Hub steering engine of accompanying robot and accompanying robot

Abstract

The utility model relates to a hub steering engine technology, and discloses a hub steering engine of an accompanying robot and the accompanying robot, and the hub steering engine comprises a brush motor, a planetary gear set, a bearing, an output flange, an upper shell and a lower shell, wherein the planetary gear set is mounted on an output shaft of the brush motor, and the top of the output shaft is connected to the output flange through the planetary gear set; a circuit board is arranged at the bottom of the brush motor; a magnet is mounted on the part, penetrating through the circuit board, of the tail of the output shaft; the periphery of the planetary gear set is nested with an inner gear ring, the periphery of the output flange is nested with a bearing, the bearing is nested in the upper shell, and the brush motor is nested in the lower shell; the side, back to the brush motor, of the output flange is used for being embedded into the axis connecting position of wheels of the accompanying robot. The driving end of the brush motor is electrically connected with a power interface in the circuit board, and the power interface is used for being electrically connected with a power supply of the accompanying robot. The utility model aims to improve the torque output performance, the transmission efficiency and the structural compactness of the hub steering engine of the accompanying robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to wheel hub rudder machine technical field, especially a kind of wheel hub rudder machine and accompanying robot of accompanying robot. BACKGROUND

[0002] With the rapid development of artificial intelligence and robot technology, accompanying robots gradually become important application tools in fields such as family, medical treatment, education and the like. Accompanying robots not only need to have intelligent interaction capability, but also need to have good moving performance, so as to walk flexibly and complete tasks in complex environment. Wheeled robot becomes one of common moving modes in accompanying robots due to its simple structure, flexible movement and convenient control and the like.

[0003] In the design of wheeled robot, wheel hub rudder machine as the core component of driving wheel directly influences the motion performance and stability of robot. Traditional wheel hub rudder machine usually adopts simple motor and gear combination, although it can meet basic driving demand, but there are certain limitations in torque output, transmission efficiency, structural compactness and the like. Especially in the application scene such as accompanying robot which has higher requirements on volume, weight and energy consumption, the design of traditional wheel hub rudder machine is often difficult to consider the demand of efficient transmission and compact structure.

[0004] The above content is only used to assist understanding the technical scheme of the utility model, and does not represent that the above content is prior art. UTILITY MODEL CONTENT

[0005] The utility model provides a kind of wheel hub rudder machine and accompanying robot of accompanying robot, to improve the torque output performance, transmission efficiency and structural compactness of the wheel hub rudder machine of accompanying robot.

[0006] To realize the above-mentioned purpose, the utility model provides a kind of wheel hub rudder machine of accompanying robot, comprising: brush motor, planetary gear set, bearing, output flange, upper shell and lower shell;Wherein, planetary gear set is installed on the output shaft of brush motor, and the top of output shaft is connected to output flange by planetary gear set;The bottom of brush motor is equipped with circuit board, and the part of output shaft tail portion passing through circuit board is installed with magnet;Planetary gear set is nested with inner ring gear on the periphery, bearing is nested in the periphery of output flange, bearing is nested in upper shell, brush motor is nested in lower shell, and upper shell and lower shell are detachably connected between them;

[0007] Wherein, accompanying robot is wheeled robot, and leg is equipped with wheel;The side of output flange opposite to brush motor is used to embed the axle connection of the wheel of accompanying robot;The driving end of brush motor is electrically connected with power supply interface on circuit board, and the power supply interface is used to electrically connect the power supply source of accompanying robot.

[0008] Optionally, the planetary gear set further comprises a first planetary gear, a second planetary gear and a first planetary carrier, and a second sun gear is integrally arranged with the first planetary carrier; the second sun gear is arranged between the first planetary gear and the second planetary gear and is in meshing transmission with the second planetary gear; the output flange is located on the side of the brushed motor as the second planetary carrier, and the first planetary carrier and the second planetary carrier clamp the second planetary gear in the middle; the bottom of the planetary gear set is further provided with a gasket for supporting the first planetary gear; wherein the first planetary gear and the second planetary gear each have a plurality of planetary gears.

[0009] Optionally, the first planetary gear and the second planetary gear each have three planetary gears.

[0010] Optionally, the upper shell and the lower shell are connected by screws.

[0011] Optionally, the upper shell and / or the lower shell are made of plastic.

[0012] Optionally, the power interface is a 4-pin PH2.0 socket.

[0013] The utility model further provides a kind of accompanying robot, the accompanying robot is wheeled robot, and leg is equipped with wheel, and wheel is driven by wheel hub rudder machine;The wheel hub rudder machine is the wheel hub rudder machine of accompanying robot as described above.

[0014] Optionally, the accompanying robot is a four-legged wheeled robot.

[0015] The beneficial effects of the technical scheme of the utility model are that by introducing planetary gear set, high-precision bearing and modular shell design, the torque output, transmission efficiency and structural compactness of the wheel hub rudder machine are significantly improved;At the same time, the detachable upper shell and lower shell design is convenient for maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a side rear view angle structural schematic diagram of the wheel hub rudder machine of the accompanying robot of the utility model one embodiment;

[0017] Figure 2 It is an oblique upper view angle structural schematic diagram of the wheel hub rudder machine of the accompanying robot of the utility model one embodiment;

[0018] Figure 3 It is a structural schematic diagram of the wheel hub rudder machine of the accompanying robot of the utility model one embodiment without shell part;

[0019] Figure 4 It is a structural schematic diagram of the wheel hub rudder machine of the accompanying robot of the utility model one embodiment without shell and inner gear ring part;

[0020] Figure 5 It is a structural schematic diagram of the accompanying robot of the utility model one embodiment.

[0021] Figure 6 This is a schematic diagram of the planetary gear set structure of an embodiment of the hub servo motor of the companion robot of this utility model.

[0022] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0026] Furthermore, descriptions involving "first," "second," etc., in this utility model are for descriptive purposes only (e.g., to distinguish identical or similar elements) and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, technical solutions from different embodiments can be combined, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, such a combination should be considered nonexistent and not within the scope of protection claimed by this utility model.

[0027] This utility model proposes a hub servo motor for a companion robot, referring to... Figures 1 to 5The companion robot's hub servo motor includes a brushed motor, a planetary gear set, bearings, an output flange, an upper shell, and a lower shell. The planetary gear set is mounted on the output shaft of the brushed motor, and the top of the output shaft is connected to the output flange via the planetary gear set. A circuit board is located at the bottom of the brushed motor, and a magnet is installed on the part of the output shaft that passes through the circuit board. An internal gear ring is nested around the planetary gear set, the bearing is nested around the output flange, the bearing is nested inside the upper shell, and the brushed motor is nested inside the lower shell. The upper and lower shells are detachably connected.

[0028] The companion robot is a wheeled robot with wheels on its legs; the output flange on the side facing away from the brushed motor is used to fit the axle connection of the companion robot's wheels; the drive end of the brushed motor is electrically connected to the power interface on the circuit board, which is used to electrically connect the power supply of the companion robot.

[0029] In this embodiment, the hub servo motor is the core moving component of the wheeled companion robot, primarily responsible for driving the rotation of the wheels. This embodiment employs a modular design, consisting of multiple key components, including a brushed motor, planetary gear set, bearings, output flange, internal gear ring, upper shell, and lower shell. The overall structure is compact, facilitating integration into the design of the companion robot.

[0030] Optionally, a brushed motor can be used as the power source for the hub servo, providing rotational torque. Brushed motors can output large torque at low speeds, making them suitable for applications requiring high loads, such as companion robots.

[0031] The top of the output shaft of the brushed motor is mechanically connected to a planetary gear set, which transmits the motor's rotational torque to the output flange.

[0032] The brushed motor is equipped with a circuit board at the bottom, which plays a crucial role in electrical connection and control.

[0033] Optionally, the circuit board is connected to the brushed motor via two solder points, and the circuit board is fixed to the plastic lower housing with screws.

[0034] The circuit board is primarily responsible for managing the power supply and control signals for the motors. It receives control commands from the robot's main control system and converts these commands into drive signals that the motors can understand. The drive end of the brushed motor is directly connected to the power interface on the circuit board. This connection ensures that the motor can obtain the necessary power from the circuit board to operate.

[0035] The power interface is the bridge between the circuit board and the robot's power supply. Through this interface, the circuit board can receive power from the robot's main battery and then distribute it to the motors and other necessary electronic components; it can also receive control commands sent by the robot's main controller.

[0036] A magnet is mounted on the portion of the output shaft that passes through the circuit board. This magnet works in conjunction with a Hall sensor mounted on the circuit board to achieve closed-loop control. It can also be used for the mounting and positioning of servo motors. When the output shaft of the brushed motor rotates, it drives the magnet to rotate as well. The Hall sensor, located on the circuit board, detects a periodic change in the magnetic field as the magnet rotates under the influence of the motor's output shaft, thus achieving closed-loop control.

[0037] The planetary gear set is mounted on the output shaft of the brushed motor, meaning that the motor's rotational motion is first transmitted to the planetary gear set. The planetary gear set can consist of a sun gear, planet gears, and an internal ring gear. The planet gears rotate around the sun gear, while the internal ring gear is nested around the periphery of the planetary gear set; the planet gears mesh with the internal ring gear to form a highly efficient reduction system.

[0038] The top of the motor output shaft is connected to the output flange via a planetary gear set, meaning the planetary gear set converts the high-speed rotation of the motor into low-speed, high-torque rotation of the output flange. The output flange is a structural component connected to the robot wheels and is nested within the upper housing by bearings, ensuring smooth rotation and reducing friction.

[0039] The top of the motor output shaft may be equipped with a motor gear for transmitting power to the planetary gear set.

[0040] Optionally, planetary gear sets are used to convert the high speed of the motor into a low speed, high torque output, thereby increasing the driving force of the wheels. Planetary gear sets have high transmission efficiency, which can multiply torque while reducing energy loss. Through gear meshing, planetary gear sets can amplify the rotational torque of the motor and reduce the output speed, thus meeting the low-speed, high-torque requirements of the wheels.

[0041] The bearing is used to support the output flange, reduce friction, and ensure the stability of the hub servo when rotating at high speed.

[0042] Optionally, high-precision bearings are used, which can withstand larger radial and axial loads and reduce frictional losses during hub steering operation, thus extending service life.

[0043] The bearing is nested around the output flange and works in conjunction with the upper shell to form a stable support structure.

[0044] The output flange, serving as the output end of the hub servo motor, connects to the wheel axle of the companion robot. The output flange ensures reliable power transmission through a tight fit with the wheel axle. Through the output flange, the hub servo motor transmits rotational torque to the companion robot's wheels, thus providing the driving function.

[0045] The internal gear ring is used to fix the planetary gear set and support the rotation of the planetary gears. The internal gear ring is nested around the outer edge of the planetary gear set, and fits tightly with the planetary gear set to provide stable support and guidance.

[0046] The upper and lower housings provide protection and support, securing internal components such as motors, gear sets, and bearings.

[0047] The upper and lower housings feature a detachable connection design, facilitating maintenance and replacement of internal components. The upper housing houses a bearing, which, in conjunction with the output flange, forms a stable support structure; the lower housing houses a brushed motor and is secured to the upper housing via a detachable connector.

[0048] Through a planetary gear set, the hub servo motor converts the high speed of the motor into a low-speed, high-torque output, meeting the high load requirements of the companion robot. The high-efficiency transmission of the planetary gear set reduces energy loss and improves overall performance. The hub servo motor's compact design adapts to the size and weight requirements of the companion robot. The detachable design of the upper and lower shells facilitates the maintenance and replacement of internal components, reducing operating costs. The output speed of the entire servo motor, i.e., the speed of the output flange, can reach up to 500 rpm.

[0049] This hub servo solution is suitable for various companion robot applications, including:

[0050] Home companion robots: for scenarios requiring flexible movement and stable drive;

[0051] Medical rehabilitation robots: applications requiring high torque output and precise control;

[0052] Educational robots require a compact and easy-to-maintain design.

[0053] In one embodiment, the introduction of planetary gear sets, high-precision bearings, and a modular housing design significantly improves the torque output performance, transmission efficiency, and structural compactness of the hub servo motor. Simultaneously, the detachable upper and lower housing design facilitates maintenance. This design has broad application potential in the field of companion robots, capable of meeting the high load and precise control requirements in complex environments.

[0054] In one embodiment, based on the above embodiments, referring to Figure 4 and Figure 6The planetary gear set, in addition to the internal gear ring, includes a first-stage planetary gear, a second-stage planetary gear, a first-stage planetary carrier, and a second-stage sun gear integrally formed with the first-stage planetary carrier. The second-stage sun gear is positioned between the first-stage and second-stage planetary gears and meshes with them for transmission. The output flange facing the brushed motor serves as the second-stage planetary carrier, clamping the second-stage planetary gears together with the first-stage planetary carrier. A gasket is also provided at the bottom of the planetary gear set to support the first-stage planetary gears. Each of the first-stage and second-stage planetary gears has multiple planetary gears.

[0055] In this embodiment, the planetary gear set is a key component of the hub servo, responsible for converting the high speed of the brushed motor into a low-speed, high-torque output. The planetary gear set is designed with a multi-stage planetary gear structure, which not only improves torque output but also optimizes transmission efficiency and structural compactness.

[0056] The internal gear ring serves as the outer ring of the planetary gear set, with its inner side providing teeth that mesh with the outer sides of the first-stage and second-stage planetary gears.

[0057] The first-stage planetary gear meshes with the internal gear ring and the motor gear; the second-stage planetary gear meshes with the internal gear ring and the second-stage sun gear; the side of the output flange facing the motor serves as the second-stage planetary carrier, which, together with the first-stage planetary carrier, clamps the second-stage planetary gear.

[0058] The output shaft of the brushed motor directly meshes with the primary planetary gears via motor gears to transmit rotational power. Driven by the motor gears, the primary planetary gears revolve and rotate. The revolve of the primary planetary gears drives the primary planetary carrier, which also functions as the secondary sun gear, to rotate. The secondary sun gear, in turn, drives the secondary planetary gears to revolve and rotate. The revolve of the secondary planetary gears drives the secondary planetary carrier, which also functions as the output flange, to rotate, ultimately driving the robot wheels.

[0059] As the first-stage planetary gear rotates around the second-stage sun gear, it meshes with the internal gear ring, forming a stable transmission path. The fixed structure of the internal gear ring provides support for the first-stage planetary gear, reducing planetary gear misalignment and vibration.

[0060] The second-stage planetary gear rotates between the output flange (second-stage planetary carrier) and the first-stage planetary carrier, while simultaneously meshing with the internal gear ring. The teeth of the internal gear ring provide additional transmission support for the second-stage planetary gear, ensuring smooth transmission.

[0061] Both the first-stage and second-stage planetary gears mesh with the internal ring gear, a two-stage meshing design that improves transmission stability and efficiency. The internal ring gear not only provides tooth engagement but also provides stable support for the rotation of the planetary gears, ensuring that there is no uneven load or vibration during transmission.

[0062] The shims are placed at the bottom of the planetary gear set to support the first-stage planetary gears, ensuring stable operation of the planetary gears, and also serving to position them and reduce friction.

[0063] Efficient power transmission is achieved by directly driving the first-stage planetary gears via the motor gears, and then transmitting power through the second-stage sun gear, second-stage planetary gears, and output flange via a transmission chain. The dual-stage meshing design of the first and second-stage planetary gears with the internal gear ring, combined with multi-stage reduction, provides a higher reduction ratio, thereby outputting greater torque.

[0064] Planetary gear sets are compact and suitable for installation in confined spaces, such as companion robots. The meshing transmission of multi-stage planetary gears helps to distribute the load and reduce vibration and noise.

[0065] In this design, the internal gear ring is not only a fixed support structure but also meshes simultaneously with the first and second stage planetary gears, creating a highly efficient multi-stage transmission system. The motor gears achieve efficient power output through a transmission chain consisting of the first stage planetary gear, the second stage sun gear, the second stage planetary gear, and the output flange. This design is not only compact and efficient but also provides high torque and stable transmission performance, making it ideal for applications requiring high precision and miniaturization in robotic systems, such as companion robots.

[0066] Each stage has multiple planetary gears (e.g., three or four), which are evenly distributed on the first-stage planet carrier. By having multiple planetary gears share the load, torque can be effectively distributed, reducing the burden on individual planetary gears.

[0067] Preferably, the first-stage planetary gear and the second-stage planetary gear each have three planetary gears.

[0068] The use of multiple planetary gears results in smoother rotation, reduced vibration and noise, and improved overall performance of the hub servo. Even if one planetary gear fails, the others can continue to operate, enhancing system reliability.

[0069] By adopting a multi-stage planetary gear design, this hub servo can achieve high torque output and high transmission efficiency within a limited space, meeting the mobility requirements of companion robots.

[0070] In one embodiment, based on the above embodiments, referring to Figure 1 and Figure 2 The upper shell and the lower shell are connected by screws.

[0071] In this embodiment, the upper and lower shells are connected by screws for detachable fixing. Screw connections facilitate disassembly and reinstallation, allowing for convenient maintenance, inspection, and replacement of internal components. Furthermore, the screw connection structure is stable and can withstand certain mechanical stresses, ensuring reliable long-term operation. Screws of different lengths and specifications can be selected as needed to adapt to various design requirements.

[0072] Optionally, the upper shell and / or the lower shell may be made of plastic. Plastic has a low density, which reduces the overall weight. Furthermore, plastic injection molding is relatively inexpensive, making it suitable for mass production.

[0073] In one embodiment, based on the above embodiment, the power interface is a 4-pin PH2.0 socket.

[0074] In this embodiment, the PH2.0 socket is a small connector suitable for applications with limited space. Furthermore, the PH2.0 socket has good contact performance and mechanical strength, is easy to plug and unplug, and is suitable for quick installation and maintenance.

[0075] The 4-pin design facilitates 4-wire serial port control via the power interface.

[0076] This utility model further proposes a companion robot, referring to... Figure 5 The companion robot is a wheeled robot with wheels on its legs, which are driven by hub servos; the hub servos are the same as those used in the companion robot described above. Since this companion robot employs all the technical solutions of all the above embodiments, it possesses at least all the technical effects brought about by the technical solutions of the above embodiments, and will not be elaborated upon further here.

[0077] Optionally, the companion robot is a quadrupedal wheeled robot.

[0078] The above description is only a part or preferred embodiment of this utility model. Neither the text nor the drawings should limit the scope of protection of this utility model. All equivalent structural transformations made using the content of this utility model specification and drawings under the overall concept of this utility model, or direct / indirect applications in other related technical fields, are included within the scope of protection of this utility model.

Claims

1. A hub servo motor for a companion robot, characterized in that, include: The system comprises a brushed motor, a planetary gear set, bearings, an output flange, an upper housing, and a lower housing. The planetary gear set is mounted on the output shaft of the brushed motor, and the top of the output shaft is connected to the output flange via the planetary gear set. A circuit board is located at the bottom of the brushed motor, and a magnet is installed on the part of the output shaft that passes through the circuit board. An internal gear ring is nested around the planetary gear set, the bearing is nested around the output flange, the bearing is nested inside the upper housing, and the brushed motor is nested inside the lower housing. The upper and lower housings are detachably connected. The companion robot is a wheeled robot with wheels on its legs; the output flange on the side facing away from the brushed motor is used to fit the axle connection of the companion robot's wheels; the drive end of the brushed motor is electrically connected to the power interface on the circuit board, which is used to electrically connect the power supply of the companion robot.

2. The hub servo motor of the companion robot as described in claim 1, characterized in that, The planetary gear set also includes a first-stage planetary gear, a second-stage planetary gear, and a first-stage planetary carrier, as well as a second-stage sun gear integrally formed with the first-stage planetary carrier; the second-stage sun gear is positioned between the first-stage and second-stage planetary gears and meshes with the second-stage planetary gear for transmission; the output flange facing the brushed motor serves as the second-stage planetary carrier, clamping the second-stage planetary gears together with the first-stage planetary carrier in the middle; the bottom of the planetary gear set is also provided with a gasket for supporting the first-stage planetary gear; wherein, the first-stage and second-stage planetary gears each have multiple planetary gears.

3. The hub servo motor of the companion robot as described in claim 2, characterized in that, The first-stage planetary gear and the second-stage planetary gear each have three planetary gears.

4. The hub servo motor of the companion robot as described in claim 1, characterized in that, The upper shell and the lower shell are connected by screws.

5. The hub servo motor of the companion robot as described in claim 1 or 4, characterized in that, The upper shell and / or the lower shell are made of plastic.

6. The hub servo motor of the companion robot as described in claim 1, characterized in that, The power interface is a 4-pin PH2.0 socket.

7. A companion robot, characterized in that, The companion robot is a wheeled robot with wheels on its legs, and the wheels are driven by hub servos; the hub servos are the hub servos of the companion robot as described in any one of claims 1-6.

8. The companion robot as described in claim 7, characterized in that, The companion robot is a quadrupedal wheeled robot.

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