Wheel type structure and mobile equipment

Abstract

The utility model discloses a wheel type structure and mobile equipment, and belongs to the technical field of electronic products. The wheel type structure comprises a hub body and a base, the hub body is connected with the base through a pivot, the hub body can rotate around the pivot, and the plane where the rotating direction of the hub body is located is perpendicular to the first advancing direction of the hub body. An electromagnetic module is arranged on the side face of the hub body. Braking magnetic groups are arranged on the base and are arranged on the two sides of the hub body in the first advancing direction; under the condition that the electromagnetic module is not electrified, the hub body advances in the first advancing direction; under the condition that the electromagnetic module is powered on, magnetic poles are generated on the side face of the hub body and attract or repel the braking magnetic sets, so that the hub body rotates, an included angle exists between the hub body and the first advancing direction, and the hub body is braked.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electronic products, and particularly relates to a wheeled structure and a mobile device. BACKGROUND

[0002] At present, wheeled mobile devices such as transport robots and intelligent maid machines generally adopt contact-type braking technology, the core principle of which is to increase the pressure between brake pads and wheel surfaces through mechanical structures and realize braking by using contact friction. For example, brake pads are driven into contact with wheel hubs through levers or hydraulic systems, and the device is forced to slow down or stop under the action of friction. However, in the frequent start-stop or heavy-load application scenarios, long-term friction can cause the brake pads to wear seriously, affecting the braking effect of the device. CONTENT OF THE UTILITY MODEL

[0003] The purpose of the embodiments of the application is to provide a wheeled structure and a mobile device, which can solve the problem that the existing wheeled structure adopting contact-type braking technology is prone to damage to brake pads.

[0004] In order to solve the above technical problems, the application is implemented as follows:

[0005] In a first aspect, the embodiments of the application provide a wheeled structure, comprising: a hub body and a base, the hub body being connected to the base through a pivot, the hub body being rotatable about the pivot, and a plane in which a rotation direction of the hub body is perpendicular to a first advancing direction of the hub body;

[0006] A side surface of the hub body is provided with an electromagnetic module;

[0007] The base is provided with a braking magnetic group, and the braking magnetic group is arranged on both sides of the first advancing direction of the hub body;

[0008] In the case that the electromagnetic module is not powered, the hub body advances along the first advancing direction;

[0009] In the case that the electromagnetic module is powered, a magnetic pole is generated on the side surface of the hub body and is attracted or repelled to the braking magnetic group, so that the hub body is rotated and has an included angle with the first advancing direction, and the hub body is braked.

[0010] In a second aspect, a mobile device comprises a device main body and the wheeled structure as described in the first aspect.

[0011] The device main body is fixedly connected to the base in the wheeled structure.

[0012] In this embodiment, the wheel structure includes a hub body and a base. The hub body is connected to the base via a pivot and can rotate around the pivot. The plane of the hub body's rotation direction is perpendicular to the first travel direction of the hub body. An electromagnetic module is disposed on the side of the hub body. A braking magnetic assembly is disposed on the base, with the braking magnetic assembly located on both sides of the hub body in the first travel direction. When the electromagnetic module is not energized, the hub body travels along the first travel direction. When the electromagnetic module is energized, magnetic poles are generated on the side of the hub body, attracting or repelling the braking magnetic assembly, causing the hub body to rotate at an angle to the first travel direction, thus braking the hub body. This achieves non-contact braking of the wheel structure, avoiding the problem of easily damaged brake pads associated with contact braking technology. Attached Figure Description

[0013] Figure 1 A schematic diagram illustrating the wheel structure of an embodiment of this application;

[0014] Figure 2 A schematic diagram showing the positional relationship between the wheel hub body and the brake magnetic assembly in an embodiment of this application;

[0015] Figure 3 One of the schematic diagrams illustrating the positional relationship between the hub body and the electromagnetic module in an embodiment of this application;

[0016] Figure 4 The second schematic diagram illustrating the positional relationship between the hub body and the electromagnetic module in an embodiment of this application;

[0017] Figure 5 A schematic diagram of the magnetic field of the wheel hub body according to an embodiment of this application;

[0018] Figure 6 One of the schematic diagrams showing the connection structure between the wheel hub body and the base according to an embodiment of this application;

[0019] Figure 7 This is the second schematic diagram illustrating the connection structure between the wheel hub body and the base according to an embodiment of this application.

[0020] Figure 8 This is a schematic diagram illustrating the control architecture of an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Hub body; 11-Electromagnetic module; 110-Coil; a-Pivot; 12-Main shaft; 2-Base; 3-Brake magnetic assembly; 301-First permanent magnet; 302-Second permanent magnet; 4-Wheel frame; 41-Side support arm; 42-Top connecting plate; 410-Shaft hole. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] The control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0026] Please refer to Figures 1 to 8 This application provides a wheel structure, including: a hub body 1 and a base 2. The hub body 1 is connected to the base 2 via a pivot a. The hub body 1 can rotate around the pivot a. The plane containing the rotation direction of the hub body 1 is perpendicular to the first travel direction of the hub body 1. An electromagnetic module 11 is provided on the side of the hub body 1. A braking magnetic assembly 3 is provided on the base 2. The braking magnetic assembly 3 is provided on both sides of the first travel direction of the hub body 1.

[0027] When the electromagnetic module 11 is not energized, the hub body 1 travels along the first direction of travel; when the electromagnetic module 11 is energized, the side of the hub body 1 generates magnetic poles that attract or repel the braking magnetic group 3, causing the hub body 1 to rotate and form an angle with the first direction of travel, thus braking the hub body 1.

[0028] The hub body 1 rotates from 0° to 360° via pivot a, and the first direction of travel refers to the direction of travel corresponding to any rotation angle.

[0029] In this embodiment, when the electromagnetic module 11 is not powered, the electromagnetic module 11 does not generate a magnetic field, and the magnetic field generated by the braking magnetic group 3 will not affect the movement of the wheel hub body 1; when the electromagnetic module 11 is powered, the electromagnetic module 11 can generate a magnetic field, and the magnetic field generated by the braking magnetic group 3 generates an attractive or repulsive force, thereby driving the wheel hub body 1 to rotate around the pivot a, so that the wheel hub body 1 rotates and has an angle with the first direction of travel, and the wheel hub body 1 is braked to achieve a non-contact braking effect.

[0030] In some embodiments, the two sides of the hub body 1 have different magnetic poles.

[0031] For example, such as Figure 5 As shown, when the electromagnetic module 11 is energized, the magnetism of the two sides of the hub body 1 is S pole and N pole respectively, so that the two side end faces of the hub body 1 are subjected to the repulsive force or attractive force of the braking magnetic group 3 respectively, so as to control the rotation of the hub body 1 under the action of attractive force or repulsive force.

[0032] In some embodiments, the electromagnetic module 11 includes a plurality of coils 110, which are disposed on opposite sides of the hub body 1, and the coils 110 disposed on the same side of the hub body 1 are distributed along the circumference of the hub body 1.

[0033] With multiple coils 110 energized, the two side faces of the hub body 1 have different polarities.

[0034] For example, such as Figure 2 and 3 In the design, the outer large circle is the hub body 1. Eight coils are evenly distributed circumferentially on each side end face of the hub body 1, resulting in a total of 16 coils on both side end faces. When a current in a first direction is passed through at least some of the eight coils on each side end face, the first side end face of the hub body 1 is at the S pole, and the second side end face is at the N pole. When a current in a second direction is passed through at least some of the eight coils on each side end face, the first side end face of the hub body 1 is at the N pole, and the second side end face is at the S pole. The first direction refers to either a forward current or a reverse current, and the second direction refers to the other of a forward current or a reverse current.

[0035] Optionally, the coil 110 is a copper coil wound on an iron core to form an electromagnet rotor. The magnetic field of the electromagnet rotor is generated by an externally energized coil, rather than relying on a permanent magnet. The magnitude and direction of the magnetic field generated by the coil 110 can be adjusted by the magnitude and direction of the current in the coil 110, and the magnitude of the magnetic field is proportional to the magnitude of the current.

[0036] Multiple coils can be connected in parallel with the controller via wires, allowing the controller to independently control the on / off state and current direction of each coil 110. This allows for control over the number of energized coils and the direction of current according to usage requirements.

[0037] In some embodiments, the electromagnetic module 11 includes at least two coils 110, which are coaxially arranged with the hub body 1 and distributed on opposite sides of the hub body 1.

[0038] With at least two coils 110 energized, the two side end faces of the hub body 1 have different polarities.

[0039] For example, such as Figure 4 As shown, two coils 110 are arranged on each of the two side end faces of the hub body 1. The central axis of the four coils 110 coincides with the main rotating shaft 12 of the hub body 1. When at least some of the coils 110 in each side end face are energized, the first side end face of the hub body 1 is N pole and the second side end face is S pole. Figure 5 As shown, the magnetism on the two sides of the hub body 1 is S pole and N pole, respectively.

[0040] It should be pointed out that the above Figures 2 to 4 The number of coils 110 shown is for illustrative purposes only and is not a limitation. It can be adjusted according to actual needs.

[0041] In some embodiments, the braking magnetic assembly 3 includes a first permanent magnet 301 and a second permanent magnet 302;

[0042] The first permanent magnet 301 and the second permanent magnet 302 are respectively disposed at the first position and the second position of the base 2. The first position and the second position are disposed on both sides of the first travel direction of the hub body 1. The side of the first permanent magnet 301 facing the hub body 1 has an S pole, and the side of the second permanent magnet 302 facing the hub body 1 has an N pole.

[0043] It should be noted that the first position and the second position can be symmetrically distributed on both sides of the first direction of travel of the hub body 1, so that the distance between the hub body 1 and the first permanent magnet 301 and the second permanent magnet 302 is the same, and the polarities of the first permanent magnet 301 and the second permanent magnet 302 facing the hub body 1 are also different; or, the first position and the second position can also be asymmetrically distributed on both sides of the first direction of travel of the hub body 1, so that the distance between the hub body 1 and the first permanent magnet 301 and the second permanent magnet 302 is not the same, and the polarities of the first permanent magnet 301 and the second permanent magnet 302 facing the hub body 1 are also different.

[0044] Specifically, if the magnetic field generated by the multiple coils 110 in the side end face of the hub body 1 is opposite in polarity to that of the adjacent permanent magnet, an attractive force is generated between them; if the magnetic field generated by the multiple coils 110 in the side end face of the hub body 1 is the same in polarity as that of the adjacent permanent magnet, a repulsive force is generated between them.

[0045] For example, such as Figure 1 and Figure 2In the process, the first side end face of the hub body 1 is the N pole, and the first side end face faces the S pole of the first permanent magnet 301, so that the two generate an attractive force between them; the second side end face of the hub body 1 is the S pole, and the second side end face faces the N pole of the second permanent magnet 302, so that the two generate an attractive force between them; since the force directions of the first side end face and the second side end face are opposite and the force positions are located on both sides of the straight line where the pivot a is located, the hub body 1 rotates around the pivot a, forming a braking angle.

[0046] Similarly, if the first side end face of the hub body 1 is the N pole and faces the N pole of the first permanent magnet 301, a repulsive force is generated between them; the second side end face of the hub body 1 is the S pole and faces the S pole of the second permanent magnet 302, a repulsive force is generated between them; since the forces on the first side end face and the second side end face are opposite in direction and the force positions are located on both sides of the straight line where the pivot a is located, the hub body 1 rotates around the pivot a, forming a braking angle.

[0047] In some embodiments, the wheeled structure further includes:

[0048] The controller and the electromagnetic module 11 are connected to the controller via wires;

[0049] When the controller supplies a positive current to the electromagnetic module 11, the first side end face of the hub body 1 attracts the brake magnetic assembly 3, and the second side end face attracts the brake magnetic assembly 3.

[0050] When the controller supplies a reverse current to the electromagnetic module 11, the first side end face of the hub body 1 and the brake magnetic assembly 3 repel each other, and the second side end face and the brake magnetic assembly 3 repel each other.

[0051] For example, when the controller supplies a positive current to the electromagnetic module 11, the first side end face of the hub body 1 is an S pole and the second side end face is an N pole; when the controller supplies a reverse current to the electromagnetic module 11, the first side end face of the hub body 1 is an N pole and the second side end face is an S pole.

[0052] In this embodiment, the controller is used to control the power supply to and off of the electromagnetic module 11, and to control the direction and magnitude of the current. For example, when it is determined that the user has activated the braking function, the controller controls the electromagnetic module 11 to be powered on; when it is determined that the user has deactivated the braking function, the controller controls the electromagnetic module 11 to be powered off.

[0053] In some embodiments, a mounting groove is provided on the hub body 1, and the coil 110 is disposed in the cavity formed by the mounting groove and the encapsulation layer.

[0054] For example, the mounting groove on the hub body 1 is an annular groove provided along the circumference of the hub body 1, used to accommodate and fix the coil 100. The coil is fixedly connected to the annular mounting groove, and the opening of the annular mounting groove is covered with an encapsulation layer, which serves to provide insulation, dust protection, and heat dissipation. For example, the annular mounting groove is first machined on the hub body 1, then the coil 100 is placed into the annular mounting groove, and then encapsulation material is injected and cured to form an encapsulation layer.

[0055] In some embodiments, the wheeled structure further includes:

[0056] A distance sensor is mounted on the base 2 or on the hub body 1, and the distance sensor is communicatively connected to the controller.

[0057] An acceleration sensor is mounted on base 2 and is connected to the controller for communication.

[0058] In this embodiment, a distance sensor is used to identify obstacles as input information. For example, an infrared sensor can detect changes in ambient temperature and thus detect the approach of a human body, while an ultrasonic sensor can identify surrounding obstacles through the reflection of ultrasonic waves. Furthermore, the controller acquires the obstacle information collected by the distance sensor and sends an obstacle avoidance braking command to the braking system based on this information. The braking system energizes the electromagnetic module 11 according to the obstacle avoidance braking command, causing the electromagnetic module 11 to generate a magnetic field that interacts with the braking magnetic assembly 3. This magnetic field drives the wheel hub body 1 to rotate to a braking angle with the first direction of travel, achieving the self-stopping function of the wheel structure. The controller collects the acceleration of the wheel structure using an acceleration sensor. If the controller determines that the acceleration is 0, it determines that the wheel structure has stopped moving and notifies the braking system to stop energizing the electromagnetic module, i.e., no longer braking the wheel structure, thus preventing any impact on the wheel structure's subsequent movement.

[0059] Optionally, the braking system includes an electronic control unit (ECU), actuators (such as an electromagnetic module), and mechanical components (such as wheel hubs and brake magnetic assemblies). The electronic control unit is used to convert obstacle avoidance braking commands into high-precision current outputs to the electromagnetic module 11 and control the energizing parameters of the electromagnetic module 11.

[0060] In some embodiments, the wheeled structure further includes:

[0061] The wheel frame 4 includes a pair of lateral support arms 41 and a top connecting plate 42. The two lateral support arms 41 are fixedly connected by the top connecting plate 42, and the ends of the lateral support arms 41 are provided with coaxially aligned shaft holes 410.

[0062] A main shaft 12 is provided through the center of the hub body 1, and the two ends of the main shaft 12 are rotatably inserted into the shaft hole 410;

[0063] Pivot a vertically connects the top connecting plate 42 to the base 2.

[0064] In this embodiment, the hub body 1 can rotate 360° horizontally along pivot a. When the hub body 1 rolls forward in any direction, the electromagnetic module 11 can be energized to rotate the hub body 1 away from the original direction of travel, thereby generating braking resistance. It is understood that the braking effect is optimal when the hub body is at or approximately 90° to the direction of travel.

[0065] This application also provides a mobile device, including a device body and such as Figures 1-8 The wheel structure shown; the main body of the device is fixedly connected to the base 2 in the wheel structure.

[0066] Alternatively, mobile devices may include, but are not limited to, robots, personal robots, and inspection vehicles.

[0067] In this embodiment, the mobile device is configured as follows: Figures 1-8 The wheel structure shown enables non-contact braking, avoiding the problem of brake pad wear. Equipped with distance and acceleration sensors, the wheel structure also enables intelligent braking of mobile devices, enhancing the automation and intelligent user experience of the equipment.

[0068] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0069] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A wheel-type structure, characterized in that, include: The wheel hub body and the base are connected to the base via a pivot. The wheel hub body can rotate around the pivot. The plane containing the rotation direction of the wheel hub body is perpendicular to the first direction of travel of the wheel hub body. An electromagnetic module is provided on the side of the wheel hub body; The base is provided with a braking magnetic assembly, which is located on both sides of the wheel hub body in the first direction of travel. When the electromagnetic module is not powered, the hub body travels along the first direction of travel. When the electromagnetic module is energized, the side of the wheel hub body generates magnetic poles that attract or repel the braking magnetic assembly, causing the wheel hub body to rotate and form an angle with the first direction of travel, thus braking the wheel hub body.

2. The wheel structure according to claim 1, characterized in that, The two sides of the wheel hub body have different magnetic poles.

3. The wheel structure according to claim 2, characterized in that, The electromagnetic module includes multiple coils, which are located on opposite sides of the hub body, and the coils located on the same side of the hub body are distributed circumferentially along the hub body. When the multiple coils are energized, the two side end faces of the hub body have different polarities.

4. The wheel structure according to claim 2, characterized in that, The electromagnetic module includes at least two coils, which are coaxially arranged with the hub body and distributed on opposite sides of the hub body. When at least two coils are energized, the two side end faces of the hub body have different polarities.

5. The wheel structure according to claim 1, characterized in that, The braking magnetic assembly includes a first permanent magnet and a second permanent magnet; The first permanent magnet and the second permanent magnet are respectively disposed at a first position and a second position on the base. The first position and the second position are disposed on both sides of the first traveling direction of the hub body. The side of the first permanent magnet facing the hub body has an S pole, and the side of the second permanent magnet facing the hub body has an N pole.

6. The wheel structure according to claim 1, characterized in that, The wheel structure also includes: The controller, wherein the electromagnetic module is connected to the controller via a wire; When the controller supplies a positive current to the electromagnetic module, the first side end face of the hub body attracts the brake magnetic assembly, and the second side end face attracts the brake magnetic assembly. When the controller supplies a reverse current to the electromagnetic module, the first end face of the wheel hub body repels the brake magnetic assembly, and the second end face repels the brake magnetic assembly.

7. The wheel structure according to claim 3 or 4, characterized in that, The hub body has a mounting groove, and the coil is set in the cavity formed by the mounting groove and the encapsulation layer.

8. The wheel structure according to claim 6, characterized in that, The wheel structure also includes: A distance sensor is provided, which is mounted on the base or on the wheel hub body, and is communicatively connected to the controller. An acceleration sensor is mounted on the base and is communicatively connected to the controller.

9. The wheel structure according to claim 1, characterized in that, The wheel structure also includes: A wheel frame, comprising a pair of lateral support arms and a top connecting plate, wherein the two lateral support arms are fixedly connected by the top connecting plate, and the ends of the lateral support arms are provided with coaxially aligned shaft holes; The hub body has a main shaft running through its center, and the two ends of the main shaft are rotatably inserted through the shaft hole. The pivot is perpendicular to the top connecting plate and connects to the base.

10. A mobile device, characterized in that, Includes the main body of the equipment and the wheeled structure as described in any one of claims 1 to 9; The main body of the device is fixedly connected to the base in the wheel structure.

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