A quick-release wheel set and transmission structure

Abstract

The utility model provides a quick-release wheel set and a transmission structure, wherein the quick-release wheel set includes a transmission shaft shell and a wheel hub, a first axial hole is formed at the axis of the transmission shaft shell for the transmission shaft shell to be installed on a fixed shaft, a first bearing is provided between the transmission shaft shell and the fixed shaft, a second axial hole is formed through the axis of the wheel hub for the transmission shaft shell to be inserted and installed; a radial first fixing hole is formed on the side of the transmission shaft shell, a radial second fixing hole is formed on the side of the wheel hub, and the wheel hub and the transmission shaft shell are rotated synchronously by installing a fixing bolt passing through the second fixing hole and inserting into the first fixing hole; a sprocket ring is formed around the outer side of the transmission shaft shell, and a gear ring is formed on the side protrusion of the wheel hub; in the quick-release wheel set in an assembled state, the sprocket ring and the gear ring are misaligned in the axial direction of the entire quick-release wheel set. In the utility model, the wheel hub can be easily disassembled and assembled with the transmission shaft shell, which simplifies the disassembly and assembly of the wheel set while ensuring the reliability of the transmission structure.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a quick-release wheel set and a transmission structure. Background Art

[0002] With the rapid development of robotics technology, wheeled-legged robots, as a new type of robot that combines the mobility characteristics of wheels and feet, have gradually demonstrated their unique advantages in many fields such as scientific research, education, industry, and rescue. This type of robot can not only achieve efficient movement on flat terrain, but also show excellent adaptability and stability in complex terrain such as rugged mountain roads, grasslands, and sandy environments. However, wheeled-legged robots still face many challenges in practical applications, one of which is the installation and removal of wheels.

[0003] The wheel design of traditional wheeled robots is often complex and bulky, and the installation and removal process is cumbersome and requires professional tools and technical support, which not only increases the maintenance cost of the robot, but also limits its potential for rapid deployment and flexible application. In addition, with the continuous expansion of robot application scenarios, higher requirements are placed on the convenience and efficiency of wheel replacement, especially in situations where different wheel sets need to be frequently replaced to adapt to different terrains and tasks.

[0004] Therefore, developing a wheel set and transmission structure that can be quickly disassembled and installed is of great significance for improving the ease of use of wheeled robots, reducing maintenance costs, and expanding application scenarios. Utility Model Content

[0005] The embodiment of the utility model provides a quick-release wheel set and a transmission structure to solve the problems in the prior art that the wheel set design of the wheel-legged robot is often complicated and bulky, and the installation and disassembly process is cumbersome.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A quick-release wheel set, comprising a transmission shaft housing and a wheel hub arranged coaxially, a first shaft hole is formed through the axis of the transmission shaft housing, the first shaft hole is used for the transmission shaft housing to be installed on an external fixed shaft, a first bearing is provided between the transmission shaft housing and the fixed shaft, and a second shaft hole is formed through the axis of the wheel hub, the second shaft hole is used for the transmission shaft housing to be inserted and installed;

[0008] A radial first fixing hole is formed on the side of the transmission shaft housing, and a radial second fixing hole is formed on the side of the wheel hub. By installing a fixing bolt that passes through the second fixing hole and is inserted into the first fixing hole, the wheel hub and the transmission shaft housing rotate synchronously;

[0009] A sprocket ring for cooperating with a transmission chain is formed around the outer side of the transmission shaft housing, and a gear ring for cooperating with a gear is formed on the side protrusion of the wheel hub;

[0010] In the quick release wheel set in the assembled state, the chain wheel ring and the gear ring are misaligned in the axial direction of the quick release wheel set as a whole.

[0011] Furthermore, a second bearing is provided between the transmission shaft housing and the fixed shaft, and a circle of snap ring is formed inside the transmission shaft housing, and the snap ring is used to limit the axial movement of the second bearing inside the transmission shaft housing.

[0012] Furthermore, the first shaft hole is a through hole penetrating through the side wall of the transmission shaft housing, and after the fixing bolt passes through the first fixing hole and the second fixing hole, it abuts against the outer side of the first bearing.

[0013] Furthermore, a rubber sleeve is detachably mounted on the outside of the wheel hub.

[0014] Furthermore, a cover plate is installed on the side of the wheel hub, and the cover plate is fixed by wrapping with a rubber sleeve.

[0015] A transmission structure comprises a chassis and the aforementioned quick-release wheel set, at least two fixed shafts are arranged at both ends of each side of the chassis, and a plurality of auxiliary fixing holes are arranged on the end faces of the fixed shafts. After the quick-release wheel set is mounted on the fixed shafts, the transmission shaft housing can be fixed to the fixed shafts by inserting fixing bolts into the auxiliary fixing holes, and each fixed shaft carries and mounts a rotatable quick-release wheel set;

[0016] Each side of the chassis is provided with a rotatable driving gear, which is driven by a driver installed inside the chassis. The driving gear outputs power to the gear ring through gear matching, thereby driving the quick-release wheel set to rotate;

[0017] A transmission chain is installed on the multiple quick-release wheel groups on the same side of the chassis, and the transmission chain is engaged with the sprocket rings in the multiple quick-release wheel groups on the same side of the chassis, so that the multiple quick-release wheel groups on the same side of the chassis are linked.

[0018] Furthermore, a tensioning wheel is provided on each side of the chassis, and the tensioning wheel is used to tension the transmission chain.

[0019] Furthermore, at least one rotatable transmission gear is provided on the side of the chassis, and the driving gear transmits power to the transmission gear through gear meshing, and the transmission gear finally transmits power to the gear ring through gear meshing.

[0020] The beneficial effects of the utility model are:

[0021] The utility model proposes an innovative quick-release wheel set and transmission structure design, which enables the wheel hub to be easily disassembled and assembled from the transmission shaft housing by respectively providing a radial first fixing hole and a second fixing hole on the transmission shaft housing and the wheel hub, while ensuring the stability and reliability of the transmission structure, and can promote the application and development of wheeled-legged robots in more fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a three-dimensional diagram of the transmission structure;

[0023] Figure 2 A three-dimensional image of the transmission structure after the quick-release wheelset is hidden;

[0024] Figure 3 for Figure 2 A partial enlarged view of the middle G part;

[0025] Figure 4 for Figure 2 A partial enlarged view of the middle H section;

[0026] Figure 5 This is an exploded view of the quick-release wheelset;

[0027] Figure 6 is a three-dimensional diagram of the wheel hub;

[0028] Figure 7 is a three-dimensional diagram of a transmission shaft housing;

[0029] Figure 8 This is a three-dimensional picture of the quick-release wheel set;

[0030] Fig. 9 This is the front view of the quick release wheel set;

[0031] Fig.10 for Fig. 9 Cross-sectional view of section BB.

[0032] Description of reference numerals:

[0033] 1. Quick-release wheel assembly; 11. Transmission shaft housing; 111. First shaft hole; 1111. Snap ring; 112. First fixing hole; 113. Sprocket ring; 12. Wheel hub; 121. Second shaft hole; 122. Second fixing hole; 123. Gear ring; 13. First bearing; 14. Second bearing; 15. Cover plate; 16. Rubber sleeve; 2. Chassis; 3. Transmission chain; 31. Tensioner; 4. Fixed shaft; 41. Auxiliary fixing hole; 5. Drive gear; 51. Transmission gear. DETAILED DESCRIPTION

[0034] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0035] The embodiment of the utility model provides a quick-release wheel set and a transmission structure; wherein the transmission structure is as follows Figure 1-4 As shown, it mainly includes a quick-release wheel group 1 and a chassis 2. At least two fixed shafts 4 are arranged at both ends of each side of the chassis 2. A plurality of auxiliary fixing holes 41 are arranged on the end surface of the fixed shaft 4. After the quick-release wheel group 1 is installed on the fixed shaft 4, the transmission shaft housing 11 can be fixed to the fixed shaft 4 by inserting the mounting fixing bolts into the auxiliary fixing holes 41; each fixed shaft 4 carries and installs a rotatable quick-release wheel group 1, and a transmission chain 3 is installed on the multiple quick-release wheel groups 1 on the same side of the chassis 2. The transmission chain 3 is meshed with the sprocket rings 113 in the multiple quick-release wheel groups 1 on the same side of the chassis 2, so that the multiple quick-release wheel groups 1 on the same side of the chassis 2 are linked; in order to improve the transmission reliability of the transmission chain 3 and reduce slippage, a tensioning wheel 31 is arranged on each side of the chassis 2, and the tensioning wheel 31 is used to tension the transmission chain 3; a rotatable driving gear 5 is arranged on each side of the chassis 2, and the driving gear 5 is driven by a driver installed inside the chassis 2 (the driver has a variety of practical In one embodiment, the type and structure of the driver are not specific technical features of the present invention for exerting specific technical effects, and are not elaborated here), a gear ring 123 is formed on the quick-release wheel set 1, and the driving gear 5 outputs power to the gear ring 123 through gear matching, thereby driving the quick-release wheel set 1 to rotate (in one embodiment of the present invention, the driving gear 5 is not directly meshed with the gear ring 123, and at least one rotatable transmission gear 51 is also provided on the side of the chassis 2, and the driving gear 5 transmits power to the transmission gear 51 through gear meshing, and the transmission gear 51 finally transmits power to the gear ring 123 through gear meshing. By adjusting the specifications of the transmission gear 51, the transmission ratio can be adjusted, thereby adjusting the torque to meet the power requirements); a sprocket ring 113 is also formed on the quick-release wheel set 1, and the transmission chain 3 is meshed with the sprocket ring 113. The two quick-release wheel sets 1 on the same side of the chassis 2 are linked by the meshing of the transmission chain 3 with the sprocket ring 113.

[0036] The quick-release wheel assembly provided in the embodiment of the utility model is as follows Figure 5-Figure 10As shown, the quick-release wheel assembly 1 mainly includes a transmission shaft housing 11 and a wheel hub 12 arranged coaxially, a first shaft hole 111 is formed through the axis of the transmission shaft housing 11, and the first shaft hole 111 is used for the transmission shaft housing 11 to be installed on the fixed shaft 4; to ensure the relative rotation of the transmission shaft housing 11 and the fixed shaft 4, a first bearing 13 and a second bearing 14 are provided between the transmission shaft housing 11 and the fixed shaft 4; a second shaft hole 121 is formed through the axis of the wheel hub 12, and the second shaft hole 121 is used for the transmission shaft housing 11 to be inserted and installed; a radial first fixing hole 112 is formed on the side of the transmission shaft housing 11, and a radial second fixing hole 112 is formed on the side of the wheel hub 12. 22. By installing the fixing bolt through the second fixing hole 122 and inserting it into the first fixing hole 112, the wheel hub 12 and the transmission shaft housing 11 are relatively fixed and can rotate synchronously; in a more preferred embodiment, the first fixing hole 112 is a through hole that penetrates the side wall of the transmission shaft housing 11. After the fixing bolt passes through the first fixing hole 112 and the second fixing hole 122, it abuts against the outer side of the first bearing 13 to avoid slipping between the first bearing 13 and the transmission shaft housing 11; in order to take into account the fixation of the second bearing 14, a circle of retaining ring 1111 is formed inside the transmission shaft housing 11, and the retaining ring 1111 is used to limit the axial movement of the second bearing 14 inside the transmission shaft housing 11.

[0037] In order to enable the quick release wheel assembly 1 to be driven by the transmission chain 3 and the driving gear 5, the sprocket ring 113 is formed around the outer side of the transmission shaft housing 11, and the gear ring 123 is formed on the side of the hub 12 and is coaxial with the second shaft hole 121; and Figure 8 As shown, in the quick release wheel set 1 in the assembled state, the sprocket ring 113 and the gear ring 123 are offset in the axial direction of the quick release wheel set 1 as a whole (transmission shaft housing 11, wheel hub 12), so that the transmission chain 3 and the driving gear 5 will not interfere with each other in driving the quick release wheel set 1.

[0038] In addition, in order to improve the driving performance of the quick-release wheel set 1, a rubber sleeve 16 is detachably covered and installed on the outside of the wheel hub 12. The rubber sleeve 16 directly contacts the ground instead of the wheel hub 12 and acts as a tire. At the same time, the rubber sleeve 16 can also cover the second fixing hole 122 on the side of the wheel hub 12; a cover plate 15 is also installed on the side of the wheel hub 12, and the cover plate 15 is fixed by the rubber sleeve 16. The cover plate 15 is used to protect the side of the wheel hub 12 (actually protecting the side of the wheel hub 12 that does not need to be inserted and installed with the fixed shaft 4), and plays a decorative role to a certain extent.

[0039] The quick-release wheel set provided by the utility model, when installed on the fixed shaft 4, first install the transmission shaft housing 11 on the fixed shaft 4, and pad the first bearing 13 and the second bearing 14 between the fixed shaft 4 and the transmission shaft housing 11, and then insert the fixing bolt into the auxiliary fixing hole 41 at the end of the fixed shaft 4 to fix the transmission shaft housing 11; then the wheel hub 12 is connected to the outer shell of the transmission shaft housing 11, so that the first fixing hole 112 and the second fixing hole 122 are aligned, and the fixing bolt is inserted through the second fixing hole 122 and the first fixing hole 112 and abuts against the first bearing 13, and the fixing bolt is tightened to complete the installation of the wheel hub 12; the rubber sleeve 16 is connected to the outer shell of the wheel hub 12, and the cover plate 15 is installed on the side of the wheel hub 12, so that the installation of the quick-release wheel set is completed. When the wheel hub 12 needs to be replaced later, it is only necessary to remove the rubber sleeve 16 and expose the second fixing hole 122, and the wheel hub 12 can be removed and replaced by disassembling or loosening the fixing bolt inserted into the second fixing hole 122. That is, the quick-release wheel assembly of the present invention enables the wheel hub 12 to be easily assembled and disassembled from the transmission shaft housing 11 by means of the radial first fixing hole 112 and the second fixing hole 122 respectively provided on the transmission shaft housing 11 and the wheel hub.

[0040] The above-mentioned embodiments only express the implementation methods of the utility model, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A quick-release wheel set (1), characterized in that: The invention comprises a transmission shaft housing (11) and a wheel hub (12) arranged coaxially, wherein a first shaft hole (111) is formed through the axis of the transmission shaft housing (11), and the first shaft hole (111) is used for the transmission shaft housing (11) to be installed on an external fixed shaft (4), a first bearing (13) is provided between the transmission shaft housing (11) and the fixed shaft (4), and a second shaft hole (121) is formed through the axis of the wheel hub (12), and the second shaft hole (121) is used for the transmission shaft housing (11) to be inserted and installed; A radial first fixing hole (112) is formed on the side surface of the transmission shaft housing (11), and a radial second fixing hole (122) is formed on the side surface of the wheel hub (12); by installing a fixing bolt that passes through the second fixing hole (122) and is inserted into the first fixing hole (112), the wheel hub (12) and the transmission shaft housing (11) are rotated synchronously; A sprocket ring (113) for cooperating with a transmission chain for transmission is formed around the outer side of the transmission shaft housing (11), and a gear ring (123) for cooperating with a gear for transmission is formed on the side protrusion of the wheel hub (12); In the quick-release wheel set (1) in an assembled state, the chain wheel ring (113) and the gear ring (123) are misaligned in the axial direction of the quick-release wheel set (1) as a whole.

2. The quick-release wheel assembly (1) according to claim 1, characterized in that: A second bearing (14) is also provided between the transmission shaft housing (11) and the fixed shaft (4), and a retaining ring (1111) is formed inside the transmission shaft housing (11). The retaining ring (1111) is used to limit the axial movement of the second bearing (14) inside the transmission shaft housing (11).

3. The quick-release wheel assembly (1) according to claim 1, characterized in that: The first shaft hole (111) is a through hole that penetrates the side wall of the transmission shaft housing (11); after the fixing bolt passes through the first fixing hole (112) and the second fixing hole (122), it abuts against the outer side of the first bearing (13).

4. The quick-release wheel assembly (1) according to claim 1, characterized in that: The wheel hub (12) is detachably covered with a rubber sleeve (16).

5. The quick-release wheel assembly (1) according to claim 4, characterized in that: A cover plate (15) is also installed on the side of the wheel hub (12), and the cover plate (15) is fixed by wrapping the edge with a rubber sleeve (16).

6. A transmission structure, characterized in that: The invention comprises a chassis (2) and a quick-release wheel assembly (1) according to any one of claims 1 to 5, at least two fixed shafts (4) are arranged at both ends of each side of the chassis (2), and a plurality of auxiliary fixing holes (41) are arranged on the end surface of the fixed shaft (4), and after the quick-release wheel assembly (1) is mounted on the fixed shaft (4), the transmission shaft housing (11) can be fixed on the fixed shaft (4) by inserting fixing bolts into the auxiliary fixing holes (41), and each fixed shaft (4) carries and mounts a rotatable quick-release wheel assembly (1); A rotatable driving gear (5) is provided on each side of the chassis (2). The driving gear (5) is driven by a driver installed inside the chassis (2). The driving gear (5) outputs power to the gear ring (123) through gear matching, thereby driving the quick-release wheel assembly (1) to rotate. A transmission chain (3) is installed on the multiple quick-release wheel assemblies (1) on the same side of the chassis (2); the transmission chain (3) is meshed with the chain wheel rings (113) in the multiple quick-release wheel assemblies (1) on the same side of the chassis (2), thereby causing the multiple quick-release wheel assemblies (1) on the same side of the chassis (2) to be linked.

7. The transmission structure according to claim 6, characterized in that: A tensioning wheel (31) is arranged on each side of the chassis (2), and the tensioning wheel (31) is used to tension the transmission chain (3).

8. The transmission structure according to claim 6, characterized in that: At least one rotatable transmission gear (51) is also provided on the side of the chassis (2); the driving gear (5) transmits power to the transmission gear (51) through gear meshing, and the transmission gear (51) finally transmits power to the gear ring (123) through gear meshing.

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