Mecanum wheel with built-in servo drive controller and permanent magnet synchronous motor

Abstract

The utility model relates to a Mecanum wheel with a built-in servo drive controller and a permanent magnet synchronous motor. The Mecanum wheel comprises a wheel main body, a driving motor; a controller; the shaft body is arranged on the wheel main body in a penetrating manner; wherein the driving motor and the controller are arranged in the wheel main body, and the driving motor and the controller are installed on the shaft body; the controller is connected with the control end of the driving motor through an electric wire. And the driving motor drives the wheel main body to rotate around the shaft body. The problems of simplifying a mechanical structure, improving response speed and accuracy, reducing wiring difficulty and fault points and improving reliability and durability in an existing scheme are solved.

Description

Technical Field

[0001] The utility model relates to the field of Mecanum wheels, in particular to a Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor. Background Art

[0002] The background technology of the Mecanum wheel with fully built-in servo drive controller and permanent magnet synchronous motor involves multiple fields, mainly including motor control, servo system, permanent magnet synchronous motor, Mecanum wheel and its application.

[0003] 1. Permanent Magnet Synchronous Motor (PMSM) Technology

[0004] Principle and Advantages: A permanent magnet synchronous motor (PMSM) is a synchronous motor that uses permanent magnets to generate a magnetic field. It offers advantages such as high efficiency, high power density, and low operating noise. These features make it an ideal choice for servo control systems requiring high precision and efficiency.

[0005] Control difficulty: The control of PMSM is relatively complex and requires advanced control algorithms (such as vector control or field-oriented control) to achieve precise torque and speed control to cope with the dynamic changes of the motor under various loads.

[0006] 2. Servo drive control technology

[0007] Precision control requirements: Servo drives are used to provide high-precision positioning, speed, and torque control. They are typically used in conjunction with position feedback devices such as encoders to achieve precise control of the motor through a closed-loop control system.

[0008] Fully integrated control technology: Traditional servo systems typically place the driver and controller outside the motor. However, fully integrated solutions integrate these components into the motor or wheel, achieving an all-in-one design. This reduces device size, simplifies wiring, and improves system response speed and reliability.

[0009] 3. Mecanum Wheel Technology

[0010] The Mecanum wheel is a specially designed omnidirectional wheel with oblique rollers installed on its rim. These rollers can generate lateral force when driven by a motor, allowing the wheel to move in all directions, such as forward and backward, left and right, and even rotate in place.

[0011] Mecanum wheels have a complex motion scheme, requiring each wheel to be independently driven and controlled to achieve arbitrary translation and rotation of the vehicle. Achieving this multi-degree-of-freedom motion requires the integration of complex kinematic algorithms and synchronous control technologies.

[0012] 4. Highly integrated design

[0013] Difficulty of integrated design: Fully integrating the motor, drive, and controller into the mecanum wheel presents multiple design challenges, including electrical, mechanical, heat dissipation, and volume. Due to limited space, small and efficient circuit boards, sensors, and cooling systems must be designed.

[0014] Modularity and maintainability: Highly integrated designs require equipment to be able to work effectively under space-constrained conditions, so modular design is needed to facilitate inspection, maintenance, or replacement.

[0015] 5. Application requirements of omnidirectional mobile platforms

[0016] Demands in multiple fields: Mecanum wheels, due to their omnidirectional mobility, are widely used in AGVs (automated guided vehicles), mobile robots, industrial automation, medical handling equipment, and other fields. These fields have high requirements for movement accuracy, load capacity, and control response speed.

[0017] Adaptive control and safety: With the increasing use of autonomous mobile devices in complex environments, the demand for adaptive control and safety systems is becoming increasingly stringent. Functions such as collision detection, fault self-diagnosis, motion trajectory planning, and path optimization all need to be integrated into servo drive and control systems.

[0018] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0019] In view of the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor, so as to solve the problems in the prior art of simplifying the mechanical structure, improving the response speed and accuracy, reducing the wiring difficulty and failure points, and improving reliability and durability.

[0020] To achieve the above purpose, the technical solution of the utility model is as follows:

[0021] A Mecanum wheel with a fully built-in servo drive controller and permanent magnet synchronous motor;

[0022] It includes: a wheel body; a driving motor; a controller; a shaft body, which is passed through the wheel body;

[0023] The driving motor and the controller are arranged in the wheel body, and the driving motor and the controller are installed on the shaft; the controller wire is connected to the control end of the driving motor; and the driving motor drives the wheel body to rotate around the shaft.

[0024] A further technical solution is that a hub gear ring is provided in the wheel body; a gear rack is provided on the drive motor; gears are provided on the drive end of the drive motor and the gear rack, and the gears on the gear rack are meshed around the gears on the drive end of the drive motor; and the gears on the gear rack are meshed with the inner ring of the hub gear ring.

[0025] A further technical solution is that a code disc cover and a wheel side cover are respectively provided on both sides of the wheel body.

[0026] A further technical solution is that the controller includes a plate body fixed on the shaft body and a magnetic code disk rotatably arranged on the shaft body; and the plate body detects the magnetic code disk.

[0027] A further technical solution is that a fixed sleeve is provided on the shaft body; and the plate body is provided on the fixed sleeve.

[0028] A further technical solution is that a code disc bearing and a transmission ring are provided on the shaft; the magnetic code disc is provided on the code disc bearing; and the transmission ring is respectively connected to the code disc cover and the magnetic code disc.

[0029] A further technical solution is that the board is an integrated board for driving, controlling and encoding; the board is shielded and packaged; and the driving motor is a permanent magnet synchronous motor.

[0030] A further technical solution is that the controller is connected to a power line and a communication line and is led out through the shaft.

[0031] Compared with the prior art, the beneficial technical effects of the present invention are as follows: (1) the drive motor and the controller form a module and the shaft body is encapsulated into the wheel body, the drive motor and the controller are small in size, and the controller can control the drive motor to output a higher power; the drive motor and the controller are both installed on the shaft body, and the integrated installation has a high precision; the Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor is applied to systems such as walking carts and robots; in order to save system space and simplify system wiring.

[0032] (2) The power supply circuit and communication circuit of the fully built-in servo drive controller and the Mecanum wheel of the permanent magnet synchronous motor are led out from the shaft body. By connecting them in series, the drive and control of the fully built-in servo drive controller and the Mecanum wheel of the permanent magnet synchronous motor can be completed, making the system design and deployment more concise, further saving costs, reducing failure rates, increasing system reliability, and reducing maintenance costs;

[0033] The communication lines leading out of the shaft are designed with Ethernet communication interface, serial RS232 interface, EtherCAT communication protocol, and CIA402 protocol, so that the fully built-in servo drive controller and the Mecanum wheel of the permanent magnet synchronous motor form a complete EtherCAT substation, making system deployment and control easier.

[0034] (3) The driving motor drives the gear to rotate, which drives the adjacent gear to rotate. The gear drives the hub gear ring and the wheel body to rotate. The meshing of the gear and the hub gear ring increases the output torque, so that the driving motor obtains a higher power density to drive the wheel body. At the same time, a large number of transmission components are saved, making the system structure simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 An exploded schematic diagram of a Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor according to an embodiment of the present invention is shown.

[0036] Markings in the accompanying drawings: 1. Wheel body; 11. Hub gear ring; 12. Code disk cover; 13. Wheel side cover; 2. Drive motor; 21. Gear rack; 22. Gear; 3. Controller; 31. Plate; 32. Magnetic code disk; 4. Shaft; 41. Fixed bushing; 42. Code disk bearing; 43. Transmission ring. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the device proposed in the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings adopt a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the implementation method of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0038] Figure 1 The exploded diagram of the Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor according to the embodiment of the present invention is shown. Figure 1 As shown, the utility model discloses a Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor.

[0039] The Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor comprises: a wheel body 1, a drive motor 2, a controller 3 and a shaft 4 passing through the wheel body 1.

[0040] The drive motor 2 and the controller 3 are disposed in the wheel body 1 and mounted on the shaft 4. The controller 3 is connected to the control end of the drive motor 2 by a wire. The drive motor 2 drives the wheel body 1 to rotate around the shaft 4.

[0041] The drive motor 2 and controller 3 form a module and are encapsulated in the wheel body 1 along with the shaft 4. The drive motor 2 and controller 3 are relatively small in size, and the controller 3 can control the drive motor 2 to output a higher power. The drive motor 2 and controller 3 are both mounted on the shaft 4, and the integrated installation is highly precise.

[0042] Mecanum wheels with fully built-in servo drive controllers and permanent magnet synchronous motors are used in systems such as walking carts and robots to save system space and simplify system wiring.

[0043] The controller 3 is connected to the power supply line and the communication line and is led out through the shaft 4.

[0044] The power supply and communication lines of the fully built-in servo drive controller and the Mecanum wheel of the permanent magnet synchronous motor are led out from the shaft 4. By connecting them in series, the drive and control of the Mecanum wheel of the fully built-in servo drive controller and the permanent magnet synchronous motor can be completed, making the system design and deployment more concise, further saving costs, reducing failure rates, increasing system reliability, and reducing maintenance costs.

[0045] The communication line leading out of shaft 4 is designed with Ethernet communication interface, serial RS232 interface, EtherCAT communication protocol, and CIA402 protocol, so that the fully built-in servo drive controller and the Mecanum wheel of the permanent magnet synchronous motor form a complete EtherCAT substation, making system deployment and control easier.

[0046] A hub gear ring 11 is disposed within the wheel body 1 and is positioned around the inner surface of the wheel body 1. A gear rack 21 is disposed on the drive motor 2 and is positioned near the hub gear ring 11. Gears 22 are disposed on the drive end of the drive motor 2 and on the gear rack 21. Gears 22 on the gear rack 21 mesh with gears 22 on the drive end of the drive motor 2. Gears 22 on the gear rack 21 engage the inner ring of the hub gear ring 11.

[0047] The drive motor 2 drives the gear 22 to rotate, driving the adjacent gear 22 to rotate. The gear 22 drives the hub gear ring 11 and the wheel body 1 to rotate. Through the engagement of the gear 22 and the hub gear ring 11, the output torque is increased, and the drive motor 2 obtains a higher power density to drive the wheel body 1. At the same time, a large number of transmission components are saved, making the system structure simpler.

[0048] A code disc cover 12 and a wheel side cover 13 are located on either side of the wheel body 1. Code disc cover 12 and wheel side cover 13 are positioned opposite each other. Axle 4 passes through code disc cover 12. A bearing is located on wheel side cover 13. The outer ring of the bearing is connected to wheel side cover 13, and the inner ring of the bearing is connected to axle 4, allowing the wheel body 1 to rotate around axle 4.

[0049] The controller 3 includes a plate 31 fixed on the shaft 4 and a magnetic code disk 32 rotatably disposed on the shaft 4. The plate 31 detects the magnetic code disk 32. The plate 31 is electrically connected to the drive motor 2. Exemplarily, the drive motor 2 is a permanent magnet synchronous motor.

[0050] A fixed sleeve 41 is provided on the shaft body 4. The plate body 31 is provided on the fixed sleeve 41. Exemplarily, the plate body 31 is an integrated plate for driving, controlling and encoding.

[0051] The shaft body 4 is provided with a code disc bearing 42 and a transmission ring 43. The magnetic code disc 32 is provided on the code disc bearing 42. The transmission ring 43 is connected to the code disc cover 12 and the magnetic code disc 32 respectively. When the code disc cover 12 rotates, the magnetic code disc 32 rotates with the code disc cover 12.

[0052] The board 31 is highly integrated on a circuit board with a 12-bit high-precision encoder and FOC driver. The circuit board has a diameter of 65mm. After shielding and packaging, the total thickness of the circuit board is only 12mm, which can be installed tightly with the shaft body 4.

[0053] Since the board body 31 adopts shielding packaging, the anti-interference capability of the board body 31 is improved.

[0054] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor, characterized in that: include: Wheel body (1); Drive motor (2); Controller (3); An axle (4) is passed through the wheel body (1); The drive motor (2) and the controller (3) are arranged in the wheel body (1), and the drive motor (2) and the controller (3) are mounted on the shaft (4); the controller (3) is connected to the control end of the drive motor (2) by an electric wire; and the drive motor (2) drives the wheel body (1) to rotate around the shaft (4).

2. The Mecanum wheel with a fully integrated servo drive controller and a permanent magnet synchronous motor as claimed in claim 1, characterized in that: A hub gear ring (11) is provided in the wheel body (1); a gear frame (21) is provided on the drive motor (2); a gear (22) is provided on the drive end of the drive motor (2) and the gear frame (21); the gear (22) on the gear frame (21) meshes with the gear (22) on the drive end of the drive motor (2); and the gear (22) on the gear frame (21) meshes with the inner ring of the hub gear ring (11).

3. The Mecanum wheel with a fully integrated servo drive controller and a permanent magnet synchronous motor as claimed in claim 1, characterized in that: A code disc cover (12) and a wheel side cover (13) are respectively provided on both sides of the wheel body (1).

4. The Mecanum wheel with a fully integrated servo drive controller and a permanent magnet synchronous motor as claimed in claim 3, characterized in that: The controller (3) comprises a plate (31) fixed on the shaft (4) and a magnetic code disk (32) rotatably arranged on the shaft (4); the plate (31) detects the magnetic code disk (32).

5. The Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor as claimed in claim 4, characterized in that: A fixed shaft sleeve (41) is provided on the shaft body (4); and the plate body (31) is provided on the fixed shaft sleeve (41).

6. The Mecanum wheel with a fully built-in servo drive controller and a permanent magnet synchronous motor as claimed in claim 4, characterized in that: A code disc bearing (42) and a transmission ring (43) are provided on the shaft body (4); the magnetic code disc (32) is provided on the code disc bearing (42); and the transmission ring (43) is respectively connected to the code disc cover (12) and the magnetic code disc (32).

7. The Mecanum wheel with a fully integrated servo drive controller and a permanent magnet synchronous motor as claimed in claim 4, characterized in that: The plate body (31) is an integrated plate for driving, controlling and encoding; the plate body (31) is shielded and packaged; and the drive motor (2) is a permanent magnet synchronous motor.

8. The Mecanum wheel with a fully integrated servo drive controller and a permanent magnet synchronous motor as claimed in claim 1, characterized in that: The controller (3) is connected to a power supply line and a communication line, and is led out through the shaft (4).

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