Highly-integrated driving and control integrated moving wheel

Abstract

The utility model belongs to the field of intelligent moving wheels, and particularly relates to a highly-integrated driving and controlling integrated moving wheel which comprises a shell, an encoder, a motor, a speed reducer, a driver, a rotor disc and a stator disc, the center of the rotor disc is rotationally connected with the center of the stator disc, and the right end of the stator disc extends out of the right end wall. The left end of the rotor disc is rotatably connected with the left end wall, and the motor comprises an outer rotor and an inner stator; the speed reducer is a planetary gear assembly and comprises an outer gear ring, a plurality of planetary gears and a sun gear, the outer gear ring is fixed to the left side face of the stator disc, the sun gear is rotationally connected to the center of the left side face of the rotor disc, and all the planetary gears are rotationally connected to the inner side face of the left end wall; and each planetary gear is meshed with the outer gear ring and the sun gear. The planetary gear transmission mechanism is high in transmission efficiency, high in integration, light in weight, compact in structure and high in moving precision.

Description

Technical Field

[0001] The utility model belongs to the field of intelligent moving wheels, and in particular relates to a highly integrated driving and controlling moving wheel. Background Art

[0002] With the continuous development of intelligent technology, intelligent robots of various types are widely used in all walks of life, saving labor and providing convenience for people. Intelligent robots usually need to move when working, so most intelligent robots are equipped with moving wheels.

[0003] The current intelligent mobile robots have a major problem: the transmission rate of the mobile wheels is low and the transmission speed is slow, resulting in a long mobile response time of the intelligent mobile robots.

[0004] The existing intelligent mobile robot has at least two driving wheels and one or two passive wheels, and some even have four driving wheels. The driving wheels are currently composed of a servo motor and a wheel body. The rotating shaft of the servo motor is fixed to the connecting shaft of the wheel body, and the body of the servo motor is fixed on the mobile robot, and the wheel body is driven to rotate by the servo motor. This structural design not only makes the transmission structure complicated, increases the number of transmission links, greatly reduces the efficiency of the transmission, increases the mobile response time of the robot, and lags in movement, but also sets the driver and the motor outside, which not only increases the overall volume of the robot, but also takes extra time to assemble the driver, the motor and the wheel body together. The driving wheel of the existing intelligent mobile robot includes a wheel body (housing), a transmission connection structure, an encoder and a connecting shaft, which are all fixed together. When the motor rotating shaft rotates, it will drive the above components to rotate together, which will cause the load of the motor rotating shaft to be heavier, and ultimately lead to low wheel body transmission efficiency and low transmission speed. Utility Model Content

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the current intelligent mobile robot, that is, the wheel transmission rate is low, the transmission speed is slow, and the mobile response time of the intelligent mobile robot is long.

[0006] In order to solve the above technical problems, the utility model provides a highly integrated drive-controlled moving wheel, including a shell, an encoder, a motor and a reducer, a driver, a rotor disk and a stator disk, the shell is cylindrical, including a left end wall and a right end wall, at least one of the left end wall and the right end wall is detachably connected to the shell, the left end wall, the rotor disk, the stator disk and the right end wall are arranged in sequence from left to right along the axial direction of the shell, the center of the rotor disk is rotatably connected to the center of the stator disk, the right side of the rotor disk is surrounded by the outside of the left side of the stator disk, the right end of the stator disk extends out of the right end wall and is rotatably connected to the right end wall, the left end of the rotor disk is rotatably connected to the left end wall, the motor is a frameless motor, including an outer rotor and an inner stator. The outer rotor is fixed on the right side of the rotor disk, the inner stator is fixed on the left side of the stator disk, and the outer rotor surrounds the outside of the inner stator; the reducer is a planetary gear assembly, including an outer ring gear, a plurality of planetary gears and a sun gear, the outer ring gear is fixed on the left side of the stator disk, the sun gear is rotatably connected to the center of the left side of the rotor disk, all the planetary gears are rotatably connected to the inner side of the left end wall, and are arranged in a ring on the left end wall, each of the planetary gears is meshed with the outer ring gear and the sun gear, the driver is fixed on the stator disk, the encoder includes a magnetic disk and a sensing part, the magnetic disk is fixed on the rotor disk, the sensing part is fixed on the driver, and the sensing part and the magnetic disk are opposite.

[0007] Preferably, the stator disk includes a circular substrate and a first circular ring and a second circular ring fixed on the circular substrate, the circular substrate, the first circular ring and the second circular ring are concentric, the first circular ring and the second circular ring are arranged on the left side of the circular substrate, the rotor disk includes a circular bottom plate and a third circular ring, the third circular ring is fixed on the right side of the circular bottom plate, the diameters of the second circular ring, the third circular ring and the first circular ring gradually decrease in sequence, the second circular ring surrounds the outside of the third circular ring, the outer rotor is accommodated in the gap between the third circular ring and the first circular ring, and the inner stator is accommodated in the first circular ring.

[0008] Preferably, the left end of the second circular ring extends to the left end wall, and a step extending axially along the second circular ring is provided at the left end of the second circular ring, the outer gear ring is accommodated in the step, the thickness value of the outer gear ring is consistent with the depth value of the step, and the outer gear ring is fixed to the right end face of the step.

[0009] Preferably, a cone with a diameter smaller than that of the third circular ring is provided on the right side surface of the circular bottom plate, a gap is provided between the cone and the inner stator, the magnetic disk, the sensing part and the driver are located in the gap between the cone and the inner stator, and the magnetic disk is fixed on the cone.

[0010] Preferably, a first connecting shaft and a second connecting shaft are respectively provided on the left and right sides of the rotor disk, the diameters of the first connecting shaft and the second connecting shaft are smaller than the diameter of the truncated cone, a first mounting hole is provided on the left end wall, a first bearing is provided in the first mounting hole, a second mounting hole is provided in the center of the stator disk, a second bearing is provided in the second mounting hole, and the first connecting shaft and the second connecting shaft are respectively inserted into and fixed in the inner rings of the first bearing and the second bearing.

[0011] Preferably, it is characterized in that the inner side surface of the left end wall is provided with pins whose number and position correspond to the planetary gears, each of the pins is sleeved with a third bearing, and each of the outer rings of the third bearings is sleeved with and fixed with one of the planetary gears.

[0012] Preferably, it also includes a fixed bracket, a fixed shaft is provided at the center of the right side surface of the stator disk, a third mounting hole is provided at the center of the right end wall, a fourth bearing is provided in the third mounting hole, the fixed shaft is inserted into and fixed in the inner ring of the fourth bearing, and the fixed shaft extends out of the right end wall, and the fixed shaft is fixed to one end of the fixed bracket.

[0013] The technical solution of the utility model has the following beneficial effects:

[0014] 1. The utility model arranges the driver and the motor inside the housing (wheel hub), and integrates the driver, encoder, motor, reducer and housing (wheel hub) into one. Each wheel can become a driving wheel, which is not only simple to install and avoids the time-consuming assembly, but also not easy to lose accessories; the motor is arranged inside the housing (wheel hub), and the motor type is set to a frameless motor, so that the transmission structure is more compact, the structure is simpler, and the transmission efficiency is higher.

[0015] 2. The utility model utilizes a stator disk to fix the entire wheel to the intelligent mobile robot, and the inner stator, outer rotor, reducer, rotor disk, stator disk, encoder and driver are all connected together, and the right end wall of the outer shell is rotatably connected to the rotor disk, and the left end wall is fixed to the sun gear of the reducer. The rotational power of the outer rotor is transmitted to the rotor disk, and then the rotational power of the rotor disk is transmitted to the left end wall of the outer shell through the planetary gear reducer, so that the entire outer shell rotates relative to other components. In the utility model, the loads of various rotating parts (outer rotor, rotor disk and outer shell) are relatively dispersed, avoiding the problem of heavy load on a certain rotating part, ensuring the stability of the overall structure, and only the outer shell (wheel hub / wheel body) rotates, so that the overall load of the transmission structure is lighter, the transmission efficiency is high, and the mobile response time of the intelligent mobile robot is shorter.

[0016] 3. The motor, reducer, driver and encoder are packaged in hardware to achieve a larger reduction ratio, realize low-speed and high-torque output, and realize a more integrated low-speed servo system.

[0017] 4. Integrate the driver and motor into the same hub to shorten the length of the connecting line.

[0018] Can reduce mechanical clearance: There are mechanical clearances in traditional transmission systems. Integration in the same hub can reduce these clearances and improve the response speed and precision of the transmission system.

[0019] Reduced inertia: Integration in the same hub can reduce the inertia of rotating parts, making it easier to start, stop and adjust the speed of the motor, improving the dynamic performance of the system.

[0020] Simplified structure: The integrated design simplifies the structure of the entire system, reduces the number of parts and assembly complexity, reduces the failure rate, and improves the reliability and stability of the system.

[0021] Space saving: The integrated design can save space and make the whole system more compact, which is suitable for application scenarios with limited space, such as the wheel hub drive system of electric vehicles.

[0022] Improve energy efficiency: Reducing transmission loss, mechanical clearance, inertia and other factors can improve the energy efficiency of the system, reduce energy consumption, and meet the requirements of energy conservation and environmental protection. Only the corresponding power lines and communication lines need to be led out to the outside, reducing the number of wiring harnesses and reducing the difficulty of designing and routing.

[0023] 5. The utility model omits the planetary frame of the planetary gear reducer, and uses the left end wall of the outer shell as the planetary frame. The sun gear is directly rotatably connected to the left end wall. Since the planetary gear reducer is connected to the rotor disk, and the rotor disk is connected to the intelligent mobile robot, the total load of the intelligent mobile robot during movement is generally reduced, and the moving efficiency of the intelligent mobile robot is improved.

[0024] 6. The motor of the utility model is a frameless motor with a shorter axial length, which makes the entire moving wheel structure more compact, the volume of the moving wheel more compact, and the displacement more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Explanation of the reference numerals: 1. outer casing; 11. left end wall; 111. first mounting hole; 112. pin shaft; 12. right end wall; 121. third mounting hole; 2. encoder; 21. magnetic disk; 22. induction part; 31. outer rotor; 32. inner stator; 41. outer gear ring; 42. planetary gear; 43. sun gear; 5. driver; 6. rotor disk; 61. circular base plate; 62. third circular ring; 63. truncated cone; 64. first connecting shaft; 65. second connecting shaft; 7. stator disk; 71. circular substrate; 72. first circular ring; 73. second circular ring; 74. second mounting hole; 75. fixed shaft; 8. first bearing; 9. second bearing; 10. third bearing; 20. fixed bracket; 30. fourth bearing.

[0027] Figure 1 It is a three-dimensional cross-sectional view of the utility model;

[0028] Figure 2 It is a three-dimensional schematic diagram of the utility model without the right end wall;

[0029] Figure 3 It is a three-dimensional appearance schematic diagram of the utility model;

[0030] Figure 4 It is a perspective schematic diagram of the rotor disk of the utility model from a first perspective;

[0031] Figure 5 It is a perspective schematic diagram of the rotor disk of the utility model from a second viewing angle;

[0032] Figure 6 It is a three-dimensional schematic diagram of the stator disc of the utility model. DETAILED DESCRIPTION

[0033] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] The utility model discloses a highly integrated driving and controlling integrated moving wheel, comprising a housing 1, an encoder 2, a motor, a reducer, a driver 5, a rotor disk 6 and a stator disk 7. The housing 1 is cylindrical and comprises a left end wall 11 and a right end wall 12. The left end wall 11 and the right end wall 12 are both detachably connected to the housing 1. The left end wall 11, the rotor disk 6, the stator disk 7 and the right end wall 12 are sequentially arranged from left to right along the axial direction of the housing 1. The center of the rotor disk 6 is rotatably connected to the center of the stator disk 7. The right side of the rotor disk 6 is surrounded by the outside of the left side of the stator disk 7. The right end of the stator disk 7 extends out of the right end wall 12 and is rotatably connected to the right end wall 12. The left end of the rotor disk 6 is rotatably connected to the left end wall 11. The motor is a frameless motor and comprises an outer rotor 31 and an inner stator 32. The outer rotor 31 is fixed. On the right side of the rotor disk 6, the inner stator 32 is fixed to the left side of the stator disk 7, and the outer rotor 31 surrounds the outside of the inner stator 32; the reducer is a planetary gear assembly, including an outer ring gear 41, a plurality of planetary gears 42 and a sun gear 43, the outer ring gear 41 is fixed to the left side of the stator disk 7, the sun gear 43 is rotatably connected to the center of the left side of the rotor disk 6, all the planetary gears 42 are rotatably connected to the inner side of the left end wall 11, and are arranged in a ring on the left end wall 11, each planetary gear 42 is meshed with the outer ring gear 41 and the sun gear 43, the driver 5 is fixed on the stator disk 7, the encoder 2 includes a magnetic disk 21 and a sensing part 22, the magnetic disk 21 is fixed on the rotor disk 6, the sensing part 22 is fixed on the driver 5, and the sensing part 22 and the magnetic disk 21 are opposite.

[0038] In the utility model, the left end wall 11 and the right end wall 12 are detachably connected to the outer shell 1. When the reducer, the stator disk 7, the rotor disk 6, the inner stator 32, the outer rotor 31, the encoder 2 and the driver 5 need to be installed inside the outer shell 1, the left end wall 11 and the right end wall 12 can be removed at the same time, and then the left end wall 11 and the right end wall 12 are fixed to the outer shell 1 after installation.

[0039] The basic working principle of the utility model: The utility model is connected with the object to be moved (such as an intelligent mobile robot) by means of the right end of the stator disk 7. The entire housing 1 of the utility model serves as the wheel hub of the object to be moved, and a rubber tire needs to be put on the outside when in use. The stator disk 7 of the utility model is fixed on the object to be moved and does not rotate, while the housing 1 rotates relative to the stator disk 7. The rotation principle of the housing 1: When the driver 5 receives the moving instruction, the encoder 2 starts to measure the initial position and initial angle of the motor, and transmits the signal to the driver 5. The driver 5 transmits the signal to the motor, and the motor starts to start, that is, the outer rotor 31 rotates relative to the inner stator 32. During this process, the encoder 2 measures the position, angle and speed information of the motor in real time, and feeds it back to the driver 5, thereby affecting the action of the driver 5. When the outer rotor 31 rotates, the rotor disk 6 is driven to rotate. Due to the setting of the planetary gear 42, the sun gear 43 rotates around its own central axis. When the planetary gear 42 rotates around its own central axis, it also revolves around the sun gear 43, thereby driving the left end wall 11 to rotate around its own central axis. Since the left end wall is a part of the outer shell 1, the entire outer shell 1 rotates around its own central axis, and the right end of the stator disk 7 only extends out of the right end wall 12 and is not fixed to the outer shell 1. Therefore, when the outer shell 1 rotates, it will not drive the stator disk 7.

[0040] Specifically, the stator disk 7 includes a circular substrate 71 and a first circular ring 72 and a second circular ring 73 fixed on the circular substrate 71. The circular substrate 71, the first circular ring 72 and the second circular ring 73 are concentric. The first circular ring 72 and the second circular ring 73 are arranged on the left side of the circular substrate 71. The rotor disk 6 includes a circular bottom plate 61 and a third circular ring 62. The third circular ring 62 is fixed on the right side of the circular bottom plate 61. The diameters of the second circular ring 73, the third circular ring 62 and the first circular ring 72 are gradually reduced in sequence. The second circular ring 73 surrounds the outside of the third circular ring 62. The outer rotor 31 is accommodated in the gap between the third circular ring 62 and the first circular ring 72, and the outer circumferential surface of the outer rotor 31 is fixed to the inner circumferential surface of the third circular ring 62. The inner stator 32 is accommodated in the first circular ring 72.

[0041] When the utility model is working, the outer gear ring 41 is also fixed and non-rotating relative to the moving object. In order to fix the outer gear ring 41 on the stator disk 7, the left end of the second circular ring 73 extends to the left end wall 11, and the left end of the second circular ring 73 is provided with a step extending along the axial direction of the second circular ring 73, and the outer gear ring 41 is accommodated in the step. The thickness value of the outer gear ring 41 is consistent with the depth value of the step, and the outer gear ring 41 is fixed to the right end face of the step. The thickness value of the outer gear ring 41 is consistent with the depth value of the step, which can ensure that the left end face of the outer gear ring 41 is flush with the left end face of the second circular ring 73, which is convenient for the installation of the left end wall 11.

[0042] A truncated cone 63 with a diameter smaller than that of the third circular ring 62 is provided on the right side of the circular base plate 61. There is a gap between the truncated cone 63 and the inner stator 32 to provide space for the installation of the encoder 2 and the driver 5. The disk 21, the sensing part 22 and the driver 5 are located in the gap between the truncated cone 63 and the inner stator 32, and the disk 21 is fixed on the truncated cone 63.

[0043] The rotor disk 6 is rotatably connected to the left end wall 11 through the first connecting shaft 64, the first mounting hole 111 and the first bearing 8, so that the planetary gear 42 installed on the left end wall 11 can revolve around the sun gear 43 installed on the rotor disk 6 during operation. Since the planetary gear 42 revolves around the sun gear 43, it drives the left end wall 11 to rotate around the sun gear 43, that is, to rotate around its own central axis. The rotor disk 6 is rotatably connected to the stator disk 7 through the second connecting shaft 65, the second mounting hole 74 and the second bearing 9, so as to provide support and fixation for the rotor disk 6, and to prevent the stator disk 7 from rotating when the rotor disk 6 rotates. Specifically, a first connecting shaft 64 and a second connecting shaft 65 are respectively provided on the left and right sides of the rotor disk 6, the diameters of the first connecting shaft 64 and the second connecting shaft 65 are smaller than the diameter of the cone 63, a first mounting hole 111 is provided on the left end wall 11, a first bearing 8 is provided in the first mounting hole 111, a second mounting hole 74 is provided in the center of the stator disk 7, a second bearing 9 is provided in the second mounting hole 74, the first connecting shaft 64 and the second connecting shaft 65 are respectively inserted into and fixed in the inner rings of the first bearing 8 and the second bearing 9.

[0044] In order to enable the planetary gear 42 to rotate around its own central axis during operation, a pin shaft 112 whose number and position correspond to the planetary gear 42 is provided on the inner side surface of the left end wall 11, and a third bearing 10 is sleeved on each pin shaft 112, and a planetary gear 42 is sleeved and fixed on the outer ring of each third bearing 10.

[0045] The utility model further includes a fixed bracket 20, a fixed shaft 75 is provided at the center of the right side surface of the stator disc 7, a third mounting hole 121 is provided at the center of the right end wall 12, a fourth bearing 30 is provided in the third mounting hole 121, the fixed shaft 75 penetrates and is fixed in the inner ring of the fourth bearing 30, and the fixed shaft 75 extends out of the right end wall 12, and the fixed shaft 75 is fixed to one end of the fixed bracket 20. The stator disc 7 is rotatably connected to the right end wall 12 through the fixed shaft 75, the third mounting hole 121 and the fourth bearing 30, so that the housing 1 will not drive the rotation of the stator disc 7 when rotating.

[0046] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A highly integrated driving and controlling mobile wheel, comprising a housing (1), an encoder (2), a motor and a reducer, characterized in that: It also includes a driver (5), a rotor disk (6) and a stator disk (7), wherein the encoder (2), the motor, the reducer, the driver (5), the rotor disk (6) and the stator disk (7) are all arranged in the housing (1); The housing (1) is cylindrical and comprises a left end wall (11) and a right end wall (12). At least one of the left end wall (11) and the right end wall (12) is detachably connected to the housing (1). The left end wall (11), the rotor disk (6), the stator disk (7) and the right end wall (12) are arranged in sequence from left to right along the axial direction of the housing (1). The center of the rotor disk (6) is rotatably connected to the center of the stator disk (7). The right side of the rotor disk (6) surrounds the stator disk (7). 7), the right end of the stator disk (7) extends out of the right end wall (12) and is rotatably connected to the right end wall (12), the left end of the rotor disk (6) is rotatably connected to the left end wall (11), the motor is a frameless motor, comprising an outer rotor (31) and an inner stator (32), the outer rotor (31) is fixed on the right side of the rotor disk (6), the inner stator (32) is fixed on the left side of the stator disk (7), and the outer rotor (31) surrounds the outside of the inner stator (32); The reducer is a planetary gear assembly, comprising an outer gear ring (41), a plurality of planetary gears (42) and a sun gear (43); the outer gear ring (41) is fixed on the left side of the stator disk (7); the sun gear (43) is rotatably connected to the center of the left side of the rotor disk (6); all the planetary gears (42) are rotatably connected to the inner side of the left end wall (11) and are arranged in a ring shape on the left end wall (11); each of the planetary gears (42) is meshed with the outer gear ring (41) and the sun gear (43); the driver (5) is fixed on the stator disk (7); the encoder (2) comprises a magnetic disk (21) and a sensing portion (22); the magnetic disk (21) is fixed on the rotor disk (6); the sensing portion (22) is fixed on the driver (5); the sensing portion (22) and the magnetic disk (21) are opposite to each other.

2. The highly integrated driving and controlling moving wheel according to claim 1, characterized in that: The stator disk (7) comprises a circular substrate (71) and a first circular ring (72) and a second circular ring (73) fixed on the circular substrate (71); the circular substrate (71), the first circular ring (72) and the second circular ring (73) are concentric; the first circular ring (72) and the second circular ring (73) are arranged on the left side of the circular substrate (71); the rotor disk (6) comprises a circular bottom plate (61) and a third circular ring (62); the third circular ring (62) is fixed on the right side of the circular bottom plate (61); the diameters of the second circular ring (73), the third circular ring (62) and the first circular ring (72) are gradually reduced in sequence; the second circular ring (73) surrounds the outside of the third circular ring (62); the outer rotor (31) is accommodated in the gap between the third circular ring (62) and the first circular ring (72); and the inner stator (32) is accommodated in the first circular ring (72).

3. The highly integrated driving and controlling moving wheel according to claim 2, characterized in that: The left end of the second circular ring (73) extends to the left end wall (11). The left end of the second circular ring (73) is provided with a step extending axially along the second circular ring (73). The step accommodates the outer gear ring (41). The thickness of the outer gear ring (41) is consistent with the depth of the step. The outer gear ring (41) is fixed to the right end surface of the step.

4. The highly integrated driving and controlling moving wheel according to claim 3, characterized in that: A truncated cone (63) having a diameter smaller than that of the third circular ring (62) is provided on the right side of the circular bottom plate (61); a gap is provided between the truncated cone (63) and the inner stator (32); the magnetic disk (21), the induction unit (22) and the driver (5) are located in the gap between the truncated cone (63) and the inner stator (32); and the magnetic disk (21) is fixed on the truncated cone (63).

5. The highly integrated driving and controlling moving wheel according to claim 4, characterized in that: A first connecting shaft (64) and a second connecting shaft (65) are respectively provided on the left and right sides of the rotor disk (6), the diameters of the first connecting shaft (64) and the second connecting shaft (65) are smaller than the diameter of the truncated cone (63), the left end wall (11) is provided with a first mounting hole (111), a first bearing (8) is provided in the first mounting hole (111), a second mounting hole (74) is provided in the center of the stator disk (7), a second bearing (9) is provided in the second mounting hole (74), the first connecting shaft (64) and the second connecting shaft (65) are respectively inserted into and fixed in the inner rings of the first bearing (8) and the second bearing (9).

6. The highly integrated driving and controlling moving wheel according to claim 1, characterized in that: The inner side surface of the left end wall (11) is provided with pins (112) whose number and position correspond to those of the planetary gears (42), each of the pins (112) is sleeved with a third bearing (10), and each of the outer rings of the third bearings (10) is sleeved with and fixed with a planetary gear (42).

7. The highly integrated driving and controlling moving wheel according to claim 6, characterized in that: It also includes a fixed bracket (20), a fixed shaft (75) is provided at the center of the right side surface of the stator disc (7), a third mounting hole (121) is provided at the center of the right end wall (12), a fourth bearing (30) is provided in the third mounting hole (121), the fixed shaft (75) penetrates into and is fixed in the inner ring of the fourth bearing (30), and the fixed shaft (75) extends out of the right end wall (12), and the fixed shaft (75) is fixed to one end of the fixed bracket (20).

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