Steering wheel gear motor and autonomous mobile robot

Abstract

The embodiment of the utility model provides a steering wheel gear motor and an autonomous mobile robot, and the steering wheel gear motor comprises a supporting seat, one side of the supporting seat is provided with a cavity, and one side, away from the cavity, of the supporting seat is provided with a mounting end; the hub module is mounted on the mounting end; the transmission module is mounted in the cavity; and the motor module is located on the side, close to the cavity, of the supporting base, the motor module comprises an output shaft connected with the transmission module, and the transmission module is driven through the output shaft so that the hub module can rotate. According to the steering wheel gear motor and the autonomous mobile robot, the motor module and the hub module are installed on the two sides of the supporting base respectively, and the motor and a hub are not located on the same side, so that the whole machine is not affected by the size of the motor, the motors of different sizes and powers can be adjusted according to the requirement for bearing capacity, and the bearing capacity of the steering wheel gear motor is improved. The motor module and the hub module are convenient to disassemble and assemble, and later maintenance is facilitated.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of autonomous mobile robots, and particularly relates to a rudder wheel reduction motor and an autonomous mobile robot. BACKGROUND

[0002] In recent years, industrial mobile robots have rapidly emerged in various industries, replacing humans to complete different work requirements in different working conditions, such as warehouse AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot), carrying AGV or AMR, towing AGV or AMR, assembly AGV or AMR, and other industries. Automation technology significantly improves the automation level of the production process, can automatically identify goods and perform carrying operations, thereby reducing the dependence on manual labor and improving production efficiency. It can replace humans to operate in harsh environments, reducing the risk of workers exposed to dangerous environments. In addition, it can automatically avoid obstacles during the carrying process to ensure safety, thereby improving the overall safety. It is not limited by fixed tracks and can freely move in various locations and environments, adapting to different work requirements. This flexibility enables AGV to play an important role in warehouses, production lines, and airport ports. AGV can work continuously and stably, reducing manual intervention and waiting time, and improving overall work efficiency. In practical applications, AGV is widely used in medical, electronic, food, and logistics industries. In warehouses, AGV can automatically complete goods warehousing, warehousing, carrying, and stacking, etc. On the production line, it can automatically deliver materials according to process requirements to improve production efficiency.

[0003] The AGV or AMR whole machine is mainly divided into a vehicle body part, a driving device, an execution mechanism, a safety protection device, a control system, a power device, a navigation device, a communication device, a human-computer interaction system, and some other devices. The driving device is the core component, and in the existing market products, the motor and encoder in the driving device are on the same side of the hub, and the lead wire needs to pass through the center of the cast iron support to connect with the controller. The lead wire is clamped inside the hub, and the hub itself is a vulnerable part, making disassembly more complex and inconvenient for after-sales and maintenance. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the application embodiment provides a rudder wheel reduction motor and an autonomous mobile robot to solve the technical problems of disassembly difficulty and inconvenient maintenance in the existing driving device.

[0005] In a first aspect, the application embodiment provides a rudder wheel reduction motor, comprising:

[0006] A support base, one side of which is formed with a cavity, and the side of the support base away from the cavity is formed with a mounting end;

[0007] A hub module mounted on the mounting end;

[0008] A transmission module mounted in the cavity; and

[0009] A motor module located on the side of the support base close to the cavity, the motor module comprising an output shaft connected with the transmission module, the output shaft driving the transmission module to rotate the hub module.

[0010] In some embodiments, the steering wheel reduction motor further comprises a lead assembly comprising lead wires for connecting a brake and an encoder, the side of the support base close to the cavity is further formed with an oil separation tank, the lead wires are partially located in the oil separation tank, one end of the lead wires is connected with the brake, the other end of the lead wires extends towards the outside of the oil separation tank, and a sealing cover is arranged on the oil separation tank.

[0011] In some embodiments, a sealing member is further arranged between the sealing cover and the oil separation tank.

[0012] In some embodiments, the transmission module comprises:

[0013] A first gear arranged on the rotor of the motor;

[0014] A double gear assembly mounted in the cavity, the double gear assembly comprising a second gear and a third gear, the second gear penetrating the support base and engaging with the hub module, and the third gear engaging with the first gear.

[0015] In some embodiments, the hub module comprises:

[0016] An inner ring gear arranged on the mounting end, the inner ring gear engaging with the second gear;

[0017] A bearing assembly arranged in the inner ring gear;

[0018] A hub mounted on the inner ring gear; and

[0019] A sealing ring arranged between the inner ring gear and the hub.

[0020] In some embodiments, the side of the support base close to the mounting end is further formed with a space, the steering wheel reduction motor further comprises a brake and an encoder, the brake is mounted in the space, and the encoder is arranged on the brake.

[0021] In some embodiments, the steering wheel reduction motor further comprises a steering module, the steering module is mounted on the support base, and the steering module realizes steering by adjusting the rotation angle of the hub module.

[0022] In some embodiments, the steering module comprises:

[0023] a fixed plate located on the support base;

[0024] a steering motor located on the side of the fixed plate away from the support base;

[0025] a first steering gear wheel connected with the output shaft of the steering motor, the first steering gear wheel is located on the side of the fixed plate close to the steering motor;

[0026] a second steering gear wheel located on the side of the fixed plate away from the steering motor; and

[0027] a limiting component located on the side of the fixed plate away from the steering motor, the limiting component limits the steering angle of the steering module.

[0028] In some embodiments, the motor module comprises one of a permanent magnet DC motor, a permanent magnet DC brushless motor, an AC motor, and a servo motor.

[0029] In some embodiments, the support base is integrally formed.

[0030] In a second aspect, the embodiments of the present application provide an autonomous mobile robot, comprising:

[0031] a robot body;

[0032] a steering wheel reduction motor as described in the first aspect is located on the robot body;

[0033] a power supply and control device mounted on the robot body, the power supply and control device is used to power and control the steering wheel reduction motor.

[0034] The steering wheel reduction motor and the autonomous mobile robot provided by the embodiments of the present application, by arranging the hub module and the motor module on the two sides of the support base respectively, so that the motor module and the hub module are on different sides of the support base, thus avoiding the problem that arranging the lead of the hub module causes the hub to be inconvenient to disassemble and maintain after sale, and also providing installation space for the brake and the magnetic encoder. It is convenient to replace the motor with different specifications, different sizes or different types, and at the same time, the motor shell will not bear the load of the hub.

[0035] In application, by integrating the support base, hub module, transmission module and motor module together, the overall structure is more compact, reducing the occupied space. Modular design makes installation and maintenance more convenient, and each component can be replaced or repaired independently, improving the maintainability of the system. One side of the support base forms a cavity for accommodating the transmission module, and the other side serves as a mounting end for fixing the hub module. Such layout can provide better mechanical support to ensure the stability and safety of the entire device during operation. The motor module is located on the side of the support base close to the cavity and is directly connected to the transmission module through the output shaft. This arrangement helps to reduce vibration and noise and improve the smoothness of operation. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 is a structural schematic diagram of a steering wheel reduction motor provided by the present application Figure 1 ;

[0038] Figure 2 is Figure 1 an exploded schematic diagram Figure 1 ;

[0039] Figure 3 is a structural schematic diagram of a support base in a steering wheel reduction motor provided by the present application Figure 1 ;

[0040] Figure 4 is a structural schematic diagram of a support base in a steering wheel reduction motor provided by the present application Figure 2 ;

[0041] Figure 5 is a cross-sectional structural schematic diagram of a hub in a steering wheel reduction motor provided by the present application

[0042] Figure 6 is a cross-sectional structural schematic diagram of a steering wheel reduction motor provided by the present application

[0043] Figure 7 is an exploded schematic diagram of a steering wheel reduction motor provided by the present application Figure 2 ;

[0044] Figure 8 is a structural schematic diagram of a steering wheel reduction motor provided by the present application Figure 2 ;

[0045] Figure 9 is a structural schematic of a steering module in Figure 3

[0046] Figure 10 is a structural schematic of a steering module in Figure 9 ;

[0047] Figure 11 is an exploded schematic view of Figure 10 .

[0048] In the drawings:

[0049] 10, support seat; 100, cavity; 101, mounting end; 102, oil separation tank; 103, sealing cover; 104, sealing element; 105, position avoiding place; 106, lead-out wire; 107, gear support plate;

[0050] 20, hub module; 21, inner ring gear; 22, bearing assembly; 23, hub; 24, sealing ring;

[0051] 30, transmission module; 31, first gear; 32, double gear assembly; 321, second gear; 322, third gear; 33, tank cover;

[0052] 40, motor module; 41, stator assembly; 42, rotor assembly; 43, output shaft; 44, rear cover;

[0053] 50, brake;

[0054] 60, encoder;

[0055] 70, steering module; 71, fixed plate; 72, steering motor; 73, first steering gear; 74, second steering gear; 75, limiting assembly; 751, limiting screw; 752, limiting block; 76, distance switch. DETAILED DESCRIPTION

[0056] In the following description, for the purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0057] It should also be understood that the term "and / or" as used herein refers to any one or more of the associated listed items, and all possible combinations of the associated listed items, and includes these combinations.

[0058] ​It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element.

[0059] It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the embodiments of the present application.

[0060] In addition, in the description of the embodiments of the present application and the appended claims, the terms "first", "second", "third", and the like are used only to distinguish the description and cannot be understood as indicating or implying relative importance.

[0061] In the description of the embodiments of the present application, the reference "some embodiments" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiments are included in one or more embodiments of the present application. Therefore, the statements "in some embodiments", "in some embodiments", "in other some embodiments", "in other some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiments, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized. "Multiple" means two and more than two.

[0062] The first aspect of the embodiments of the present application provides a steering wheel reduction motor, as shown in Figures 1 to 4 , and Figure 7 The steering wheel reduction motor comprises a support seat 10, a hub module 20, a transmission module 30, and a motor module 40.

[0063] One side of the support seat 10 is formed with a cavity 100, and the other side of the support seat 10 away from the cavity 100 is formed with a mounting end 101, and the hub module 20 is mounted on the mounting end 101; the transmission module 30 is mounted in the cavity 100; the motor module 40 is located on the side of the support seat 10 close to the cavity 100, and the motor module 40 comprises an output shaft 43 connected with the transmission module 30, and the transmission module 30 is driven by the output shaft 43 to make the hub module 20 rotate.

[0064] The rudder wheel reduction motor provided by the embodiment of the application has the advantages that the hub module 20 and the motor module 40 are arranged on the two sides of the support base 10 respectively, so that the motor module 40 and the hub module 20 are located on different sides of the support base 10, thus the problem that the hub module 20 is inconvenient to disassemble and maintain after sale due to the lead wires arranged on the hub module 20 can be avoided, and installation space is provided for the brake 50 and the magnetic encoder 60. Different specifications, sizes or types of motors can be conveniently replaced, and the motor shell will not bear the load force of the hub 23.

[0065] In application, the support base 10, the hub module 20, the transmission module 30 and the motor module 40 are integrated together, so that the overall structure is more compact and the occupied space is reduced. The modular design makes installation and maintenance more convenient, and each component can be independently replaced or maintained, thereby improving the maintainability of the system. One side of the support base 10 is formed with a cavity 100 for accommodating the transmission module 30, and the other side is used as a mounting end 101 for fixing the hub module 20. Such a layout can provide better mechanical support and ensure the stability and safety of the entire device during operation. The motor module 40 is located on the side of the support base 10 close to the cavity 100 and is directly connected to the transmission module 30 through the output shaft 43. This arrangement helps to reduce vibration and noise and improve the smoothness of operation.

[0066] In application, the support base 10 is integrally formed, which is beneficial to enhance the structural strength and stability. The integrally formed support base 10 has no joints or welding points, reducing the risk of fracture or deformation due to weak connections. The overall structure is more solid and can withstand greater loads and impact forces, making it particularly suitable for use in harsh environments. Integrally forming can ensure that the relative positions between the parts are very accurate, reducing assembly errors, which is very important for applications that require high-precision transmission. Compared with a support base 10 assembled from multiple parts, the integrally formed design eliminates the need for complex assembly steps, reducing production costs. The need for additional fasteners such as bolts and nuts is reduced, not only saving materials but also avoiding problems caused by loose fasteners.

[0067] In application, the support base 10 is integrally formed, which is beneficial to enhance the structural strength and stability. The integrally formed support base 10 has no joints or welding points, reducing the risk of fracture or deformation due to weak connections. The overall structure is more solid and can withstand greater loads and impact forces, making it particularly suitable for use in harsh environments. Integrally forming can ensure that the relative positions between the parts are very accurate, reducing assembly errors, which is very important for applications that require high-precision transmission. Compared with a support base 10 assembled from multiple parts, the integrally formed design eliminates the need for complex assembly steps, reducing production costs. The need for additional fasteners such as bolts and nuts is reduced, not only saving materials but also avoiding problems caused by loose fasteners.

[0068] In application, the other side of the support base 10 is formed with a mounting end 101, wherein the mounting end 101 is a part protruding from the body of the support base 10, for mounting the hub module 20. In this way, the hub module 20 is provided with a mounting position. The support base 10 adopts an integrated design, one side of the support base 10 is provided with a cavity 100 for mounting the transmission module 30, and the other side is provided with the mounting end 101 for mounting the hub module 20, and the bearing capacity is on the support base 10. The advantage of this design is to ensure the relative precision of the gear meshing in the transmission module 30, to enhance the bearing capacity, to provide space for the brake 50 and the magnetic encoder 60, and to reduce the axial size of the whole machine.

[0069] In application, as shown in Figure 5 , the figure shows a cross-sectional structure diagram of the hub module 20, from which it can be seen that the outer end of the whole hub module 20 is a closed structure except for the screw hole, and after assembly it is a closed structure, which is conducive to improving the waterproof performance.

[0070] In some embodiments, as shown in Figure 2 , Figure 6 , and Figure 7 , the support base 10 is also formed with a space 105 near the mounting end 101, the steering wheel reduction motor further comprises a brake 50 and an encoder 60, the brake 50 is mounted in the space 105, and the encoder 60 is arranged on the brake 50.

[0071] In applications, by reasonably utilizing the structure of the support base 10, the brake 50 and the encoder 60 are integrated without increasing additional volume, making the entire rudder wheel reduction motor system more compact. Additional supports or mounting platforms are avoided, reducing the complexity and weight of the overall system. The design of the avoidance place 105 provides a dedicated installation position for the brake 50, making the installation process simpler, faster, and reducing assembly time and difficulty. If maintenance or replacement of the brake 50 or the encoder 60 is required, these components can be directly accessed without disassembling other parts, improving maintenance efficiency. By placing the brake 50 and the encoder 60 in the avoidance place 105, they can effectively avoid collision or interference with other components while also facilitating waterproofing of these components, ensuring stable operation of the system. The brake 50 is directly mounted on the support base 10, which can more reliably respond to emergency stop instructions, enhancing the safety performance of the system. The encoder 60, in combination with the brake 50, can provide accurate position feedback when braking, ensuring that the rudder wheel accurately stops at the desired position. The encoder 60 is placed on the brake 50, which can directly monitor the state of the brake 50 and the position of the rudder wheel, providing high-precision position feedback signals. This helps to achieve more precise movement position control, especially in applications that require frequent starting and stopping (such as automatic navigation systems). Through the feedback information provided by the encoder 60, the control system can adjust the motor output in real time to ensure that the rudder wheel is always in the correct movement position, improving the response speed and control accuracy of the system.

[0072] Further, the design of the avoidance place 105 can allow air circulation, helping the brake 50 and the encoder 60 to better dissipate heat, especially in long-term operation or high-temperature environments, ensuring that these key components do not overheat and extending their service life. The brake 50 and the encoder 60 are directly mounted on the support base 10, reducing noise and wear caused by loosening or vibration, and improving the smoothness of the system operation. In some embodiments, the design of the avoidance place 105 can incorporate shock-absorbing materials or structures as needed, further reducing the possibility of vibration being transmitted to other components and improving the overall system's quietness. The avoidance place 105 can also incorporate sealing measures to protect the brake 50 and the encoder 60 from external environmental factors such as dust and moisture, making it particularly suitable for outdoor or harsh working conditions. Through reasonable material selection and surface treatment, the avoidance place 105 and its internal components can have good corrosion resistance, extending the service life of the equipment.

[0073] In some embodiments, such as Figure 6 and Figure 7As shown, the steering wheel reduction motor also includes a lead assembly, which includes a lead-out wire 106 for connecting the brake 50 and the encoder 60. The support seat 10 is formed with an oil separation tank 102 on one side of the cavity 100. The lead-out wire 106 is partially located in the oil separation tank 102, with one end connected to the brake 50 and the other end extending towards the outside of the oil separation tank 102. The oil separation tank 102 is provided with a sealing cover 103. By placing part of the lead assembly in the oil separation tank 102 and sealing it with the sealing cover 103, not only is the electrical assembly effectively protected, improving the reliability and safety of the system, but the wiring management and heat dissipation performance are also optimized, making maintenance and repair easier.

[0074] In application, the design of the oil separation tank 102 can effectively prevent lubricating oil or other liquids from entering the lead assembly, avoiding short circuits, corrosion and other problems caused by oil stains or moisture. The oil separation tank 102 can also block dust and other contaminants, ensuring the cleanliness of the lead and connection points and extending their service life.

[0075] In application, by sealing the oil separation tank 102 with the sealing cover 103, a relatively closed environment is formed, further enhancing the sealing performance of the system and reducing the impact of external factors on the internal electrical components. Good sealing design can reduce the risk of moisture, oxidation or physical damage to the lead assembly, thereby reducing the likelihood of failure and improving the overall reliability of the system.

[0076] The oil separation tank 102 provides a dedicated channel for the lead, making the wiring more orderly and reducing the entanglement and interference between cables, facilitating installation and maintenance. One end of the lead is connected to the brake 50, and the other end extends towards the outside of the oil separation tank 102. This layout simplifies the assembly process and reduces the time and difficulty of cable arrangement.

[0077] The sealing design of the oil separation tank 102 can effectively prevent current leakage, improving the safety of the system, especially when working in high humidity or underwater environments. The design of the sealing cover 103 allows the oil separation tank 102 to be quickly opened when the lead assembly needs to be inspected or repaired, making it easier for technicians to operate. If a component malfunctions, the lead assembly can be replaced or repaired individually without disassembling the entire system, improving maintenance efficiency. The design of the oil separation tank 102 hides the lead assembly inside, making the entire steering wheel reduction motor more neat and aesthetically pleasing, improving the overall quality of the product. The simple wiring and sealing design make it difficult for users to access complex electrical components during use, improving safety and convenience.

[0078] In some embodiments, as Figure 7As shown, a seal 104 is provided between the sealing cover 103 and the oil separation tank 102. The seal 104 is a gasket. The sealing cover 103 and the oil separation tank 102 are sealed to prevent water, dust and oil stains from entering the lead assembly.

[0079] In some embodiments, as shown in Figure 1 , Figure 2 , Figure 6 and Figure 7 , the transmission module 30 includes a first gear 31 and a double gear assembly 32;

[0080] The first gear 31 is arranged on the rotor of the motor module 40;

[0081] The double gear assembly 32 is installed in the cavity 100, and the double gear assembly 32 includes a second gear 321 and a third gear 322. The second gear 321 is arranged through the support seat 10 and engages with the hub 23 module 20. The third gear 322 engages with the first gear 31. Through multi-stage reduction, efficient, stable and high-precision power transmission is achieved, while the space layout is optimized, and the reliability and durability of the system are enhanced.

[0082] In application, through the engagement of the first gear 31 and the third gear 322, and the engagement of the second gear 321 and the hub 23 module 20, a two-stage reduction system is formed. This multi-stage reduction can significantly reduce the rotational speed and greatly increase the output torque, which is suitable for application occasions that require large torque. The first gear 31 is arranged on the rotor of the motor module 40, which directly utilizes the space of the motor and reduces the need for additional installation positions. The double gear assembly 32 is installed in the cavity 100, which further optimizes the use of internal space, making the entire device more compact. This layout realizes the high integration of the motor, reducer and hub 23 module 20, reduces the use of external connecting parts, and simplifies the overall structure. The engagement between the gears can provide smooth power transmission, reducing vibration and noise, especially in low-speed high-torque conditions. Through multi-stage gear transmission, the load is distributed to multiple gears, reducing the wear of individual gears and prolonging the service life of the system. Gear transmission has high positioning accuracy, especially when used with an encoder 60, which can achieve very precise position control and is suitable for applications that require high steering accuracy. Due to the directness and efficiency of gear transmission, the system can quickly respond to control instructions to achieve precise steering operation. The double gear assembly 32 is installed as a separate module in the cavity 100, which can be directly removed for replacement or maintenance without disassembling the entire system, improving the convenience of maintenance.

[0083] In application, the specific working principle of the transmission module 30 is driven by a motor: the rotor of the motor module 40 drives the first gear 31 to rotate. First-stage reduction: the first gear 31 meshes with the third gear 322, realizing the first reduction, and at the same time transmitting power to the double-tooth assembly 32. Second-stage reduction: the second gear 321 in the double-tooth assembly 32 continues to reduce and transmits power to the hub 23 module 20, finally realizing the rotation of the rudder wheel.

[0084] In some embodiments, as shown in Figure 1 、 Figure 2 and Figure 7 , the hub module 20 includes an inner ring gear 21, a bearing assembly 22, a hub 23, and a sealing ring 24;

[0085] The inner ring gear 21 is arranged on the mounting end 101, and the inner ring gear 21 meshes with the second gear 321;

[0086] The bearing assembly 22 is arranged in the inner ring gear 21;

[0087] The hub 23 is mounted on the inner ring gear 21;

[0088] The sealing ring 24 is arranged between the inner ring gear 21 and the hub 23. Through efficient power transmission, stable rotation support and enhanced sealing performance, a reliable, durable and easy-to-maintain rotation system is realized. The specific working principle includes: the second gear 321 meshes with the inner ring gear 21, transmitting power from the transmission module 30 to the hub module 20. The bearing assembly 22 provides stable rotation support for the hub 23, ensuring its smooth rotation. The sealing ring 24 prevents external contaminants from entering, while preventing internal lubricating oil from leaking, protecting the internal components. The hub 23 is driven by the inner ring gear 21 to rotate, completing the steering operation of the rudder wheel.

[0089] In application, the meshing of the inner ring gear 21 and the second gear 321 ensures efficient power transmission from the transmission module 30 to the hub 23 module 20. The design of the inner ring gear 21 can provide a larger contact area, reducing wear and improving transmission accuracy. Through the cooperation of the second gear 321 and the inner ring gear 21, further reduction is realized, increasing the output torque, suitable for applications requiring large steering torque. The bearing assembly 22 is installed in the inner ring gear 21, providing stable rotation support, reducing friction and wear, and prolonging the service life of the system. High-quality bearings can significantly reduce frictional resistance during rotation, improving efficiency. Bearings can withstand large radial and axial loads, ensuring stable operation under various working conditions.

[0090] In some embodiments, the sealing ring 24 is arranged between the inner ring 21 and the hub 23, effectively preventing moisture, dust and other contaminants in the external environment from entering the interior, protecting the internal components from corrosion and damage. The design of the sealing ring 24 generally meets the IP65 or even higher protection level, which can maintain good sealing performance in harsh environments. In some embodiments, as shown in

[0091] Figure 7 In some embodiments, as shown in

[0092] In some embodiments, as shown in Figure 6 , Figure 7 and Figure 11 The steering gear reduction motor further includes a support seat 10, a transmission module 30, a brake 50, an encoder 60, a hub module 20 and a motor module 40. A gear support plate 107 is arranged on the upper surface of the support seat 10 and below the second steering gear 74, which connects the steering module 70 and the support seat 10. The gear support plate 107 is fixed on the support seat 10 by screws, and then the gear support plate 107 and the outer ring of the second steering gear 74 are fixed together by screws, so as to realize the connection between the steering module 70 and the reduction motor. The lead assembly is inserted into the pre-set hole in the oil separation tank 102 on one side of the support seat 10. One end of the lead assembly is inserted into the pre-set hole near the brake 50 on the support seat 10, and the other end is inserted out of the outer end of the side of the support seat 10 and connected with the controller at the outer end.

[0093] ​The sealing gasket is arranged on the end face of the oil separation tank 102, and the sealing cover 103 is fixed on the predetermined screw hole of the oil separation tank 102 by screws, so as to form a sealed oil separation tank 102, thereby sealing and isolating the cavity 100 in which the transmission module 30 is installed. The box cover 33 is arranged on the oil separation tank 102, and a sealing ring is arranged between the box cover 33 and the oil separation tank 102. The motor module 40 is first installed on the box cover 33, and the motor module 40 comprises the following steps: the rotor assembly 42 is first placed in the stator assembly 41, the outgoing line end of the stator assembly 41 is close to the box cover 33, the other end is installed in the rear cover 44, the main wave-shaped washer is placed in the predetermined bearing hole of the rear cover 44, the oil seal is pressed into the predetermined oil seal hole of the box cover 33 close to the motor end, and then the assembled motor module 40 is fixed on the box cover 33 by screws. The output shaft 43 of the rotor assembly 42 penetrates through the box cover 33, the flat key is placed on the output shaft 43, the first gear 31 is installed, the shaft elastic retainer ring is clamped in the predetermined snap spring groove of the output shaft 43 on the end face of the first gear 31, the shaft elastic retainer ring is close to the first gear 31, the bearing is pressed into the predetermined bearing hole between the support seat 10 and the box cover 33, the support seat 10 and the box cover 33 are assembled, the sealing ring 24 is placed in the middle of the assembled components, and the box cover 33 is fixed in the predetermined threaded hole of the support seat 10 by screws. The first gear 31 is engaged with the third gear 322 of the double gear assembly 32, and the positioning pin is pressed into the predetermined pin hole of the support seat 10 and the box cover 33. The output shaft 43 on the rotor assembly 42 is also exposed at the avoiding position 105, the coupling of the brake 50 is installed on the output shaft 43, and the magnet assembly of the encoder 60 is installed on the end face of the output shaft 43. The second gear 321 of the double gear assembly 32 penetrates out of the gear avoiding position 105 of the support seat 10.

[0094] The oil seal is assembled and fixed at the predetermined oil seal position on the other side of the support seat 10, and the brake 50 and the encoder 60 are installed at the central avoiding position 105 of the support seat 10. The encoder 60 is fixed on the brake 50 by screws, the oil seal is installed in the predetermined hole of the support seat 10 between the coupling end of the brake 50 and the support seat 10, the brake 50 is fixed on the central avoiding position 105 of the box body by the screw of the brake 50, the brake 50 cooperates with the coupling of the brake 50 assembled on the motor shaft of the rotor assembly 42, the motor shaft penetrates through the central position of the brake 50, the magnet assembly of the encoder 60 assembled on the end part of the output shaft 43 is close to the predetermined position of the encoder 60 module, and the required signal is inducted and output.

[0095] In the bearing hole pre-set in the inner gear ring 21, a bearing is pressed in first, then an elastic retainer is installed in the hole at the pre-set retainer position of the inner gear ring 21, and then a shaft sleeve is installed tightly against the other bearing. Then the complete hub 23 module 20 is installed on the support seat 10, and the shaft elastic retainer is fixed at the pre-set retainer position on the support seat 10, tightly against the other bearing. After the assembly is completed, the teeth in the inner gear ring 21 will mesh with the second gear 321 of the double-tooth assembly 32 at the gear avoidance position 105 of the support seat 10, completing the gear transmission of the entire box module. The rotation of the first gear 31 on the rotor assembly 42 will drive the inner gear ring 21 to rotate through the double-tooth assembly 32.

[0096] In some embodiments, as Figures 8 to 11 , the steering module 70 is installed on the support seat 10, and the steering module 70 achieves steering by adjusting the rotation angle of the hub 23 module 20.

[0097] In some embodiments, as Figures 8 to 11 , the steering module 70 includes a fixed plate 71, a steering motor 72, a first steering gear 73, a second steering gear 74, and a limiting assembly 75.

[0098] The fixed plate 71 is located on the support seat 10.

[0099] The steering motor 72 is located on the side of the fixed plate 71 away from the support seat 10.

[0100] The first steering gear 73 is connected to the output shaft of the steering motor 72, and the first steering gear 73 is located on the side of the fixed plate 71 close to the steering motor 72.

[0101] The second steering gear 74 is located on the side of the fixed plate 71 away from the steering motor 72.

[0102] The limiting assembly 75 is located on the side of the fixed plate 71 away from the steering motor 72, and the limiting assembly 75 is used to limit the steering angle of the steering module 70. The steering motor 72 is installed on the side of the fixed plate 71 away from the support seat 10, and the output shaft of the motor 72 drives the first steering gear 73 to rotate. The first steering gear 73 meshes with the second steering gear 74 to achieve power transmission and speed reduction, ensuring accurate control of the steering angle. In combination with the encoder 60 or other sensors, the steering angle can be monitored in real time, providing high-precision position feedback to ensure that the steering wheel stops accurately at the desired position.

[0103] The fixed plate 71 is located on the support seat 10, providing a stable mounting platform for the steering motor 72 and other components, ensuring that the entire steering module 70 remains stable during operation. The design of the fixed plate 71 can evenly distribute the steering force, reducing the load on individual components and prolonging the service life of the system.

[0104] A limiting component 75 is arranged on the side of the fixed plate 71 away from the steering motor 72, for limiting the maximum steering angle of the steering module 70 to prevent damage or danger caused by excessive steering. The steering angle is directly limited by mechanical structure (such as stop block, limit switch, etc.), to ensure safe operation in extreme cases. The limit component 75 not only limits the steering angle, but also prevents the steering motor 72 from overloading, protecting the motor and transmission system from damage.

[0105] In some embodiments, as shown in Figure 11 The limit component 75 includes a limit screw 751 arranged on the side of the fixed plate 71 away from the steering motor 72, which serves as mechanical limit of the steering module 70. In some embodiments, the limit component 75 also includes a limit block 752 arranged on the side of the fixed plate 71 away from the steering motor 72, which is used to limit the rotation of the second steering gear 74. The limit block 752 cooperates with the limit screw 751 to realize rotation of the steering area within a predetermined range, thereby limiting the turning angle of the whole machine. A distance switch 76 is also arranged on the steering motor 72 to cooperate with the limiting.

[0106] In some embodiments, as shown in Figure 8 and Figure 11 A gear support plate 107 is also arranged on the support base 10, which is used to support and fix the second steering gear 74, to stabilize the installation of the steering module 70.

[0107] In application, as shown in Figure 11 The steering module 70 includes a fixed plate 71, a steering motor 72, a first steering gear 73, a second steering gear 74, a limit screw 751, and a limit block 752; the steering motor 72 is fixedly assembled on the upper surface of the fixed plate 71 by screws, and a distance switch 76 is installed, the shaft of the steering motor 72 penetrates through the predetermined avoidance position of the fixed plate 71, and the first steering gear 73 is installed on the shaft of the steering motor 72, and the end part is fixed by screws and washers to prevent the first steering gear 73 from loosening and falling off. The limit screw 751 is installed on the lower surface of the fixed plate 71, which is the mechanical limit of the electric steering. The second steering gear 74 is arranged on the lower surface of the fixed plate 71, which is a component of the external tooth rotary supporting bearing rotating shaft, and the inner and outer rings can rotate circumferentially under the action of steel balls, and the structure is similar to bearing but with teeth on the outside. The limit block 752 is fixedly installed on the inner rotating ring of the second steering gear 74 by screws, and the inner rotating ring of the second steering gear 74 is fixed with the fixed plate 71 by screws, and the swinging angle of the steering is controlled by the distance switch 76, the distance of the limit block 752, and the limit screw 751, to ensure that the electric steering rotates within this range, and at the same time, the turning angle of the whole machine is limited.

[0108] In some embodiments, the motor module 40 comprises one of a permanent magnet DC motor, a permanent magnet DC brushless motor, an AC motor, a servo motor. The choice of motor type depends on the specific application requirements, including power requirements, response speed, precision, maintenance cost, and working environment, etc. For steering wheel reduction motor, permanent magnet DC brushless motor and servo motor are usually the better choice, because they provide efficient energy conversion, precise control ability and longer service life, especially suitable for application scenarios that require high precision and reliability. The motor module 40 adopts a multi-pole flat structure design, with a thin axial size.

[0109] In some embodiments, the steering wheel reduction motor provided by the present application adopts a modular design, separating the motor position from the bearing wheel hub 23 position. This design has the characteristics of small size, strong waterproofness, compact and reasonable structure layout, strong applicability and easy realization of series products, etc.

[0110] The present application also provides an autonomous mobile robot, which comprises a robot body (not shown in the figure), the above-mentioned steering wheel reduction motor, and a power supply device (not shown);

[0111] The steering wheel reduction motor is arranged on the robot body;

[0112] The power supply and control device is installed on the robot body, and is used to supply power and perform control for the steering wheel reduction motor. This autonomous mobile robot design, which comprises a robot body, a steering wheel reduction motor and a power supply and control device, realizes reliable, durable and easy-to-maintain autonomous mobile ability through precise steering control, stable mechanical support, reliable limit protection and efficient energy management. This design is particularly suitable for application scenarios that have high requirements for steering precision, stability and safety, such as logistics and warehousing, medical care, cleaning and maintenance, agricultural field, security patrol, and education and scientific research, etc.

[0113] The autonomous mobile robot provided by the embodiments of the present application adopts a steering wheel reduction motor to realize efficient and accurate power transmission through a multi-stage gear transmission system (such as a first gear, a double gear assembly, etc.), thereby ensuring high-precision control of the steering angle. The permanent magnet DC brushless motor or servo motor in the steering wheel reduction motor can provide rapid dynamic response, which is suitable for application scenarios that require frequent direction adjustment. The support seat and fixing plate of the steering wheel reduction motor provide a stable mounting platform for the entire steering module, ensuring stability during movement. Reasonable mechanical design can evenly distribute the steering force, reduce the load on individual components, and prolong the service life of the system. The limiting assembly in the steering module can effectively limit the maximum steering angle, preventing damage or danger caused by excessive steering and ensuring the safe operation of the robot. The power supply and control device installed on the robot body supplies power and performs control for the steering wheel reduction motor, ensuring its normal operation. The power supply and control device can select a battery or other forms of energy supply according to specific needs. High-quality batteries can provide longer battery life, which is suitable for long-term autonomous operation scenarios. The high-efficiency energy conversion and low-power design of the steering wheel reduction motor can prolong the use time of the battery and improve energy efficiency.

[0114] The steering wheel reduction motor and its related components (such as brakes, encoders, etc.) are highly integrated, reducing the occupied space and making the robot body more compact. The connection cable between the power supply and control device and the steering wheel reduction motor can be reasonably routed to reduce the risk of cable entanglement and interference. The sealing design (such as oil separation tank, sealing ring, etc.) of the steering wheel reduction motor can effectively prevent moisture, dust and other contaminants in the external environment from entering the interior, which is suitable for various complex working environments. The use of appropriate materials (such as stainless steel or specially treated alloys) can improve the corrosion resistance of the system, which is particularly suitable for outdoor or humid environment applications.

[0115] The encoder can provide real-time position feedback information, combined with sensors and other control systems, to realize intelligent path planning and obstacle avoidance functions. The closed-loop control system of the steering wheel reduction motor can ensure that the robot always travels according to the predetermined trajectory, improving the accuracy and stability of navigation. The standardized interface between various components makes replacement and maintenance simpler, reducing maintenance costs. Key components (such as brakes, encoders, etc.) can be directly checked and adjusted from the outside, improving maintenance efficiency.

[0116] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the foregoing embodiments of the present application are described in detail, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent ones; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the embodiments of the present application.

Claims

1. A steering wheel geared motor, characterized in that, include: A support base, wherein a cavity is formed on one side of the support base, and an mounting end is formed on the side of the support base opposite to the cavity; The hub module is installed on the mounting end; The transmission module is installed inside the cavity; as well as The motor module is located on the side of the support base near the cavity. The motor module includes an output shaft connected to the transmission module. The output shaft drives the transmission module to rotate the hub module.

2. The steering wheel reduction motor as described in claim 1, characterized in that, The steering wheel reduction motor also includes a lead wire assembly, which includes lead wires for connecting the brake and the encoder. The support base is located on one side of the cavity and also forms an oil separator. The lead wire is partially located inside the oil separator, and one end of the lead wire is connected to the brake. The other end of the lead wire extends outward toward the oil separator. The oil separator is provided with a sealing cover.

3. The steering wheel reduction motor as described in claim 2, characterized in that, A sealing element is also provided between the sealing cover and the oil separator.

4. The steering wheel reduction motor as described in claim 1, characterized in that, The transmission module includes: The first gear is located on the rotor of the motor module; A double-tooth assembly is installed inside the cavity. The double-tooth assembly includes a second gear and a third gear. The second gear passes through the support seat and meshes with the hub module. The third gear meshes with the first gear.

5. The steering wheel reduction motor as described in claim 4, characterized in that, The hub module includes: An internal gear ring is disposed on the mounting end, and the internal gear ring meshes with the second gear; The bearing assembly is disposed in the internal gear ring; The hub is mounted on the internal gear ring; and A sealing ring is disposed between the internal gear ring and the hub.

6. The steering wheel reduction motor as described in claim 1, characterized in that, The support base also has a clearance near the mounting end. The steering wheel reduction motor also includes a brake and an encoder. The brake is installed in the clearance and the encoder is mounted on the brake.

7. The steering wheel reduction motor as described in claim 1, characterized in that, The steering wheel reduction motor also includes a steering module, which is mounted on the support base. The steering module achieves steering by adjusting the rotation angle of the hub module.

8. The steering wheel reduction motor as described in claim 7, characterized in that, The steering module includes: A fixing plate is located on the support base; A steering motor is located on the side of the fixed plate away from the support base; The first steering gear is rotatably connected to the output shaft of the steering motor, and the first steering gear is located on the side of the fixed plate close to the steering motor; The second steering gear is located on the side of the fixed plate away from the steering motor; and A limiting component is disposed on the side of the fixing plate away from the steering motor, and the limiting component is used to limit the steering angle of the steering module.

9. The steering wheel reduction motor as described in any one of claims 1 to 8, characterized in that, The motor module includes one of the following: permanent magnet DC motor, permanent magnet brushless DC motor, AC motor, and servo motor; And / or, the support base is integrally formed.

10. An autonomous mobile robot, characterized in that, include: The robot itself; The steering wheel reduction motor as described in any one of claims 1 to 9 is disposed on the robot body; A power supply and control device is installed on the robot body. The power supply and control device is used to supply power to the steering wheel reduction motor and perform control.

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