Driving wheel mechanism with compact structure and automatic navigation device

Abstract

The utility model discloses a driving wheel mechanism with a compact structure and an automatic navigation device, the driving wheel mechanism comprises a driving motor assembly, and the driving motor assembly comprises a motor mechanism and a bevel pinion; the motor mechanism comprises a motor stator, a motor rotor, a rotating shaft, an encoder, a motor brake pad and a driver which are integrally arranged in a motor shell; the connecting pipe sleeve is fixedly connected to the motor mechanism; the speed reduction wheel assembly is fixedly connected to the connecting pipe sleeve, is in meshing transmission connection with the bevel pinion and comprises a wheel main body and a speed reducer arranged in the wheel main body; and the large bevel gear is in transmission connection with the speed reducer. According to the driving wheel mechanism, the motor stator, the motor rotor, the rotating shaft, the encoder, the motor brake pad and the driver are integrally arranged in the motor shell to form the driving motor, the speed reducer is integrated on the wheel, and the problems that an existing driving wheel mechanism is not compact enough in structure and large in occupied space are effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to drive wheel technical field, especially drive wheel mechanism and automatic navigation device of compact structure. BACKGROUND

[0002] Automated Guided Vehicle (AGV for short) is powered by a single or multiple rudders for transfer operation; the rudder is a power module with driving forward and backward and active steering capability, and the driving motor thereon is only responsible for driving walking, and the steering motor is only responsible for steering.

[0003] The drive wheel mechanism in the prior art is generally assembled by a motor, a speed reducer, a mounting seat, a tire, a brake device, a driver and an encoder, so that the drive wheel mechanism has the problems of low space utilization, complex structure, many types of parts, troublesome assembly and maintenance, and difficult wire harness arrangement; in the traditional scheme, the output shaft of the motor and the input shaft of the speed reducer are two sets of mechanisms respectively, the transmission chain is long, the space occupied is large, and the structure is relatively complex; the speed reducer, the mounting seat and the tire are designed and installed respectively, and the space is redundant; the driving motor and the driver are also installed separately, the driver is generally installed in another space, occupies other space of the chassis, and the wire harness of the driver and the motor is more, and the installation wiring is extremely troublesome; in summary, after the whole module is assembled, the axial length and the radial length are both relatively long; therefore, the drive wheel mechanism and the automatic navigation device with compact structure are provided to solve the above problems. SUMMARY

[0004] One of the purposes of the utility model is to provide a drive wheel mechanism and an automatic navigation device with compact structure to solve the problems of insufficient compactness and large space occupation of the existing drive wheel mechanism.

[0005] The drive wheel mechanism and the automatic navigation device with compact structure can be realized through the following technical scheme:

[0006] The drive wheel mechanism with compact structure comprises a driving motor assembly, which comprises a motor mechanism and a small bevel gear, the small bevel gear is fixedly arranged on the rotating shaft of the motor mechanism; a connecting pipe sleeve, which is a hollow cavity, is fixedly connected to the motor mechanism; a speed reducer assembly is fixedly connected at one end to the connecting pipe sleeve and is in meshing transmission connection with the small bevel gear;

[0007] The motor mechanism comprises a motor shell which is a hollow cavity, a motor stator fixedly arranged on the inner wall of the motor shell, a motor rotor rotatably arranged in the motor stator, a rotating shaft fixedly arranged through the motor rotor and movably arranged through the motor shell, a small bevel gear fixedly arranged on one end of the rotating shaft, an encoder fixedly arranged on the other end of the rotating shaft opposite to the small bevel gear, a motor brake plate arranged through the rotating shaft and on the side of the encoder, and a driver fixedly arranged in the motor shell and electrically connected with the motor rotor, the encoder and the motor brake plate respectively.

[0008] The speed reduction wheel assembly comprises a wheel body which is a hollow cavity, a speed reducer arranged in the wheel body and in transmission connection with the wheel body, and a large bevel gear arranged through the speed reducer and in transmission connection with the speed reducer, wherein the small bevel gear is in meshing transmission connection with the large bevel gear and the two bevel gears are at an angle of 90 degrees.

[0009] In one embodiment, the motor shell comprises a main shell which is a hollow cavity with an open end, and a heat dissipation cover plate fixedly arranged on the open end of the main shell and in contact connection with the driver.

[0010] In one embodiment, the outer side of the heat dissipation cover plate is provided with a plurality of heat dissipation fins.

[0011] In one embodiment, the motor shell is provided with a connection interface, and the driver is electrically connected with the connection interface through a wire.

[0012] In one embodiment, the connection pipe sleeve is an L-shaped right-angled hollow pipe, one end of the connection pipe sleeve is fixedly arranged on the motor shell, the other end of the connection pipe sleeve is fixedly arranged on the speed reducer, and the small bevel gear is in meshing transmission connection with the large bevel gear in the connection pipe sleeve.

[0013] In one embodiment, the speed reducer comprises a speed reduction box which is a hollow cavity, the speed reduction box is fixedly connected with the connection pipe sleeve and arranged in the wheel body, a speed reduction gear set rotatably arranged in the speed reduction box and in meshing transmission connection with the large bevel gear, and an output shaft in transmission connection with the speed reduction gear set and fixedly connected with the wheel body.

[0014] In one embodiment, the speed reduction gear set is a single-stage speed reduction gear set or a multi-stage speed reduction gear set.

[0015] The automatic navigation device with compact structure comprises the driving wheel mechanism according to any one of the above.

[0016] Compared with the prior art, the compact structure of the driving wheel mechanism and the automatic navigation device has the beneficial effects that:

[0017] The compact structure of the driving wheel mechanism and the automatic navigation device of the utility model has the advantages that the motor stator, the motor rotor, the rotating shaft, the encoder, the motor brake pad and the driver are integrally arranged in the motor shell, so that the driving motor has compact structure and complete functions; the speed reducer is integrally arranged in the wheel body, the axial dimension of the wheel body is saved, the large bevel gear and the small bevel gear are arranged in the L-shaped connecting pipe sleeve, the transmission direction is converted by 90 degrees through the cooperation of the large bevel gear and the small bevel gear, and a first speed reduction structure is formed, the small bevel gear is fixedly arranged on the rotating shaft, the axial length of the motor mechanism is reduced to a certain extent, and the problems of insufficient compactness and large space occupation of the existing driving wheel mechanism are effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the utility model, and should not be regarded as the limitation to the scope, and for the ordinary skilled in the art, other related drawings can be obtained without the creative labor on the premise of the drawings.

[0019] Figure 1 It is the structure schematic view of the compact structure of the driving wheel mechanism of the utility model;

[0020] Figure 2 It is Figure 1 It is another view of the compact structure of the driving wheel mechanism of the utility model structure schematic view;

[0021] Figure 3 It is Figure 1 It is the cross section structure schematic view of the compact structure of the driving wheel mechanism of the utility model;

[0022] Figure 4 It is Figure 1 It is the explosion structure schematic view of the compact structure of the driving wheel mechanism of the utility model, including driving motor assembly and speed reducer assembly;

[0023] Figure 5 It is Figure 4 It is the cross section structure schematic view of the driving motor assembly;

[0024] Figure 6 It is Figure 4 It is the structure schematic view of the speed reducer assembly;

[0025] Figure 7 It is Figure 6A cross-sectional structural schematic view of the illustrated speed reduction wheel assembly.

[0026] Indicated in the figure: 10, drive wheel mechanism; 11, drive motor assembly; 111, motor mechanism; 1111, motor housing; 11111, main housing; 11112, heat dissipation cover plate; 1112, motor stator; 1113, motor rotor; 1114, rotating shaft; 1115, encoder; 1116, motor brake pad; 1117, driver; 1118, connection interface; 112, small bevel gear; 12, connecting sleeve; 13, speed reduction wheel assembly; 131, wheel body; 132, speed reducer; 1321, speed reduction box body; 1322, speed reduction gear set; 1323, output shaft; 133, large bevel gear. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0029] Please refer to Figures 1-4 As shown in the drawings, the compact structure of the drive wheel mechanism 10 mainly comprises a drive motor assembly 11, a connecting sleeve 12 and a speed reduction wheel assembly 13. The drive motor assembly 11 is a power body, which is fixedly arranged on the main body of the automatic navigation device. The connecting sleeve 12 is a hollow cavity, one end of which is fixedly connected to the drive motor assembly 11. One end of the speed reduction wheel assembly 13 is fixedly connected to the connecting sleeve 12 and is in meshing transmission connection with the drive motor assembly 11. The drive motor assembly 11 drives the speed reduction wheel assembly 13 to rotate, thereby realizing the walking operation of the drive wheel mechanism 10.

[0030] Please refer to Figures 1-5 As shown in the drawings, in the present embodiment, the drive motor assembly 11 comprises a motor mechanism 111 and a small bevel gear 112. The motor mechanism 111 is a power body. The small bevel gear 112 is fixedly arranged on the rotating shaft of the motor mechanism 111 and is in meshing transmission connection with the speed reduction wheel assembly 13. The motor mechanism 111 drives the speed reduction wheel assembly 13 to rotate through the small bevel gear 112.

[0031] Please refer toFigures 3-5 As shown in the figure, in the embodiment, the motor mechanism 111 includes a motor shell 1111, a motor stator 1112, a motor rotor 1113, a rotating shaft 1114, an encoder 1115, a motor brake pad 1116 and a driver 1117; the motor shell 1111 is a hollow cavity, which is fixedly arranged on the automatic navigation device main body; the motor stator 1112 is fixedly arranged on the inner wall of the motor shell 1111; the motor rotor 1113 is rotatably arranged in the motor stator 1112, which can rotate at high speed relative to the motor stator 1112; the rotating shaft 1114 is fixedly arranged through the motor rotor 1113 and movably arranged through the motor shell 1111, which rotates following the rotation of the motor rotor 1113; the small bevel gear 112 is fixedly arranged on one end of the rotating shaft 1114; the encoder 1115 is fixedly arranged on the other end of the rotating shaft 1114 opposite to the small bevel gear 112, which rotates following the rotation of the rotating shaft 1114; the motor brake pad 1116 is arranged through the rotating shaft 1114 and on the side of the encoder 1115, which brakes the rotation of the rotating shaft 1114; the driver 1117 is fixedly arranged in the motor shell 1111, which is electrically connected with the motor rotor 1113, the encoder 1115 and the motor brake pad 1116 respectively. The control technology adopted by the driver 1117 is prior art, so the specific control process and the adopted model will not be described here, as long as it meets the application.

[0032] Please refer to Figure 3 and Figure 5 As shown in the figure, specifically, the motor shell 1111 includes a main shell 11111 and a heat dissipation cover plate 11112, the main shell 11111 is a hollow cavity with one end open; the heat dissipation cover plate 11112 is fixedly arranged on the open end of the main shell 11111 and is in contact with the driver 1117, which can well dissipate the heat generated by the driver 1117. Preferably, the outer side of the heat dissipation cover plate 11112 is provided with a plurality of heat dissipation fins, which can better dissipate the heat in the motor shell 1111; the motor shell 1111 is provided with a connection interface 1118, the driver 1117 is electrically connected with the connection interface 1118 through wires, and the automatic navigation device main body is detachably electrically connected with the connection interface 1118 through wires, so as to realize the control and power supply operation of the driving wheel mechanism 10. Specifically, the motor stator 1112, the motor rotor 1113, the encoder 1115 and the motor brake pad 1116 all adopt prior art, so their specific structures and working processes will not be described here, as long as they meet the application.

[0033] Please refer to Figures 1-4As shown in the drawings, in the embodiment, the connecting pipe sleeve 12 is an L-shaped right-angled hollow pipe, one end of the connecting pipe sleeve 12 is fixedly arranged on the motor housing 1111, and the other end of the connecting pipe sleeve 12 is fixedly arranged on the speed reduction wheel assembly 13, and the pinion 112 is in meshing transmission connection with the speed reduction wheel assembly 13 in the connecting pipe sleeve 12.

[0034] As shown in the drawings, Figure 3 、 Figure 4 、 Figure 6 and Figure 7 As shown in the drawings, in the embodiment, the speed reduction wheel assembly 13 comprises a wheel body 131, a speed reducer 132 and a bevel gear 133; the wheel body 131 is a hollow cavity; the speed reducer 132 is arranged in the wheel body 131 and is in transmission connection with the wheel body 131, drives the wheel body 131 to rotate, so as to realize the walking operation of the driving wheel mechanism 10; the bevel gear 133 is arranged through the speed reducer 132 and is in meshing transmission connection with the speed reducer 132, the pinion 112 is in meshing transmission connection with the bevel gear 133 and the two are at 90 degrees, the pinion 112 and the bevel gear 133 form a first-stage speed reduction structure, and the two increase the output torque of the motor mechanism 111.

[0035] As shown in the drawings, Figure 3 and Figure 7 As shown in the drawings, in the embodiment, the speed reducer 132 comprises a speed reduction box body 1321, a speed reduction gear set 1322 and an output shaft 1323; the speed reduction box body 1321 is a hollow cavity, is fixedly connected with the connecting pipe sleeve 12 and is arranged in the wheel body 131; the speed reduction gear set 1322 is rotatably arranged in the speed reduction box body 1321 and is in meshing transmission connection with the bevel gear 133, the bevel gear 133 drives the speed reduction gear set 1322 to rotate, so as to increase the output torque of the motor mechanism 111 again; the output shaft 1323 is in transmission connection with the speed reduction gear set 1322 and is fixedly connected with the wheel body 131, and the motor mechanism 111 drives the wheel body 131 to rotate in sequence through the pinion 112, the bevel gear 133, the speed reduction gear set 1322 and the output shaft 1323. Specifically, the speed reduction gear set 1322 can adopt a single-stage speed reduction gear set or a multi-stage speed reduction gear set.

[0036] The utility model discloses a compact structure's automatic navigation device including any one of the driving wheel mechanism 10.

[0037] It should be noted that the specific working process of the compact structure of the driving wheel mechanism and the automatic navigation device is as follows: the motor stator 1112, the motor rotor 1113, the rotating shaft 1114, the encoder 1115, the motor brake piece 1116 and the driver 1117 are integrated in the motor shell 1111, so that the motor mechanism 111 has complete driving motor function while being compact in structure; the speed reducer 132 is integrated in the wheel main body 131, and then a small bevel gear 112 and a large bevel gear 133 are used to form a one-stage speed reduction structure, the speed reducer 132 is a two-stage speed reduction structure, the one-stage speed reduction structure and the two-stage speed reduction structure cooperate to increase the output torque of the motor mechanism 111, and the motor mechanism 111 drives the wheel main body 131 to rotate in sequence through the small bevel gear 112, the large bevel gear 133, the speed reduction gear set 1322 and the output shaft 1323, so that the wheel main body 131 has more power and is more stable in walking.

[0038] The technical features of the above-described embodiments can be combined arbitrarily, and to make the description concise, all possible combinations of the technical features in the embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that they are within the scope of the present application.

[0039] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A compact drive wheel mechanism, characterized in that, include: A drive motor assembly, comprising a motor mechanism and a small bevel gear, the small bevel gear being fixedly mounted on the rotating shaft of the motor mechanism; A connecting sleeve, which is a hollow cavity, is fixedly connected to the motor mechanism; The reduction gear assembly has one end fixedly connected to the connecting sleeve and meshes with the small bevel gear for transmission; The motor mechanism includes a motor housing, which is a hollow cavity; a motor stator fixedly mounted on the inner wall of the motor housing; a motor rotor rotatably mounted in the motor stator; a rotating shaft fixedly mounted through the motor rotor and movably passing through the motor housing, with a small bevel gear fixedly mounted on one end of the rotating shaft; an encoder fixedly mounted on the other end of the rotating shaft opposite to the small bevel gear; a motor brake pad mounted through the rotating shaft and located on the side of the encoder; and a driver fixedly mounted in the motor housing, which is electrically connected to the motor rotor, the encoder, and the motor brake pad respectively. The reduction wheel assembly includes a wheel body, which is a hollow cavity; a reducer disposed in the wheel body and drivenly connected to the wheel body; a large bevel gear disposed through the reducer and drivenly connected to the reducer; and a small bevel gear meshing with the large bevel gear and the two forming a 90-degree angle.

2. The compact drive wheel mechanism according to claim 1, characterized in that, The motor housing includes a main housing, which is a hollow cavity with one open end; and a heat dissipation cover plate fixedly disposed on the open end of the main housing and in contact with the driver.

3. The compact drive wheel mechanism according to claim 2, characterized in that, The outer side of the heat dissipation cover is provided with multiple heat dissipation fins.

4. The compact drive wheel mechanism according to claim 1, characterized in that, The motor housing is provided with a connection interface, and the driver is electrically connected to the connection interface via a wire.

5. A compact drive wheel mechanism according to claim 1, characterized in that, The connecting sleeve is an L-shaped right-angle hollow pipe, one end of which is fixedly installed on the motor housing, and the other end of which is fixedly installed on the reducer. The small bevel gear meshes with the large bevel gear in the connecting sleeve for transmission.

6. A compact drive wheel mechanism according to claim 5, characterized in that, The reducer includes a reduction gearbox, which is a hollow cavity. The reduction gearbox is fixedly connected to the connecting sleeve and is disposed in the wheel body. A reduction gear set rotatably disposed in the reduction gearbox and meshing with the large bevel gear; an output shaft that is connected to the reduction gear set and fixedly connected to the wheel body.

7. A compact drive wheel mechanism according to claim 6, characterized in that, The reduction gear set is either a single-stage reduction gear set or a multi-stage reduction gear set.

8. A compact automatic navigation device, characterized in that, Includes the drive wheel mechanism as described in any one of claims 1-7.

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