High-density micro differential electronically controlled wheel

Abstract

The application provides a high-density micro differential electric control wheel, which comprises a first wheel body, a second wheel body, a support frame, a support, a steering disc, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device, the first wheel body and the second wheel body are respectively arranged on both sides of the middle part of the support frame, the support is provided with a mounting cavity and a second opening communicating with the mounting cavity, the steering disc is movably connected with the inner side of the mounting cavity, the support frame is rotatably arranged on the steering disc, the steering driving assembly is arranged below the support and is in transmission connection with the steering disc, the wheel body driving assembly is arranged on the upper part of the support and is in transmission connection with the wheel body through the second opening, 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 rotation through the wheel body driving assembly. The high-density micro differential electric control wheel has a large load and a low height compared with the steering driving wheel of the same type with a large load.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving device of mobile robot, in particular to a high-density micro differential electric control wheel. BACKGROUND

[0002] Mobile robots are widely used in various industrial occasions, especially in the fields of aviation, parking system, workshop factory, intensive storage and the like, and the mobile robots with the drilling type ultra-low height and high load capacity are in urgent need, wherein the robot body is required to be not higher than 120mm, the thickness of the mobile robot is required to be not more than 100mm in the working space of special narrow environment, and the lifting capacity of the robot is required to reach 3 tons, and the driving module of the mobile robot has high requirements. However, the existing mobile robots cannot simultaneously have low height and high load capacity, and the main reason is that the differential driving device structure of the mobile robot limits the performance of the mobile robot, because the wheel body of the steering driving wheel with large load needs to be made wide enough to support the vehicle body, and the height of the superimposed support and driving motor (the support is arranged above the wheel body, and the driving motor is arranged above or on the side of the wheel body), resulting in that the steering driving wheel with large load has large volume and high height, and the steering response is slow. SUMMARY

[0003] The present application aims at overcoming the shortcomings of the prior art, and provides a high-density micro differential electric control wheel with large load and low height compared with the steering driving wheel with large load of the same type.

[0004] In order to achieve the above-mentioned purpose, the following technical scheme is adopted in the present application:

[0005] The high-density micro differential electric control wheel comprises a first wheel body, a second wheel body, a support frame, a support, a steering disc, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device. The support frame is arranged transversely parallel to a horizontal plane, 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 support is provided with a mounting cavity, and the upper part of the support is provided with a second opening communicating with the mounting cavity. The support frame is located in the middle part of the mounting cavity. The steering disc is located in the mounting cavity and is movably connected to the inner side of the mounting cavity in an axial direction. The support frame is movably arranged on the steering disc, and the steering disc drives the support frame to turn when the steering disc rotates. The steering driving assembly is arranged at the lower part of the support and is in transmission connection with the steering disc. The wheel body driving assembly is arranged at the upper part of the support and is in transmission connection with the first wheel body or the second wheel body through the second opening. The first driving device is arranged on the support and is in transmission connection with the steering driving assembly, and is used for driving the steering disc to rotate. The second driving device is arranged on the support and is in transmission connection with the wheel body driving assembly. The second driving device drives the wheel body in rotation through the wheel body driving assembly.

[0006] Compared with the prior art, the high-density miniature differential electric control wheel has the following beneficial effects:

[0007] (1) The high-density miniature differential electric control wheel has a mounting cavity in the support, and the support frame with the first wheel body and the second wheel body is arranged in the middle of the mounting cavity, so that the support is closer to the ground, and the vertical height occupied by the high-density miniature differential electric control wheel is reduced.

[0008] (2) The high-density miniature differential electric control wheel has the first wheel body and the second wheel body, and the two wheel bodies share the load to realize the robot for large load demand.

[0009] (3) The first wheel body and the second wheel body are turned by the steering disc located on the outer side of the two wheel bodies, which is more efficient in realizing precise turning of the wheel bodies, so that the high-density miniature differential electric control wheel can still smoothly realize turning of the two wheel bodies under the condition of bearing a large load, and the problems of large turning radius and slow turning process (large friction between the wheel body and the ground) of the existing large load omnidirectional driving unit are solved.

[0010] (4) The high-density miniature differential electric control wheel has the support frame rotatably arranged on the steering disc, so that the support frame can swing and rotate to the left and right sides to ensure that the high-density miniature differential electric control wheel can adapt to harsh working environments, and the two wheel bodies can maintain contact with the ground by swinging with the support frame on the uneven road surface, so that the high-density miniature differential electric control wheel can support the vehicle body and effectively solve the problem that the existing heavy load omnidirectional driving unit cannot be applied to harsh road conditions and harsh environments.

[0011] (5) Compared with the situation that the steering driving assembly and the wheel body driving assembly are arranged on the upper part or the lower part of the support, the steering driving assembly and the wheel body driving assembly are arranged on the upper part and the lower part of the support respectively, and the two driving assemblies are arranged separately, so that the length of the support can be shortened, and the high-density miniature differential electric control wheel is designed to be more compact. Secondly, the rotation and driving of the wheel body are separated in the vertical space, the steering driving assembly drives the wheel body to turn in the lower part of the vertical space, and the wheel body driving assembly drives the wheel body to rotate in the upper part of the vertical space, so that the rotation and driving of the wheel body are avoided.

[0012] (6) The high-density miniature differential electric control wheel is not designed as a whole, but is designed in a patchwork manner, which improves the production rate, overcomes the problems of difficult disassembly and maintenance of each component, inconvenience of maintenance, large volume, high equipment cost, and high production cost, and the like.

[0013] (7) The high-density miniature differential electric control wheel is an integrated high-load, high-reliability speed reducer, low-profile vehicle body, and small-size robot driving unit, which is suitable for narrow and small mobile robots.

[0014] (8) The robot using the high-density micro differential electric control wheel simplifies the internal structure, and is convenient for installation, control and maintenance.

[0015] Further, the steering disc is annular, the vertical center of the support frame is coincident with the center of the steering disc, and the steering disc is provided with a first opening hole for accommodating rotation of the first wheel body and the second wheel body.

[0016] The steering disc is annular, facilitating rotation and driving of the steering disc, and the annular steering disc is uniformly stressed during rotation, thereby prolonging the service life. In addition, the annular steering disc provides fixing points for both ends of the support frame, thereby facilitating installation of the support frame.

[0017] Further, a plurality of vertical teeth are arranged at the outer periphery of the lower part of the steering disc, the steering driving assembly is provided with at least one steering gear, the steering gear is linked with the steering disc, and the first driving device drives the steering disc to rotate through the steering gear.

[0018] Alternatively, the support frame is installed in the middle part of the steering disc, a plurality of vertical teeth are arranged at the inner periphery of the lower part of the steering disc, the steering driving 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 disc and linked with the steering disc, and the transmission member is arranged between the first driving device and the steering gear, so that the first driving device drives the steering disc to rotate through the transmission member and the steering gear.

[0019] Alternatively, the support frame is installed in the upper part of the steering disc, a plurality of vertical teeth are arranged at the inner periphery of the middle part or the lower part of the steering disc, the steering driving 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 disc and linked with the steering disc, and the transmission member is arranged between the first driving device and the steering gear, so that the first driving device drives the steering disc to rotate through the transmission member and the steering gear.

[0020] In the above scheme, the vertical teeth on the outer side of the steering disc are driven to drive the steering disc to rotate, or the vertical teeth on the inner side of the steering disc are driven to drive the steering disc to rotate, so as to realize precise rotation of the steering disc and rapid steering of the wheel body.

[0021] Further, the wheel body driving assembly comprises a rotating disc, a bevel gear and a linkage shaft, the rotating disc is movably connected to the inner side of the second opening hole in an axial direction, the rotating disc is provided with an upper engaging part above the second opening hole, and the rotating disc is provided with a lower engaging part towards the lower side of the installation cavity; the second driving device is in transmission connection with the upper engaging part; the bevel gear is rotatably arranged on the steering disc along a horizontal axis, the bevel gear is engaged with the lower engaging part; and the bevel gear is fixedly connected to the middle part of the first wheel body or the middle part of the second wheel body through the linkage shaft.

[0022] The wheel body driving assembly has less components, low cost and high transmission efficiency. The second opening is arranged to enable the wheel body driving assembly to extend into the installation cavity from the upper part of the support and drive the wheel body to rotate, thereby reducing the arrangement difficulty of the wheel body driving assembly, fully utilizing the structure of the support, improving the space utilization and reducing the space occupied by the product.

[0023] Further, the third opening is arranged in the middle of the rotating disc to accommodate the rotation of the first wheel body and the second wheel body.

[0024] The third opening is arranged to avoid the upper part of the first wheel body and the second wheel body, thereby further lowering the upper part of the support, reducing the space occupied by the product in the vertical direction, making the product suitable for robots with strict height restrictions, and thereby enabling the robot to be designed to be more compact.

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

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

[0027] The above arrangement enables the bevel gear to be fixed relative to the steering disc and rotate with the steering disc, which on the one hand improves the compactness of the components and reduces the space occupied by the product, and on the other hand reduces the installation difficulty of the wheel body driving assembly, thereby facilitating the production and maintenance of the product.

[0028] Further, at least one transmission gear is provided, the transmission gear is linked with the upper engaging part, and the second driving device drives the rotating disc to rotate through the transmission gear.

[0029] Further, the shaft fixing the transmission gear and the shaft fixing the steering driving assembly are respectively arranged on the two sides of the vertical surface of the support.

[0030] Since the transmission gear and the steering driving assembly are respectively arranged on the upper part and the lower part of the support, and combined with the above arrangement, the transmission gear and the steering driving assembly are arranged on the two sides of the vertical surface of the support, which can compress the width of the support and make the product more compact.

[0031] Further, the support frame is installed on the upper end of the rotating disc.

[0032] The setting mode makes the steering wheel support the support frame, facilitates the arrangement of the wheel body driving assembly, limits the support frame in the upper part of the installation cavity, adjusts the shaft center of the wheel body upward, and makes the support frame set closer to the ground, thereby compressing the height of the product.

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

[0034] The two wheel bodies rotate independently, one wheel body drives rotation, and the other wheel body follows, when the two wheel bodies rotate and turn, the friction of the wheel bodies to the ground is mainly the twist sliding friction, which does not obviously damage the ground and the wheel bodies, thereby effectively protecting the ground and the wheel bodies, reducing the cost and the service life, and facilitating the steering of the wheel bodies, reducing the steering resistance, and reducing the power consumption of the second driving device. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0037] Figure 3 is a first angle sectional view of the present application (cut along the shaft center direction of the first wheel body and the second wheel body);

[0038] Figure 4 is a second angle sectional view of the present application (cut along the shaft center direction of the support frame, and observed from the B point to the A point);

[0039] Figure 5 is a third angle sectional view of the present application (cut along the shaft center direction of the support frame, and observed from the C point to the A point);

[0040] Figure 6 is a connection schematic view of the support frame, the steering wheel and the first driving device of example two (not containing a power device);

[0041] Figure 7 is a connection schematic view of the support frame, the steering wheel and the first driving device of example three (not containing a power device).

[0042] Label explanation:

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

[0044] Embodiments of the present application will be described below with reference to the accompanying drawings:

[0045] Embodiment One

[0046] Referring to Figures 1 to 5 The high-density micro differential electric control wheel of the embodiment comprises a first wheel body 1, a second wheel body 2, a support frame 3, a support frame 5, a steering disc 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 horizontally arranged in parallel to a horizontal plane. The first wheel body 1 and the second wheel body 2 are respectively arranged on both sides of the middle part of the support frame 3. The first wheel body 1 and the second wheel body 2 can rotate along a horizontal axis relative to the support frame 3. The support frame 5 is provided with a mounting cavity 6. The upper part of the support frame 5 is provided with a second opening 7 which is in communication with the mounting cavity 6. The support frame 3 is located in the middle part of the mounting cavity 6. The steering disc 8 is located in the mounting cavity 6 and is axially rotatably connected with the inner side of the mounting cavity 6. The support frame 3 is rotatably arranged on the steering disc 8. The steering disc 8 drives the support frame 3 to rotate when the steering disc 8 rotates. The steering drive assembly 13 is arranged on the lower part of the support frame 5 and is in transmission connection with the steering disc 8. The wheel body drive assembly 14 is arranged on the upper part of the support frame 5 and is in transmission connection with 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 in transmission connection with the steering drive assembly 13. The first drive device is used to drive the steering disc 8 to rotate. The second drive device is arranged on the support frame 5 and is in transmission connection with the wheel body drive assembly 14. The second drive device drives the wheel body to rotate through the wheel body drive assembly 14.

[0047] The steering disc 8 is annular. The support frame 3 is arranged such that the vertical center of the support frame 3 coincides with the center of the steering disc 8. The middle part of the steering disc 8 is provided with a first opening 9 which can accommodate the rotation of the first wheel body 1 and the second wheel body 2.

[0048] The steering disc 8 is annular. This facilitates the rotation and driving of the steering disc 8. The annular steering disc 8 rotates uniformly at each position. This can prolong the service life. In addition, the annular steering disc 8 can provide fixing points for the two ends of the support frame 3. This facilitates the installation of the support frame 3.

[0049] The lower outer periphery of the steering disc 8 is provided with a plurality of vertical teeth at intervals; the steering driving assembly 13 is provided with a steering gear 26, which is linked with the steering disc 8; the first driving device drives the steering disc 8 to rotate through the steering gear 26.

[0050] In the above scheme, the vertical teeth on the outer side of the steering disc 8 are driven to drive the steering disc 8 to rotate (in other embodiments, the vertical teeth on the inner side of the steering disc 8 are driven to drive the steering disc 8 to rotate), so as to realize the accurate rotation of the steering disc 8, and further realize the rapid steering of the wheel body.

[0051] The wheel body driving assembly 14 comprises a rotating disc 15, a bevel gear 19 and a linkage shaft 20; the rotating disc 15 is movably connected to the inner side of the second opening 7 in an axially rotatable manner; the rotating disc 15 is provided with an upper engaging part 16 above the second opening 7; the rotating disc 15 is provided with a lower engaging part 17 towards the lower side of the mounting cavity 6; the second driving device is in transmission connection with the upper engaging part 16; the bevel gear 19 is rotatably arranged on the steering disc 8 along a horizontal axis, and is in engagement with the lower engaging part 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] The upper engaging part 16 and the lower engaging part 17 are provided with teeth at intervals; the linkage shaft 20 is connected to the corresponding wheel body through the driving connection plate 21 arranged at the end thereof.

[0053] The wheel body driving assembly 14 has a small number of components, low cost and high transmission efficiency; the arrangement of the second opening 7 enables the wheel body driving assembly 14 to extend into the mounting cavity 6 from the upper part of the support 5 to drive the wheel body to rotate, thereby reducing the arrangement difficulty of the wheel body driving assembly 14, fully utilizing the structure of the support 5, improving the space utilization and reducing the space occupied by the product.

[0054] The rotating disc 15 is provided with a third opening 18 in the middle part, which can accommodate the rotation of the first wheel body 1 and the second wheel body 2.

[0055] The arrangement of the third opening 18 can avoid the upper part of the first wheel body 1 and the second wheel body 2, further reduce the height of the support 5, reduce the space occupied by the product in the vertical direction, and make the product suitable for robots with strict height restrictions, so that the robot can be designed to be smaller.

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

[0057] In another embodiment, the umbrella teeth 19 are fixedly connected to the middle part of the first wheel body 1 through the linkage shaft 20; the inner side of the steering disc 8 is provided with an installation seat 11 extending to the middle part of the first wheel body 1, the installation seat 11 is provided with an installation part 12 vertically arranged to match the third opening 18, and the umbrella teeth 19 are rotatably arranged on the installation part 12 along a horizontal axis.

[0058] The above arrangement enables the umbrella teeth 19 to be fixed relative to the steering disc 8 and to rotate with the steering disc 8, which on one hand improves the compactness of the components and reduces the space occupied by the product, and on the other hand reduces the installation difficulty of the wheel body driving assembly 14, thereby facilitating the production and maintenance of the product.

[0059] A transmission gear 27 is further included, the transmission gear 27 is linked with the upper engaging part 16, and the second driving device drives the rotating disc 15 to rotate through the transmission gear 27.

[0060] The shaft fixing the transmission gear 27 and the shaft fixing the steering driving assembly 13 are respectively arranged on the two sides of the vertical surface of the vertical split bracket 5.

[0061] Since the transmission gear 27 and the steering driving assembly 13 are respectively arranged on the upper part and the lower part of the bracket 5, and in combination with the above arrangement, the transmission gear 27 and the steering driving assembly 13 are staggered and arranged on the two sides of the vertical surface of the vertical split bracket 5, which can compress the width of the bracket 5 and make the product design smaller.

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

[0063] Specifically, the support bracket 3 is a cylindrical support shaft 4 at both ends; the inner side of the steering disc 8 is provided with two oppositely arranged support seats 10, and the support shaft 4 is rotatably connected with the corresponding support seat 10.

[0064] The above arrangement enables the steering disc 8 to support the support bracket 3, which facilitates the arrangement of the wheel body driving assembly 14, and at the same time, the support bracket 3 is limited to a position above the middle part of the installation cavity 6, the axis of the wheel body is adjusted upward, and the bracket 5 can be arranged closer to the ground, thereby compressing the height of the product.

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

[0066] The two wheel bodies rotate independently, one wheel body is driven to rotate, and the other wheel body is driven to rotate, when the two wheel bodies rotate and roll, the friction of the wheel bodies to the ground is mainly sliding friction, which does not have obvious damage to the ground and the wheel bodies, thereby effectively protecting the ground and the wheel bodies, reducing the cost and the service life, and facilitating the steering of the wheel bodies with small steering resistance and reduced power consumption of the second driving device.

[0067] The first driving device comprises a first driving motor 22 and a first power steering member 23, the first driving motor 22 is horizontally arranged at one end of the support 5 away from the steering disc 8, and the first power steering member 23 is arranged between the first driving motor 22 and the wheel body driving assembly 14.

[0068] The second driving device comprises a second driving motor 24 and a second power steering member 25, the second driving motor 24 is horizontally arranged at one end of the support 5 away from the steering disc 8, and the second power steering member 25 is arranged between the second driving motor 24 and the steering driving assembly 13.

[0069] The above arrangement mode makes the first driving device, the second driving device and the wheel body arranged at two ends of the support 5 respectively, thereby reducing the space occupied by the product in the height direction and the width direction of the support 5.

[0070] The power steering member belongs to the prior art device and is mainly used for power direction conversion, such as converting horizontal power to vertical output or converting vertical power to horizontal output, the power steering member of the present scheme adopts a gear scheme, and other structural schemes can also be used according to actual conditions.

[0071] In the embodiment, the transmission gear 27, the steering gear 26, the first power steering member 23 and the second power steering member 25 are all provided with mounting shafts, the mounting shafts are vertically mounted on the support 5 and can rotate relative to the support 5 (a bearing is arranged between the mounting shaft and the support 5), and the mounting and fixing of the transmission gear 27, the steering gear 26, the first power steering member 23 and the second power steering member 25 belong to the prior art, which will not be described in detail here.

[0072] Working principle:

[0073] Forward / reverse movement: the second driving device works to drive the transmission gear 27 to rotate, the transmission gear 27 transmits power to the rotating disc 15 (the upper engaging part 16), the rotating disc 15 (the lower engaging part 17) drives the bevel gear 19 to rotate, and 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 to drive the high-density micro differential electric control wheel to move forward or backward, and the first wheel body 1 moves simultaneously.

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

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

[0076] Lateral movement: the first driving device works to complete the steering 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, and the first wheel body 1 follows.

[0077] Ground adaptation: during movement, the first wheel body 1 and / or the second wheel body 2 contact the slope, and the wheel body tilts to drive the support frame 3 to rotate around the horizontal shaft of the center of the support frame 3.

[0078] Compared with the prior art, the high-density micro differential electric control wheel has the following beneficial effects:

[0079] (1) The high-density micro differential electric control wheel sets the mounting cavity 6 in the support frame 5, and places the support frame 3 with the first wheel body 1 and the second wheel body 2 in the middle of the mounting cavity 6, so that the support frame 5 is closer to the ground, reducing the space occupied by the application in the vertical height;

[0080] (2) The high-density micro differential electric control wheel is provided with the first wheel body 1 and the second wheel body 2, and uses the load sharing mode of the two wheel bodies to realize the robot for large load demand;

[0081] (3) The first wheel body 1 and the second wheel body 2 realize steering through the steering disc 8 located on the outer side of the two wheel bodies, which is more efficient in realizing precise steering of the wheel body, so that the application can still smoothly realize the steering of the two wheel bodies under the condition of bearing large load, solving the problems of large turning radius and slow turning process (large friction between the wheel body and the ground) of the existing large load omnidirectional driving unit;

[0082] (4) The high-density micro differential electric control wheel, the support frame 3 is rotatably arranged on the steering disc 8, so that the support frame 3 can swing and rotate to the left and right sides, to ensure that the application can adapt to harsh working environment, and the two wheel bodies can keep contact with the ground by swinging with the support frame 3 on the uneven road surface, so that the application can support the vehicle body, effectively solving the problem that the existing heavy load omnidirectional driving unit cannot be applied to harsh road conditions and harsh environment, and other difficulties;

[0083] (5) Compared with the steering driving assembly 13 and the wheel body driving assembly 14 being arranged on the upper part or the lower part of the support 5 at the same time, the steering driving assembly 13 and the wheel body driving assembly 14 are arranged on the upper part and the lower part of the support 5 respectively, the two driving assemblies adopt a separated layout, so that the length of the support 5 can be shortened, and the design of the application is more compact; in addition, the two driving assemblies are arranged separately, so that the rotation and the driving of the wheel body are also separated in the vertical space, the steering driving assembly 13 drives the wheel body to rotate in the lower part of the vertical space, and the wheel body driving assembly 14 drives the wheel body to rotate in the upper part of the vertical space, so that the rotation and the driving of the wheel body are avoided from interfering with each other;

[0084] (6) The high-density micro differential electric control wheel does not adopt an integrated design, but adopts a patching design, so that the production rate is improved, the problems of difficult disassembly and maintenance of each component, inconvenience in maintenance, large volume, high equipment cost and high production cost are overcome, and the like;

[0085] (7) The high-density micro differential electric control wheel is an integrated high-load, high-reliability speed reducer, a low-height vehicle body and a small-size robot driving unit, and is suitable for a narrow and small mobile robot vehicle body;

[0086] (8) The robot applying the high-density micro differential electric control wheel simplifies the internal structure, and is convenient for installation, control and maintenance.

[0087] Embodiment Two

[0088] Referring to Figure 6 , this embodiment is a variant of Embodiment One, and the difference from Embodiment One is that the positions of the support frame 3 and the steering driving assembly 13 are arranged.

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

[0090] A plurality of vertical teeth are arranged on the inner side of the lower part of the steering disc 8.

[0091] The steering driving 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 disc 8 and is linked with the steering disc 8, and the transmission member 28 is arranged between the first driving device and the steering gear 26, the first driving device drives the steering disc 8 to rotate through the transmission member 28 and the steering gear 26.

[0092] In this embodiment, the support 5 is provided with an axle seat 29 for installing the transmission member 28, and the transmission member 28 is a gear provided with teeth on the upper part and the lower part, and the radii of the upper part and the lower part are different.

[0093] Embodiment Three

[0094] Referring to Figure 7The embodiment is a variant of the first embodiment, and is different from the first embodiment in that the positions of the support frame 3 and the steering driving assembly 13 are arranged.

[0095] In the embodiment, the support frame 3 is installed on the upper portion of the steering disc 8.

[0096] A plurality of vertical teeth are arranged at intervals along the inner periphery of the lower portion (or the middle portion) of the steering disc 8.

[0097] The steering driving 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 disc 8 and is linked with the steering disc 8. The transmission member 28 is arranged between the first driving device and the steering gear 26. The first driving device drives the steering disc 8 to rotate through the transmission member 28 and the steering gear 26.

[0098] In the embodiment, the support frame 5 is provided with an axle seat 29 for installing the transmission member 28. The transmission member 28 is a gear provided with teeth on the upper and lower portions, and the radii of the upper and lower portions are different.

[0099] Embodiment Four

[0100] The embodiment is a variant of the first embodiment, and is different from the first embodiment in that the positions of the steering driving assembly and the wheel body driving assembly are arranged.

[0101] The high-density micro differential electric control wheel comprises a first wheel body, a second wheel body, a support frame, a support frame, a steering disc, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device. The support frame is arranged horizontally and transversely. The first wheel body and the second wheel body are arranged on the two sides of the middle portion of the support frame, respectively. 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 an installation cavity. The support frame is located in the middle portion of the installation cavity. The steering disc is located in the installation cavity and is connected with the inner side of the installation cavity in an axially rotatable manner. The support frame is rotatably arranged on the steering disc. The steering disc drives the support frame to rotate when the steering disc rotates. The steering driving assembly is arranged on the lower portion of the support frame and is in transmission connection with the steering disc. The wheel body driving assembly is arranged on the upper portion of the support frame and is in transmission connection with the first wheel body or the second wheel body. The first driving device is arranged on the support frame and is in transmission connection with the steering driving assembly, and is used for driving the steering disc to rotate. The second driving device is arranged on the support frame and is in transmission connection with the wheel body driving assembly. 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.

[0102] Compared with the prior art, the high-density micro differential electric control wheel is provided with a steering driving assembly and a wheel body driving assembly arranged on the upper and lower portions of the support frame, respectively. The two driving assemblies are arranged in a separated manner, so that the length of the support frame can be shortened, and the high-density micro differential electric control wheel is designed to be more compact.

[0103] Those skilled in the art can make various modifications and changes to the above embodiments according to the disclosure and teachings herein. Therefore, the application is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the application shall fall within the protection scope of the claims of the application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the application.

Claims

1. A high-density micro differential electric control wheel, characterized in that, include: First round of body; Second round body; The support frame is horizontally arranged parallel to the horizontal plane. The first wheel and the second wheel are respectively located on both sides of the middle part of the support frame. The first wheel and the second wheel can rotate relative to the support frame along a horizontal axis. The bracket has a mounting cavity, and the upper part of the bracket has a second opening that communicates with the mounting cavity; the support frame is located in the middle of the mounting cavity; The steering wheel is located in the mounting cavity and is axially rotatably connected to the inner side of the mounting cavity. The support frame is rotatably mounted on the steering wheel, and the steering wheel rotates to drive the support frame to turn. The steering drive assembly is located at the lower part of the bracket and is connected to the steering wheel drive. A wheel drive assembly is mounted on the upper part of the bracket and passes through the second opening to drive the first wheel or the second wheel. The first drive unit is mounted on the bracket and is connected to the steering drive assembly for driving the steering wheel to rotate. The second drive device is mounted on the bracket and is connected to the wheel drive assembly. The second drive device drives the wheel connected to the wheel drive assembly to rotate through the wheel drive assembly. The steering wheel is ring-shaped. The support frame is configured such that the vertical center of the support frame coincides with the center of the steering wheel. The center of the steering wheel is provided with a first opening that can accommodate the rotation of the first wheel and the second wheel. The wheel drive assembly includes a turntable, bevel gears, and a linkage shaft. The turntable is axially rotatably connected to the inner side of the second opening. The turntable is provided with an upper engagement part above the second opening and a lower engagement part on the lower side of the turntable facing the mounting cavity. The second drive device is connected to the upper engagement part in a transmission manner. The bevel gears are rotatably mounted on the steering wheel along a horizontal axis and engage with the lower engagement part. The bevel gear is fixedly connected to the middle of the first wheel body via a linkage shaft, or the bevel gear is fixedly connected to the middle of the second wheel body via a linkage shaft; The turntable has a third opening in the middle that can accommodate the rotation of the first wheel and the second wheel.

2. The high-density micro differential electric control wheel according to claim 1, characterized in that, The lower outer periphery of the steering wheel is provided with a number of vertical teeth at intervals; the steering drive assembly is provided with at least one steering gear, which is linked to the steering wheel, and the first drive 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 the lower inner periphery of the steering wheel is provided with a number of vertical teeth at intervals; the steering drive assembly is provided with at least one steering gear and at least one transmission component, the steering gear is located inside the steering wheel and is linked to the steering wheel, the transmission component is disposed between the first drive device and the steering gear, and the first drive device drives the steering wheel to rotate through the transmission component and the steering gear. Alternatively, the support frame is installed on the upper part of the steering wheel, and the steering wheel has a number of vertical teeth spaced apart on the inner periphery of the middle or lower part of the steering wheel; the steering drive assembly has at least one steering gear and at least one transmission component, the steering gear is located inside the steering wheel and is linked to the steering wheel, and the transmission component 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 component and the steering gear.

3. The high-density micro differential electric control wheel according to claim 1, characterized in that, If the bevel gear is fixedly connected to the middle of the first wheel body via the linkage shaft; The steering wheel has a mounting seat extending towards the center of the first wheel body on its inner side. The mounting seat has a vertically arranged mounting part that aligns with the third opening. The bevel gear is rotatably mounted on the mounting part along a horizontal axis. If the bevel gear is fixedly connected to the middle of the second wheel body via the linkage shaft; The steering wheel has a mounting seat on its inner side that extends toward the center of the second wheel body. The mounting seat has a vertically arranged mounting part that aligns with the third opening. The bevel gear is rotatably mounted on the mounting part along a horizontal axis.

4. The high-density micro differential electric control wheel according to claim 1 or 3, characterized in that, It also includes at least one transmission gear, which is linked with the upper meshing part, and the second drive device drives the turntable to rotate through the transmission gear.

5. The high-density micro differential electric control wheel according to claim 4, characterized in that, The shaft that fixes the transmission gear and the shaft that fixes the steering drive assembly are respectively arranged on both sides of the vertically bisecting support.

6. The high-density micro differential electric control wheel according to claim 1 or 3, characterized in that, The support frame is mounted on the upper part of the steering wheel.

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

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