and lower parts are different.

[0093] Embodiment 3

[0094] See also Figure 7This embodiment is a variation of the first embodiment, and is different from the first embodiment in the location of the support frame 3 and the steering drive assembly 13.

[0095] In this embodiment, the support frame 3 is installed on the upper part of the steering wheel 8.

[0096] A plurality of vertical teeth are provided at intervals on the inner circumference of the lower part (or middle part) of the steering wheel 8 .

[0097] The steering drive assembly 13 is provided with at least one steering gear 26 and at least one transmission member 28. The steering gear 26 is located on the inner side of the steering wheel 8 and is linked with the steering wheel 8. The transmission member 28 is arranged between the first drive device and the steering gear 26. The first drive device drives the steering wheel 8 to rotate through the transmission member 28 and the steering gear 26.

[0098] In this embodiment, the bracket 5 is provided with a shaft seat 29 for mounting the transmission member 28. The transmission member 28 is a gear with teeth on both the upper and lower parts, and the radii of the upper and lower parts are different.

[0099] Embodiment 4

[0100] This embodiment is a variation of the first embodiment, and is different from the first embodiment in the arrangement positions of the steering drive assembly and the wheel drive assembly.

[0101] The high-density micro differential electronically controlled wheel of the present embodiment comprises a first wheel body, a second wheel body, a support frame, a bracket, a steering wheel, a steering drive assembly, a wheel body drive assembly, a first drive device and a second drive device. The support frame is arranged horizontally in parallel with a horizontal plane, and the first wheel body and the second wheel body are arranged on both sides of the middle part of the support frame respectively, and the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; the bracket is provided with an installation cavity; the support frame is located in the middle of the installation cavity; the steering wheel is located in the installation cavity and can be axially rotatably connected to the inner side of the installation cavity, and the support frame can be rotatably arranged on the steering wheel, and the steering wheel drives the support frame to turn when it rotates; the steering drive assembly is arranged at the lower part of the bracket and is transmission-connected to the steering wheel; the wheel body drive assembly is arranged at the upper part of the bracket and is transmission-connected to the first wheel body or the second wheel body; the first drive device is arranged on the bracket and is transmission-connected to the steering drive assembly for driving the steering wheel to rotate; the second drive device is arranged on the bracket and is transmission-connected to the wheel body drive assembly, and the second drive device drives the wheel body transmission-connected to the wheel body drive assembly to rotate through the wheel body drive assembly.

[0102] Compared with the prior art, the present invention has a high-density micro differential electronically controlled wheel, in which the steering drive assembly and the wheel drive assembly are respectively arranged at the upper and lower parts of the bracket, and the two drive assemblies are arranged separately, thereby shortening the length of the bracket and making the present invention more compact.

[0103] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. High-density micro differential electronically controlled wheel, characterized in that: include: First round body; Second wheel body; A support frame is arranged horizontally parallel to a horizontal plane, and a first wheel body and a second wheel body are arranged on both sides of a middle part of the support frame respectively, and the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; The bracket is provided with a mounting cavity, and the upper portion of the bracket is provided with a second opening communicating with the mounting cavity; the support frame is located in the middle of the mounting cavity; A steering wheel is located in the installation cavity and is axially rotatably connected to the inner side of the installation cavity. The support frame is rotatably arranged on the steering wheel. When the steering wheel rotates, the support frame is driven to turn. A steering drive assembly is arranged at the lower part of the bracket and is drivingly connected to the steering wheel; The wheel driving assembly is arranged on the upper part of the bracket and is connected to the first wheel body or the second wheel body through the second opening; A first driving device is arranged on the bracket and is transmission-connected to the steering driving assembly for driving the steering wheel to rotate; The second driving device is arranged on the bracket and is transmission-connected to the wheel driving assembly. The second driving device drives the wheel body transmission-connected to the wheel driving assembly to rotate through the wheel driving assembly.

2. The high-density micro differential electronically controlled wheel according to claim 1, characterized in that: The steering wheel is annular, the support frame is arranged so that the vertical center of the support frame coincides with the center of the steering wheel, and a first opening for accommodating the rotation of the first wheel body and the second wheel body is arranged in the middle of the steering wheel.

3. The high-density micro differential electronically controlled wheel according to claim 2, characterized in that: A plurality of vertical teeth are arranged at intervals on the outer peripheral edge of the lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear, the steering gear is linked with the steering wheel, and the first driving device drives the steering wheel to rotate through the steering gear; Alternatively, the support frame is installed in the middle of the steering wheel, and a plurality of vertical teeth are arranged at intervals on the inner peripheral edge of the lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located inside the steering wheel and is linked with the steering wheel, the transmission member is arranged between the first drive device and the steering gear, and the first drive device drives the steering wheel to rotate through the transmission member and the steering gear; Alternatively, the support frame is installed on the upper part of the steering wheel, and a plurality of vertical teeth are provided at intervals along the inner circumference of the middle or lower part of the steering wheel; the steering drive assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located on the inner side of the steering wheel and is linked to the steering wheel, the transmission member is arranged between the first drive device and the steering gear, and the first drive device drives the steering wheel to rotate through the transmission member and the steering gear.

4. The high-density micro differential electronically controlled wheel according to claim 1, characterized in that: The wheel driving assembly includes a rotating disk, a bevel gear and a linkage shaft. The rotating disk can be axially rotated and movably connected to the inner side of the second opening. The rotating disk is provided with an upper meshing portion above the second opening, and a lower meshing portion is provided on the lower side of the rotating disk facing the installation cavity. The second driving device is transmission-connected with the upper meshing portion. The bevel gear can be rotatably arranged on the steering wheel along a horizontal axis, and the bevel gear is meshed with the lower meshing portion. The bevel gear is fixedly connected to the middle of the first wheel body through a linkage shaft, or the bevel gear is fixedly connected to the middle of the second wheel body through a linkage shaft.

5. The high-density micro differential electronically controlled wheel according to claim 4, characterized in that: A third opening is arranged in the middle of the rotating disk for accommodating the rotation of the first wheel body and the second wheel body.

6. The high-density micro differential electronically controlled wheel according to claim 5, characterized in that: If the bevel gear is fixedly connected to the middle part of the first wheel body through the linkage shaft; A mounting seat extending toward the middle of the first wheel body is provided on the corresponding inner side of the steering wheel, and the mounting seat is provided with a vertically arranged mounting portion aligned with the third opening, and the bevel gear is rotatably arranged on the mounting portion along a horizontal axis; If the bevel gear is fixedly connected to the middle part of the second wheel body through the linkage shaft; A mounting seat extending toward the middle of the second wheel body is provided on the corresponding inner side of the steering wheel. The mounting seat is provided with a vertically arranged mounting portion corresponding to the third opening. The bevel gear is rotatably arranged on the mounting portion along a horizontal axis.

7. The high-density micro differential electronically controlled wheel according to any one of claims 4 to 6, characterized in that: It also includes at least one transmission gear, which is linked to the upper meshing portion, and the second driving device drives the turntable to rotate through the transmission gear.

8. The high-density micro differential electronically controlled wheel according to claim 7, characterized in that: The shaft for fixing the transmission gear and the shaft for fixing the steering drive assembly are respectively arranged on two sides of a vertical plane that bisects the bracket.

9. The high-density micro differential electronically controlled wheel according to claim 1 or 6, characterized in that: The support frame is installed on the upper end of the steering wheel.

10. The high-density micro differential electronically controlled wheel according to claim 1, characterized in that: The first wheel body and the second wheel body rotate relatively independently.

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