Integrated servo wheel

Abstract

The invention discloses an integrated servo wheel which comprises a rotating wheel mechanism, a servo motor mechanism and a driving control mechanism, the servo motor mechanism comprises a motor shell and a motor body, the motor body is installed in the motor shell, and the motor shell is provided with a plurality of electric connection terminals and a plurality of control terminals in a protruding mode; the driving control mechanism comprises a driver shell and a driving circuit board, an opening is formed in one side of the driver shell, the driving circuit board is arranged in the driver shell, and a plurality of electric connection ports and a plurality of control ports are formed in the side, facing the opening, of the driving circuit board; one side of the motor shell is detachably connected with the rotating wheel mechanism, so that the rotating shaft of the motor body is in transmission connection with the rotating wheel mechanism; the other side of the motor shell is detachably connected with one side of the driver shell, the electric connection terminal is inserted into the electric connection port, and the control terminal is inserted into the control port. According to the integrated servo wheel, the rotating wheel mechanism, the servo motor mechanism and the driving control mechanism are relatively independent modules, so that quick disassembly, assembly and maintenance can be facilitated.

Description

Technical Field

[0001] This application relates to the technical field of servo drives, and particularly relates to an integrated servo wheel. Background Art

[0002] The servo wheel is integrated into the wheel hub and directly drives the wheel hub, omitting the complex mechanical transmission system. This not only simplifies the structure but also improves energy efficiency to reduce energy loss. It is widely used as a power component in fields such as robots and automated guided vehicles.

[0003] The servo wheel usually consists of a reduction structure, a drive motor, and a driver. Each component cannot be standardized, resulting in a complex connection structure between the structures, a cumbersome assembly process, and the product being difficult to disassemble and assemble after assembly, which is not convenient for maintenance. Summary of the Invention

[0004] This application aims to provide an integrated servo wheel. The runner mechanism, the servo motor mechanism, and the drive control mechanism form relatively independent modules, and the structures are detachably connected to form an integrated integrated structure, which is convenient for product assembly and maintenance.

[0005] This application provides an integrated servo wheel, including: A runner mechanism; A servo motor mechanism, including a motor housing and a motor body. The motor body is installed inside the motor housing, and the other side of the motor housing protrudes with a plurality of electrical connection terminals and a plurality of control terminals; A drive control mechanism, including a driver housing and a drive circuit board. One side of the driver housing has an opening, and the drive circuit board is arranged inside the driver housing. A plurality of electrical connection ports and a plurality of control ports are arranged on the side of the drive circuit board facing the opening; Wherein, one side of the motor housing is detachably connected to the runner mechanism so that the rotating shaft of the motor body is in transmission connection with the runner mechanism; the other side of the motor housing is detachably connected to one side of the driver housing, and the electrical connection terminals are inserted into the electrical connection ports, and the control terminals are inserted into the control ports.

[0006] In some embodiments, a circumferential annular limiting groove is further provided on the other side of the motor housing, and the annular limiting groove is in limiting cooperation with the opening of the driver housing.

[0007] In some embodiments, a limiting protrusion is further protruded on one side of the motor housing, and a limiting groove is further provided on one side of the runner mechanism, and the limiting protrusion is in limiting cooperation with the limiting groove.

[0008] In some embodiments, a plurality of first screw holes are provided on one side of the runner mechanism, the motor housing is provided with first bolt holes in a penetrating manner, and the motor housing and the runner mechanism are detachably connected by a first bolt passing through the first bolt holes and being screwed into the first screw holes.

[0009] In some embodiments, second screw holes are provided on the other side of the motor housing, the driver housing is provided with second bolt holes in a penetrating manner, and the other side of the motor housing and one side of the driver housing are detachably connected by a second bolt passing through the second bolt holes and being screwed into the second screw holes.

[0010] In some embodiments, a magnetic induction component is further included. The magnetic induction component includes an induction magnet, a main signal acquisition module, and a secondary signal acquisition module. The induction magnet is coaxially connected to the rotating shaft of the motor body, and both the main signal acquisition module and the secondary signal acquisition module are installed on the drive circuit board.

[0011] In some embodiments, the drive control mechanism further includes a signal lead-out socket, which is detachably installed on the outer surface of the driver housing, and the signal lead-out socket is electrically connected to the main signal acquisition module and the secondary signal acquisition module.

[0012] In some embodiments, the drive control mechanism further includes a power socket, which is electrically connected to the electrical connection port.

[0013] In some embodiments, the runner mechanism includes a runner wheel body and a speed reduction component. The speed reduction component is in transmission connection with the runner wheel body and is also in transmission connection with the rotating shaft of the motor body.

[0014] In some embodiments, the motor body includes a stator component and a rotor component. The rotating shaft is formed on the rotor component, and the rotating shaft extends to the outside of one side of the motor housing.

[0015] According to the integrated servo wheel of the above embodiments, the runner mechanism, the servo motor mechanism, and the drive control mechanism are relatively independent modules. Each independent module can improve the protection level. After detachably connecting one side of the motor housing to the runner mechanism and detachably connecting the other side of the motor housing to one side of the driver housing, the integrated servo wheel provided by the present application can be formed, which is convenient for disassembly and assembly. When a certain component fails, the corresponding mechanism can be disassembled to facilitate quick maintenance. And through integrated assembly, the structure of the integrated servo wheel can be made more compact, the volume is relatively smaller, and it is more conducive to assembling it to robots and AGV autonomous guided vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 For the three-dimensional view of the integrated servo wheel provided by the present application Figure 1; Figure 2 The three-dimensional view of the integrated servo wheel provided for this application Figure 2 ; Figure 3 The exploded view of the integrated servo wheel provided for this application; Figure 4 The side view schematic diagram of the integrated servo wheel provided for this application; Figure 5 For Figure 4 The sectional view taken along the A-A direction in Figure 6 For Figure 5 The partial enlarged schematic diagram at position B in Figure 7 The side view schematic diagram of the runner mechanism in the integrated servo wheel provided for this application; Figure 8 For Figure 7 The sectional view taken along the C-C direction in Figure 9 For Figure 8 The partial enlarged schematic diagram at position D in Figure 10 The side view schematic diagram of the servo motor mechanism in the integrated servo wheel provided for this application; Figure 11 For Figure 10 The sectional view taken along the E-E direction in Figure 12 The side view schematic diagram of the drive control mechanism in the integrated servo wheel provided for this application; Figure 13 For Figure 12 The sectional view taken along the F-F direction in Figure 14 The schematic diagram of the external connecting cable of the integrated servo wheel provided for this application Figure 1 ; Figure 15 The schematic diagram of the external connecting cable of the integrated servo wheel provided for this application Figure 2 。

[0017] Reference numerals: Runner mechanism 10, runner wheel body 11, runner housing 12, reduction assembly 12, limit groove 111, first screw hole 122, rubber wheel 14; Servo motor mechanism 20, motor housing 21, annular limit groove 211, limit protrusion 212, second screw hole 213, motor body 22, stator assembly 221, rotor assembly 222, electrical connection terminal 23, control terminal 24, first bolt 25; Drive control mechanism 30, driver housing 31, opening 311, heat dissipation structure 312, drive circuit board 32, electrical connection port 33, control port 34, second bolt 35, signal extraction socket 36, signal transmission cable 361, power socket 37, power transmission cable 371; Magnetic induction component 40, induction magnet 41, main signal acquisition module 42, sub-signal acquisition module 43. Specific embodiments

[0018] The present application will be further described in detail below in conjunction with the accompanying drawings through specific embodiments. Similar elements in different embodiments are labeled with related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and general technical knowledge in the art.

[0019] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various embodiments, and the operation steps involved in each embodiment can also be reordered or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and the drawings are only for clearly describing a certain embodiment, and do not mean that they are essential components and / or sequences.

[0020] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. And the "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connections (couplings).

[0021] In the related art, the runner, motor, and driver in the servo wheel are assembled by stacking in sequence, and the components have a high degree of correlation. If a certain component is damaged, the entire product needs to be disassembled, making it difficult to perform on-site rapid maintenance.

[0022] In view of the above problems, the present application provides an integrated servo wheel, which is formed into three independent modules: a runner mechanism, a servo motor mechanism, and a drive control mechanism. Moreover, a detachable connection is realized between the runner mechanism, the servo motor mechanism, and the drive control mechanism, facilitating users to perform maintenance.

[0023] See Figures 1 - 13As shown in the figure, the integrated servo wheel provided in this embodiment includes a runner mechanism 10, a servo motor mechanism 20, and a drive control mechanism 30. Among them, the runner mechanism 10, the servo motor mechanism 20, and the drive control mechanism 30 are detachably connected in sequence. The drive control mechanism 30 can control the servo motor mechanism 20 to drive the runner mechanism 10 to rotate. For example, this integrated servo wheel is applied to devices such as robots and AGV autonomous guided vehicles to realize the walking of the devices.

[0024] The servo motor mechanism 20 includes a motor housing 21 and a motor body 22. The motor body 22 is installed inside the motor housing 21, and the rotating shaft of the motor body 22 extends to the outside of one side of the motor housing 21. A plurality of electrical connection terminals 23 and a plurality of control terminals 24 protrude from the other side of the motor housing 21.

[0025] Among them, the plurality of electrical connection terminals 23 and the plurality of control terminals 24 are both electrically connected to the motor body 22. The motor body 22 can be connected to a power source through the electrical connection terminals 23. This power source can be, for example, a rechargeable power module on a robot or an AGV autonomous guided vehicle to provide electrical energy to the motor body 22. The control terminals 24 can control the temperature controller and / or the brake of the motor body 22 to work, so as to monitor the temperature when the motor body 22 is working, or control the motor body 22 to decelerate through the brake.

[0026] In this embodiment, the motor body 22 includes a stator assembly 221 and a rotor assembly 222. Among them, both the stator assembly 221 and the rotor assembly 222 are installed inside the motor housing 21, and the stator assembly 221 surrounds the rotor assembly 222. The rotating shaft of the rotor assembly 222 extends to the outside of one side of the motor housing 21.

[0027] Among them, the electrical connection terminals 23 can provide electrical energy to the stator assembly 221. Under the action of the electrical energy, the stator assembly 221 can generate an alternating magnetic field, and the rotor assembly 222 can cut the magnetic induction lines and rotate under the action of the alternating magnetic field.

[0028] The drive control mechanism 30 includes a driver housing 31 and a drive circuit board 32. One side of the driver housing 31 has an opening 311. The drive circuit board 32 is arranged inside the driver housing 31. A plurality of electrical connection ports 33 and a plurality of control ports 34 are arranged on the side of the drive circuit board 32 facing the opening 311.

[0029] During product assembly, one side of the motor housing 21 is detachably connected to the runner mechanism 10, so that the rotating shaft of the motor body 22 is in transmission connection with the runner mechanism 10, and the runner mechanism 10 can be driven to rotate by the motor body 22. The other side of the motor housing 21 is detachably connected to one side of the driver housing 31. The electrical connection terminals 23 are inserted into the electrical connection ports 33, and the control terminals 24 are inserted into the control ports 34.

[0030] In this embodiment, the runner mechanism 10, the servo motor mechanism 20, and the drive control mechanism 30 are relatively independent modules. One side of the motor housing 21 is detachably connected to the runner mechanism 10, and the other side of the motor housing 21 is detachably connected to one side of the driver housing 31. The independent modules are detachably connected to each other to form an integrated servo wheel in an integrated manner and improve the protection level. When a certain component (for example, the drive circuit board 32 in the drive control mechanism 30) fails, it is convenient to quickly perform maintenance after disconnecting the connection between the driver housing 31 and the motor housing 21. At the same time, the integrated servo wheel structure formed by the integrally connected runner mechanism 10, servo motor mechanism 20, and drive control mechanism 30 is more compact, has a relatively smaller volume, and is more conducive to being assembled onto robots and AGV autonomous guided vehicles.

[0031] In some embodiments, a heat dissipation structure 312 is further provided on the outer surface of the closed end of the driver housing 31. When the drive circuit board 32 is working, a large amount of heat is generated, and the heat generated by the drive circuit board 32 can be dissipated through the heat dissipation structure 312.

[0032] Among them, the closed end of the driver housing 31 is the end relative to its opening 311. The drive circuit board 32 is disposed in contact with the closed end, and the heat generated when the drive circuit board 32 is working can be quickly conducted. The heat dissipation structure 312 is heat dissipation fins provided on the outer surface of the closed end of the driver housing 31, which can increase the contact area with the air, so as to dissipate the heat conducted by the drive circuit board 32 by means of heat exchange with the air.

[0033] In some embodiments, after the drive circuit board 32 is installed inside the driver housing 31, thermal conductive silicone can be filled into the driver housing 31. The drive circuit board 32 is wrapped by the thermal conductive silicone, and the thermal conductive silicone is in contact with the closed end of the driver housing 31, so that the heat generated by the drive circuit board 32 can be quickly and effectively conducted from the thermal conductive silicone to the heat dissipation structure 312.

[0034] See Figure 5 、 Figures 10 - 13 As shown, a circumferential annular limit groove 211 is further provided on the other side of the motor housing 21. The annular limit groove 211 is in limit fit with the opening 311 of the driver housing 31. Among them, the annular limit groove 211 and the opening 311 of the driver housing 31 form a mating relationship similar to a male stop and a female stop, which can ensure that after the other side of the motor housing 21 is connected to one side of the driver housing 31, the electrical connection terminal 23 can be inserted into the electrical connection port 33, and the control terminal 24 can be inserted into the control port 34.

[0035] In one embodiment, an anti-fooling protrusion may also be provided on the groove wall of the annular limiting groove 211, and an anti-fooling groove may be provided on the outer wall of the driver housing 31 at the opening 311. When the annular limiting groove 211 is in limiting cooperation with the opening 311, the anti-fooling protrusion can be positioned in the anti-fooling groove, so that the other side of the motor housing 21 and one side of the driver housing 31 are accurately aligned, ensuring that the electrical connection terminal 23 is inserted into the electrical connection port 33 and the control terminal 23 is inserted into the control port 34.

[0036] See Figure 5 , Figure 7 , Figure 8 and Figure 11 As shown, a limiting protrusion 212 also protrudes from one side of the motor housing 21, and a limiting groove 111 is also provided on one side of the runner mechanism 10. The limiting protrusion 212 and the limiting groove 111 are in limiting cooperation, which can limit the position when one side of the motor housing 21 is detachably connected to one side of the runner mechanism 10, so as to ensure that the rotating shaft of the motor body 22 can be in transmission connection with the runner mechanism 10.

[0037] As Figure 3 shown, a plurality of first screw holes 122 are provided on one side of the runner mechanism 10, and the motor housing 21 is provided with first bolt holes (not shown in the figure) in a through manner. As Figures 1 - 4 and Figure 10 , Figure 14 and Figure 15 shown, the motor housing 21 and the runner mechanism 10 are detachably connected by a first bolt 25 passing through the first bolt hole and being screwed into the first screw hole 122, that is, the motor housing 21 and the runner mechanism 10 can be quickly assembled by the first bolt 25 passing through the first bolt hole and being screwed into the first screw hole 122.

[0038] In this embodiment, the plurality of first screw holes 122 provided on one side of the runner mechanism 10 are arranged in a circumferential equidistant manner. Correspondingly, a plurality of first bolt holes are provided in a through manner on the motor housing 21, and each first bolt hole corresponds to each first screw hole 122 one by one to ensure the firmness of the connection between the motor housing 21 and the runner mechanism 10.

[0039] Continue to refer to Figure 3 shown, a second screw hole 213 is provided on the other side of the motor housing 21, and the driver housing 31 is provided with a second bolt hole (not shown in the figure) in a through manner. The other side of the motor housing 21 and one side of the driver housing 31 are quickly assembled by a second bolt 35 passing through the second bolt hole and being screwed into the second screw hole 213.

[0040] Similarly, a plurality of second screw holes 213 are provided on the other side of the motor housing 21, and a plurality of second bolt holes are provided in a through manner on the driver housing 31, and each second bolt hole corresponds to each second screw hole 213 one by one.

[0041] See Figure 8 and Figure 9 As shown, the runner mechanism 10 includes a runner body 11 and a speed reduction component 12. The runner body 11 can be drivingly connected to the speed reduction component 12. A rubber wheel 14 is also sleeved on the runner body 11. One side of the speed reduction component 12 is drivingly connected to the servo motor mechanism 20. Specifically, when the motor housing 21 is connected to one side of the runner mechanism 10, the rotating shaft of the rotor assembly 222 in the motor body 22 is drivingly connected to the speed reduction component 12. Specifically, the rotating shaft of the rotor assembly 222 extends to one side of the motor housing 21 and is drivingly connected to the speed reduction component 12.

[0042] When the motor body 21 is working, it will generate a high-speed rotational motion. To facilitate the monitoring of parameters such as its rotational speed, see Figure 5 and Figure 6 As shown, the integrated servo wheel provided in this embodiment further includes a magnetic induction component 40. The magnetic induction component 40 includes an induction magnet 41, a main signal acquisition module 42, and a secondary signal acquisition module 43. The induction magnet 41 is coaxially connected to the rotating shaft of the rotor assembly 222 in the motor body 22. The main signal acquisition module 42 and the secondary signal acquisition module 43 are both installed on the drive circuit board 32, which can save installation space and achieve integrated miniaturization.

[0043] Among them, the induction magnet 41 generates a magnetic field signal during the coaxial rotation with the rotating shaft of the rotor assembly 222. One of the main signal acquisition module 42 and the secondary signal acquisition module 43 can acquire the magnetic field signal to obtain information such as the rotational speed and rotation angle of the rotor assembly 222. The main signal acquisition module 42 and the secondary signal acquisition module 43 can form a redundant structure. When one of the signal acquisition modules fails, the other signal acquisition module can be used. Or, the main signal acquisition module 42 and the secondary signal acquisition module 43 can simultaneously acquire the magnetic field signal to improve the accuracy of the detection result.

[0044] To facilitate the output of the information acquired by the main signal acquisition module 42 or the secondary signal acquisition module 43, see Figures 1 - 3 、 Figure 5 、 Figures 12 - 15 As shown, the drive control mechanism 30 further includes a signal lead-out socket 36. The signal lead-out socket 36 is detachably installed on the outer surface of the driver housing 31. The signal lead-out socket 36 is electrically connected to the main signal acquisition module 42 and the secondary signal acquisition module 43, so as to output the information acquired by the main signal acquisition module 42 and the secondary signal acquisition module 43 by means of connecting an external signal transmission cable to the signal lead-out socket 36.

[0045] In this application, to facilitate the connection of the electrical connection port 33 to the power supply, continue to see Figures 1 - 3 、 Figure 5 、 Figures 12 - 15As shown, the drive control mechanism 30 further includes a power socket 37, which is detachably mounted on the outer surface of the driver housing 31, and the power socket 37 is electrically connected to the electrical connection port 34.

[0046] See Figure 14 and Figure 15 As shown, a signal transmission cable 361 is also externally connected to the signal extraction socket 36, and a power transmission cable 371 is also externally connected to the power socket 37. The signal transmission cable 361 can be plugged into the signal extraction socket 36 through the plug at its end, and the power transmission cable 371 is plugged into the power socket 37 through the plug at its end. As Figure 14 shown, both the signal transmission cable 361 and the power transmission cable 371 face the front end of the integrated servo wheel. As Figure 15 shown, both the signal transmission cable 361 and the power transmission cable 371 face the rear end of the integrated servo wheel. Among them, the installation directions of the signal transmission cable 361 and the power transmission cable 371 can be adjusted by adjusting the directions of the signal extraction socket 36 and the power socket 37 to adapt to different working conditions.

[0047] It should be noted that the installation directions of the signal transmission cable 361 and the power transmission cable 371 can also be adjusted to be opposite, and specific selection can be made according to actual needs.

[0048] In summary, in the integrated servo wheel provided by the present application, the runner mechanism, the servo motor mechanism, and the drive control mechanism are relatively independent modules. One side of the motor housing is detachably connected to the runner mechanism, and the other side of the motor housing is detachably connected to one side of the driver housing. Each independent module is detachably connected to form an integrated servo wheel by integrated spinning, and the protection level is improved. When a certain component fails, the corresponding mechanism can be disassembled for easy maintenance. And through integrated assembly, the structure of the integrated servo wheel is more compact, the volume is relatively smaller, and it is more conducive to assembling it onto robots and AGV autonomous guided vehicles.

[0049] The above uses specific examples to elaborate on the present invention, which is only used to help understand the present invention and is not used to limit the present invention. For those skilled in the technical field to which the present invention belongs, according to the idea of the present invention, several simple deductions, deformations or replacements can also be made.

Claims

1. An integrated servo wheel, characterized in that, Comprising: A runner mechanism; A servo motor mechanism, including a motor housing and a motor body, the motor body being installed inside the motor housing, and the other side of the motor housing protruding with a plurality of electrical connection terminals and a plurality of control terminals; A drive control mechanism, including a driver housing and a drive circuit board, one side of the driver housing having an opening, the drive circuit board being disposed inside the driver housing, and a plurality of electrical connection ports and a plurality of control ports being provided on the side of the drive circuit board facing the opening; Wherein, one side of the motor housing is detachably connected to the runner mechanism so that the rotating shaft of the motor body is in transmission connection with the runner mechanism; the other side of the motor housing is detachably connected to one side of the driver housing, the electrical connection terminals being inserted into the electrical connection ports, and the control terminals being inserted into the control ports.

2. The integrated servo wheel according to claim 1, wherein A circumferential annular limiting groove is further provided on the other side of the motor housing, and the annular limiting groove is in limiting cooperation with the opening of the driver housing.

3. The integrated servo wheel according to claim 1, wherein A limiting protrusion is further protruded on one side of the motor housing, and a limiting groove is further provided on one side of the runner mechanism, and the limiting protrusion is in limiting cooperation with the limiting groove.

4. The integrated servo wheel according to claim 1, wherein A plurality of first screw holes are provided on one side of the runner mechanism, and a first bolt hole is provided through the motor housing. The motor housing and the runner mechanism are detachably connected by a first bolt passing through the first bolt hole and being screwed into the first screw hole.

5. The integrated servo wheel according to claim 1, wherein A second screw hole is provided on the other side of the motor housing, and a second bolt hole is provided through the driver housing. The other side of the motor housing and one side of the driver housing are detachably connected by a second bolt passing through the second bolt hole and being screwed into the second screw hole.

6. The integrated servo wheel according to claim 1, wherein, It further includes a magnetic induction assembly, the magnetic induction assembly including an induction magnet, a main signal acquisition module and a secondary signal acquisition module, the induction magnet being coaxially connected to the rotating shaft of the motor body, and the main signal acquisition module and the secondary signal acquisition module both being installed on the drive circuit board.

7. The integrated servo wheel according to claim 6, wherein The drive control mechanism further includes a signal lead-out socket, the signal lead-out socket being detachably installed on the outer surface of the driver housing, and the signal lead-out socket being electrically connected to the main signal acquisition module and the secondary signal acquisition module.

8. The integrated servo wheel according to claim 7, wherein, The drive control mechanism further includes a power socket, the power socket being electrically connected to the electrical connection ports.

9. The integrated servo wheel according to claim 1, characterized in that, The runner mechanism includes a runner wheel body and a speed reduction assembly, the speed reduction assembly being in transmission connection with the runner wheel body and in transmission connection with the rotating shaft of the motor body.

10. The integrated servo wheel according to claim 9, characterized in that, The motor body includes a stator assembly and a rotor assembly; the rotating shaft is formed on the rotor assembly, and the rotating shaft extends out to the outside of one side of the motor housing.

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