Driving wheel for unmanned vehicle

Abstract

The utility model discloses a driving wheel for an unmanned vehicle, which belongs to the technical field of vehicle engineering and comprises a wheel, a driving motor, an electromagnetic brake and a rotary encoder, one end of an output shaft of the driving motor is coaxially and fixedly connected with a rotating shaft of the wheel, and the other end of the output shaft of the driving motor is connected with the electromagnetic brake. The rotary encoder is installed between the driving motor and the electromagnetic brake, the rotary encoder is of a shaft sleeve type, and a shaft sleeve of the rotary encoder is fixedly arranged on an output shaft of the driving motor in a sleeving mode. The driving wheel can be controlled in a high-precision mode through the rotary encoder, the electromagnetic brake can be matched with the driving motor to conduct emergency braking, the output shaft of the driving motor can be locked under the condition that the motor is powered off or stops running, accidental movement or sliding is prevented, and safety and stability are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle engineering, in particular to a driving wheel for an unmanned vehicle. Background Art

[0002] With the continuous development of the vehicle field, the traditional internal combustion engine drive mode is gradually replaced by the electric drive mode. The electric drive mode has the advantages of precise control, less noise and higher energy efficiency, so it is very suitable for unmanned vehicles, such as unmanned lawn mowers. The current electric drive wheel is mainly composed of a drive motor and a rotary encoder. The drive motor can drive the wheel to stop. The rotary encoder can know the drive motor speed and rotation angle in real time to help the control system improve the control accuracy of the drive. However, the electric drive wheel cannot stop quickly at present, and there is a risk of slipping when the motor locks the wheel after parking. Utility Model Content

[0003] The purpose of the utility model is to solve the above-mentioned technical problems and provide a driving wheel for an unmanned vehicle, which can control the driving wheel with high precision through a rotary encoder, and can cooperate with the driving motor for emergency braking through an electromagnetic brake. It can also lock the output shaft of the driving motor when the motor is powered off or stops running to prevent accidental movement or slipping, thereby enhancing safety and stability.

[0004] To achieve the above-mentioned purpose, the utility model provides the following solution: The utility model discloses a driving wheel for an unmanned vehicle, including a wheel, a driving motor, an electromagnetic brake and a rotary encoder, one end of the output shaft of the driving motor is coaxially and fixedly connected to the rotating shaft of the wheel, the other end of the output shaft of the driving motor is connected to the electromagnetic brake, the rotary encoder is installed between the driving motor and the electromagnetic brake, the rotary encoder is a sleeve type, and the sleeve of the rotary encoder is sleeved and fixed on the output shaft of the driving motor.

[0005] Preferably, the rotary encoder is an electromagnetic encoder.

[0006] Preferably, a reduction device is included, the input port of the reduction device is connected to the output shaft of the drive motor, and the output port of the reduction device is connected to the rotating shaft of the wheel.

[0007] Preferably, the reduction device is provided with a motor flange coaxial with the input port, and the drive motor is bolted to the motor flange.

[0008] Preferably, the axis of the input port and the axis of the output port of the reduction device are perpendicular to each other.

[0009] Preferably, the axis of the input port is arranged vertically, and the input port faces away from the ground.

[0010] Preferably, the reduction device is a worm gear reduction box or a gear set reduction box.

[0011] Preferably, it comprises a housing, and the reduction device, the drive motor, the electromagnetic brake and the rotary encoder are all installed in the housing.

[0012] Preferably, the housing is provided with a fixing bracket for mounting on a vehicle body.

[0013] Preferably, heat dissipation holes are provided on the housing.

[0014] Compared with the prior art, the utility model has achieved the following technical effects:

[0015] In the driverless vehicle driving wheel of the utility model, a rotary encoder and an electromagnetic brake are installed on the output shaft of the driving motor. The rotary encoder can feedback high-precision output shaft speed and rotation angle information to the motor controller, so that the driving wheel can achieve high-precision control and positioning, which is very important for ensuring the motion trajectory and posture of the vehicle during work, and the electromagnetic brake can cooperate with the driving motor to perform emergency braking to achieve rapid braking. It can also lock the output shaft of the driving motor when the motor is powered off or stops running to prevent accidental movement or slipping, thereby reducing the risk of accidents and enhancing safety and stability. The driverless vehicle driving wheel can be widely used in various driverless vehicles, especially unmanned lawn mowers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the main structure of the driving wheel (including the housing) for the driverless vehicle;

[0018] Figure 2 It is a schematic diagram of the right three-dimensional structure of the driving wheel (including the housing) for the driverless vehicle;

[0019] Figure 3 It is a schematic diagram of the left three-dimensional structure of the driving wheel (including the housing) for the driverless vehicle;

[0020] Figure 4 It is a schematic diagram of the main structure of the driving wheel (without the housing) for the driverless vehicle;

[0021] Figure 5It is a schematic diagram of the right three-dimensional structure of the driving wheel (without the housing) for the driverless vehicle;

[0022] Figure 6 It is a schematic diagram of the right side structure of the driving wheel (without the housing) for the driverless vehicle;

[0023] Figure 7 The connection relationship between the drive motor, electromagnetic brake and rotary encoder;

[0024] Figure 8 This is a schematic diagram of the structure of a worm gear reducer.

[0025] Explanation of the accompanying reference numerals: 1. wheel; 2. housing; 3. fixing bracket; 4. heat dissipation hole; 5. driving motor; 6. rotary encoder; 7. electromagnetic brake; 8. worm gear reducer; 9. rotating shaft; 10. output shaft; 11. input port; 12. output port; 13. oil filling port; 14. motor flange. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0027] This embodiment provides a driving wheel for an unmanned vehicle, such as Figures 1 to 8 As shown, it includes a wheel 1, a drive motor 5, an electromagnetic brake 6 and a rotary encoder 7. One end of the output shaft 10 of the drive motor 5 is coaxially fixedly connected to the rotating shaft 9 of the wheel 1, and the other end of the output shaft 10 of the drive motor 5 is connected to the electromagnetic brake 7. The rotary encoder 6 is installed between the drive motor 5 and the electromagnetic brake 7. The rotary encoder 6 is a sleeve type. The sleeve of the rotary encoder 6 is sleeved on the output shaft 10 of the drive motor 5, and the sleeve is fixedly connected to the output shaft 10. The output shaft 10 of the drive motor 5 can drive the rotating shaft 9 to rotate when it rotates, so as to drive the wheel 1 to rotate. The rotary encoder 6 is used to feed back the speed and rotation angle of the output shaft 10 to the motor controller, so that the drive system can achieve precise control and positioning, which is very important for ensuring the motion trajectory and posture of the vehicle during work. Under normal parking conditions, the driving motor 5 is mainly stopped to achieve the braking of the wheel 1. However, when emergency braking is required, the electromagnetic brake 6 can brake the output shaft 10 when the drive motor 5 stops rotating to achieve rapid braking. At the same time, when the drive motor 5 is powered off or out of power, the output shaft 10 is locked to prevent the wheel 1 from slipping. The electromagnetic brake 6 releases the brake after the drive motor 5 is powered on.

[0028] Further, in this embodiment, if Figures 1 to 8 As shown, the drive motor 5 may consider using different types of motors, such as a DC motor, an asynchronous motor or a stepper motor, etc. Each type of motor has its applicable scenario and characteristics, and needs to be selected according to specific application requirements.

[0029] In this embodiment, Figures 1 to 8 As shown, the rotary encoder 7 adopts an electromagnetic encoder.

[0030] In this embodiment, Figures 1 to 8 As shown, the driving wheel for the unmanned vehicle also includes a reduction device, the input port 11 of the reduction device is connected to the output shaft 10 of the drive motor 5, and the output port 12 of the reduction device is connected to the rotating shaft 9 of the wheel 1. Although the direct connection between the drive motor 5 and the wheel 1 can reduce the complexity of the transmission system, the direct drive of the drive motor 5 may increase the size and weight of the motor, as well as increase the manufacturing cost. The provision of a reduction device can meet the large torque requirements, thereby relatively reducing the size and weight of the motor, which makes the unmanned vehicle as a whole more lightweight and flexible, while reducing the requirements for the vehicle structure. Moreover, the combination of the drive motor 5 and the reduction device improves the efficiency of the system, thereby reducing energy consumption. This can save a lot of energy costs for equipment that runs for a long time, such as a lawn mower.

[0031] When applied to lawn mowers, the operating speed of the lawn mower is usually around 100rpm, and the torque requirement is more than 150Nm. According to the torque-speed formula, T=9550P / n, so the motor power is at least 1500w. Under this power condition, the size and weight of the motor will be very large. The size of the motor can be greatly reduced by adding a reduction device. For example, if the reduction ratio of the reduction device is 30:1, the speed of the drive motor 5 is 3000rpm and the torque is 5Nm. In this way, the size of the motor can be relatively reduced, and the copper loss of the high-speed motor is much smaller than that of the low-speed motor, which can also reduce the degree of motor heating.

[0032] At the same time, the rotary encoder 7 is used to locate the position of the output shaft 10 of the drive motor 5. The output shaft 10 can have 1024 signals per rotation. When the reduction ratio is 30:1, the corresponding shaft 9 of the wheel 1 is equivalent to having 1024*30=30720 signals, so very precise control can be achieved.

[0033] Further, in this embodiment, if Figures 1 to 8 As shown, the reduction gear is provided with a motor flange 14, which is coaxially arranged with the input port 11. The driving motor 5 is bolted to the motor flange 14.

[0034] Further, in this embodiment, if Figures 1 to 8As shown, the axis of the input port 11 and the axis of the output port 12 of the reduction device are perpendicular to each other. This arrangement allows the output shaft 10 of the drive motor 5 and the axis of the rotating shaft 9 of the wheel 1 to be perpendicular to each other, thereby achieving a 90-degree reversal of the output shaft 10 of the drive motor 5. This can reduce the space in the axial direction of the rotating shaft 9. At this time, the drive motor 5 can be arranged vertically or horizontally along the direction of travel.

[0035] Further, in this embodiment, if Figures 1 to 8 As shown, the axis of the input port 11 is arranged vertically, and the input port 11 faces away from the ground. Thus, after the drive motor 5 is installed on the motor flange 14, the whole is arranged vertically, and the output shaft 10 faces vertically downward. By making the drive motor 5 occupy a high space, the effect of reducing the horizontal space occupancy is achieved.

[0036] Further, in this embodiment, if Figures 1 to 8 As shown, the reduction device can be a worm gear reduction box 8, or a gear set reduction box. The gear set reduction box is such as a planetary gear reduction box, a helical gear transmission reduction box, etc. Each reduction device has its own advantages and disadvantages, and needs to be selected according to specific needs and conditions.

[0037] Further, in this embodiment, if Figures 1 to 8 As shown, the reduction device is also provided with an oil filling port 13. The worm gear or the gear set needs lubrication after long-term operation, so lubricating oil needs to be added to the oil filling port 13 regularly to reduce the friction loss of the worm gear or the gear set.

[0038] In this embodiment, Figures 1 to 8 As shown, the driving wheel for the driverless vehicle also includes a housing 2, and the reduction device, the driving motor 5, the electromagnetic brake 7 and the rotary encoder 6 are all installed in the housing 2. The housing 2 can reduce the interference of external dust or splashing objects on the internal components. Especially when applied to lawn mowers, because lawn mowers often work in relatively harsh environments, a large amount of dust and splashing weeds will be generated. The setting of the housing 2 significantly improves the durability and reliability of the driving wheel, which is particularly important for vehicles that need to work in harsh environments, such as lawn mowers.

[0039] Further, in this embodiment, if Figures 1 to 8 As shown, the housing 2 is provided with a fixing bracket 3 for mounting on a vehicle body.

[0040] Further, in this embodiment, if Figures 1 to 8 As shown, the housing 2 is provided with heat dissipation holes 4 for dissipating heat from internal components.

[0041] In this embodiment, Figures 1 to 8As shown, it can be widely used in various unmanned vehicles, especially unmanned lawn mowers. When applied to unmanned lawn mowers, the unmanned lawn mower needs to use the four unmanned vehicle drive wheels mentioned above, each of which is independently driven. By controlling the speed difference of each wheel 1, forward movement and steering can be achieved. Each drive motor 5 is equipped with a motor controller, which is convenient for driving on complex roads. The drive wheel forms a modular design, which makes the connection and separation between the vehicle and the drive wheel very simple, which can greatly save time and cost during maintenance and replacement.

[0042] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A driving wheel for an unmanned vehicle, characterized in that: It includes a wheel, a driving motor, an electromagnetic brake and a rotary encoder, wherein one end of the output shaft of the driving motor is coaxially fixedly connected to the rotating shaft of the wheel, the other end of the output shaft of the driving motor is connected to the electromagnetic brake, the rotary encoder is installed between the driving motor and the electromagnetic brake, and the rotary encoder is a sleeve type, and the sleeve of the rotary encoder is sleeved and fixed on the output shaft of the driving motor.

2. The driving wheel for an unmanned vehicle according to claim 1, characterized in that: The rotary encoder is an electromagnetic encoder.

3. The driving wheel for an unmanned vehicle according to claim 1, characterized in that: It comprises a reduction device, wherein the input port of the reduction device is connected to the output shaft of the driving motor, and the output port of the reduction device is connected to the rotating shaft of the wheel.

4. The driving wheel for an unmanned vehicle according to claim 3, characterized in that: The reduction device is provided with a motor flange coaxial with the input port, and the driving motor is bolted to the motor flange.

5. The driving wheel for an unmanned vehicle according to claim 4, characterized in that: The axis of the input port and the axis of the output port of the reduction device are perpendicular to each other.

6. The driving wheel for an unmanned vehicle according to claim 5, characterized in that: The axis of the input port is arranged vertically, and the input port faces away from the ground.

7. The driving wheel for an unmanned vehicle according to any one of claims 3 to 6, characterized in that: The speed reduction device is a worm gear reduction box or a gear set reduction box.

8. The driving wheel for an unmanned vehicle according to claim 3, characterized in that: It comprises a shell, in which the reduction device, the driving motor, the electromagnetic brake and the rotary encoder are all installed.

9. The driving wheel for an unmanned vehicle according to claim 8, characterized in that: The shell is provided with a fixing bracket for being installed on a vehicle body.

10. The driving wheel for an unmanned vehicle according to claim 8, characterized in that: The shell is provided with heat dissipation holes.

Images