High-density micro differential electric control wheel

Abstract

The utility model provides a high-density miniature differential electric control wheel which comprises a first wheel body, a second wheel body, a supporting frame, a support, a steering wheel, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device, and the first wheel body and the second wheel body are arranged on the two sides of the middle of the supporting frame respectively. The bracket is provided with a mounting cavity; the steering wheel is movably connected with the inner side of the mounting cavity in an axially rotating manner; the steering driving assembly is in transmission connection with the steering wheel; the wheel body driving assembly is in transmission connection with the first wheel body or the second wheel body; the first driving device is in transmission connection with the steering driving assembly; and the second driving device is in transmission connection with the wheel body driving assembly. The high-density miniature differential electric control wheel is large in load and lower than a similar large-load steering driving wheel in height.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of driving device of mobile robot especially a high density miniature differential electric control wheel. BACKGROUND

[0002] The existing mobile robot cannot have low height and high load capacity simultaneously, and the main reason is that the differential driving device structure of the mobile robot limits the performance of the mobile robot, because the wheel body of the large load steering drive wheel needs to be made wide enough to support the vehicle body, in addition, the support is arranged above the wheel body, and the driving motor is arranged above or on the side of the wheel body, which leads to that the large load steering drive wheel has large volume and high height, and slow steering response. SUMMARY

[0003] The utility model aims at overcoming the insufficient prior art, and provides a high density miniature differential electric control wheel, which has large load and low height compared with similar large load steering drive wheels.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The high density miniature differential electric control wheel comprises a first wheel body, a second wheel body, a support frame, a support, a steering disc, a steering drive assembly, a wheel body drive assembly, a first driving device and a second driving device, the support frame is horizontally arranged in parallel with the horizontal plane, the first wheel body and the second wheel body are arranged on the two sides of the middle part of the support frame respectively, the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; the support is provided with a mounting cavity; the support frame is located in the middle part of the mounting cavity; the steering disc is located in the mounting cavity and is movably connected with the inner side of the mounting cavity in an axial direction, the support frame is movably arranged on the steering disc, and the steering disc drives the support frame to steer when rotating; the steering drive assembly is arranged on the lower part of the support and is in transmission connection with the steering disc; the wheel body drive assembly is arranged on the upper part of the support and is in transmission connection with the first wheel body or the second wheel body; the first driving device is arranged on the support and is in transmission connection with the steering drive assembly, and is used for driving the steering disc to rotate; the second driving device is arranged on the support and is in transmission connection with the wheel body drive assembly, and the second driving device drives the wheel body in transmission connection with the wheel body drive assembly to rotate through the wheel body drive assembly.

[0006] Compared with the prior art, the high density miniature differential electric control wheel has the following beneficial effects:

[0007] (1) The high density miniature differential electric control wheel sets the mounting cavity in the support, and places the support frame provided with the first wheel body and the second wheel body in the middle part of the mounting cavity, so that the support is closer to the ground, and the space occupied by the utility model in the vertical height is reduced;

[0008] (2) The high-density micro differential electric control wheel is provided with a first wheel body and a second wheel body, and the load is shared by the two wheel bodies to realize the robot for large load demand;

[0009] (3) The first wheel body and the second wheel body realize steering through steering wheels located on the outer sides of the two wheel bodies, so that the precise steering of the wheel bodies is more efficiently realized, the steering of the two wheel bodies is still realized smoothly under the condition of bearing a large load, and the problems of a large turning radius and a slow turning process (a large friction force between the wheel body and the ground) of the existing large load omnidirectional driving unit are solved.

[0010] (4) The high-density micro differential electric control wheel is provided with a first wheel body and a second wheel body, and the load is shared by the two wheel bodies to realize the robot for large load demand;

[0011] (5) Compared with the steering driving assembly and the wheel body driving assembly being simultaneously arranged on the upper part or the lower part of the support, the upper part or the lower part of the support needs to be long enough to provide sufficient mounting positions, the steering driving assembly and the wheel body driving assembly are arranged on the upper part and the lower part of the support respectively, the two driving assemblies are arranged in a separated mode, so that the length of the support can be shortened, the utility model is designed to be more compact, and the rotation and the driving of the wheel body are separated in the vertical space, the steering driving assembly drives the wheel body to steer in the lower part of the vertical space, and the wheel body driving assembly drives the wheel body to rotate in the upper part of the vertical space, so that the rotation and the driving of the wheel body are prevented from interfering.

[0012] Further, the first wheel body and the second wheel body rotate independently.

[0013] The two wheel bodies rotate independently, one wheel body actively rotates, and the other wheel body follows, when the two wheel bodies steer and turn, the friction of the wheel body to the ground is mainly sliding friction, and the ground and the wheel body are not obviously damaged, so that the ground and the wheel body can be effectively protected, the cost and the service life are reduced, the steering of the wheel body is facilitated, the steering resistance is small, and the power consumption of the second driving device is reduced.

[0014] Further, the steering wheel is annular, the vertical center of the support frame is coincided with the center of the steering wheel, and the first opening for accommodating the rotation of the first wheel body and the second wheel body is arranged in the middle of the steering wheel.

[0015] The steering disc is arranged in a ring shape, facilitating rotation and driving of the steering disc, and the ring-shaped steering disc rotates uniformly at all positions, prolonging service life. In addition, the ring-shaped steering disc provides fixing points for both ends of the support frame, facilitating installation of the support frame.

[0016] Further, a plurality of vertical teeth are arranged at the outer periphery of the lower part of the steering disc; the steering driving assembly is provided with at least one steering gear, and the steering gear is connected with the steering disc; the first driving device drives the steering disc to rotate through the steering gear.

[0017] Alternatively, the support frame is installed in the middle part of the steering disc, and a plurality of vertical teeth are arranged at the inner periphery of the lower part of the steering disc; the steering driving assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located on the inner side of the steering disc and connected with the steering disc, and the transmission member is arranged between the first driving device and the steering gear; the first driving device drives the steering disc to rotate through the transmission member and the steering gear.

[0018] Alternatively, the support frame is installed in the upper part of the steering disc, and a plurality of vertical teeth are arranged at the inner periphery of the middle part or lower part of the steering disc; the steering driving assembly is provided with at least one steering gear and at least one transmission member, the steering gear is located on the inner side of the steering disc and connected with the steering disc, and the transmission member is arranged between the first driving device and the steering gear; the first driving device drives the steering disc to rotate through the transmission member and the steering gear.

[0019] In the above scheme, the vertical teeth on the outer side of the steering disc are driven to drive the steering disc to rotate, or the vertical teeth on the inner side of the steering disc are driven to drive the steering disc to rotate, thereby realizing precise rotation of the steering disc and further realizing rapid steering of the wheel body.

[0020] Further, the upper part of the support frame is provided with a second opening hole communicating with the installation cavity; the wheel body driving assembly includes a rotating disc, a bevel gear and a linkage shaft, the rotating disc is movably connected with the inner side of the second opening hole in an axial direction, the rotating disc is provided with an upper engaging part above the second opening hole, and the rotating disc is provided with a lower engaging part towards the lower side of the installation cavity; the second driving device is in transmission connection with the upper engaging part; the bevel gear is rotatably arranged on the steering disc along a horizontal axis, and the bevel gear is in engagement with the lower engaging part; the bevel gear is fixedly connected with the middle part of the first wheel body through the linkage shaft, or the bevel gear is fixedly connected with the middle part of the second wheel body through the linkage shaft.

[0021] The wheel body driving assembly has few components, low cost and high transmission efficiency; the second opening hole enables the wheel body driving assembly to extend into the installation cavity from the upper part of the support frame to drive the wheel body, thereby reducing the arrangement difficulty of the wheel body driving assembly and fully utilizing the structure of the support frame to improve space utilization and reduce the space occupied by the product.

[0022] Further, the rotating disc is provided with a third opening hole capable of accommodating rotation of the first wheel body and the second wheel body.

[0023] The third opening is arranged to avoid the upper part of the first wheel body and the second wheel body, so that the height of the support is further reduced, the space occupied by the product in the vertical direction is reduced, the product is suitable for robots with strict height limit, and the robot can be designed to be more small and low.

[0024] Further, at least one transmission gear is arranged, the transmission gear is connected with the upper engaging part, and the second driving device drives the rotating disc to rotate through the transmission gear.

[0025] Further, the shaft for fixing the transmission gear and the shaft for fixing the steering driving assembly are arranged on two sides of the vertical plane of the support respectively.

[0026] Since the transmission gear and the steering driving assembly are arranged on the upper part and the lower part of the support respectively, and the transmission gear and the steering driving assembly are arranged on the two sides of the vertical plane of the support in the above-mentioned arrangement mode, the width of the support can be compressed, and the product can be designed to be more small.

[0027] Further, the first driving device and the second driving device are arranged at the end of the support far from the rotating disc.

[0028] The above-mentioned arrangement mode is adopted, so that the first driving device, the second driving device and the wheel body are arranged at two ends of the support, thereby reducing the space occupied by the product in the height direction and the width direction of the support.

[0029] Another object of the utility model is to provide another high-density miniature differential electric control wheel, which comprises a first wheel body, a second wheel body, a support frame, a support, a rotating disc, a steering driving assembly, a wheel body driving assembly, a first driving device and a second driving device, the support frame is arranged horizontally and transversely, the first wheel body and the second wheel body are arranged on two sides of the middle part of the support frame respectively, and the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; the support is provided with a mounting cavity; the support frame is located in the middle part of the mounting cavity; the rotating disc is located in the mounting cavity and is connected movably with the inner side of the mounting cavity in an axial direction, the support frame is arranged rotatably on the rotating disc, and the rotating disc drives the support frame to turn when rotating; the steering driving assembly is arranged on the upper part of the support and is connected in transmission with the rotating disc; the wheel body driving assembly is arranged on the lower part of the support and is connected in transmission with the first wheel body or the second wheel body; the first driving device is arranged on the support and is connected in transmission with the steering driving assembly, and is used for driving the rotating disc to rotate; the second driving device is arranged on the support and is connected in transmission with the wheel body driving assembly, and the second driving device drives the wheel body connected in transmission with the wheel body driving assembly to rotate through the wheel body driving assembly.

[0030] Compared with the prior art, the high-density micro differential electric control wheel has the steering driving assembly and the wheel body driving assembly arranged on the upper and lower parts of the support respectively, the two driving assemblies are arranged in a separated mode, so that the length of the support can be shortened, and the high-density micro differential electric control wheel is designed to be more compact. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a plan view of the utility model;

[0032] Figure 2 is a bottom view of the utility model;

[0033] Figure 3 is a first angle sectional view (cut along the axial direction of the first wheel body and the second wheel body) of the utility model;

[0034] Figure 4 is a second angle sectional view (cut along the axial direction of the support frame and observed from the point B to the point A) of the utility model;

[0035] Figure 5 is a third angle sectional view (cut along the axial direction of the support frame and observed from the point C to the point A) of the utility model;

[0036] Figure 6 is a connection schematic view of the support frame, the steering disc and the first driving device of the second embodiment (not containing the power device);

[0037] Figure 7 is a connection schematic view of the support frame, the steering disc and the first driving device of the third embodiment (not containing the power device).

[0038] Label explanation:

[0039] The first wheel body 1, the second wheel body 2, the support frame 3, the support shaft 4, the support 5, the mounting cavity 6, the second opening 7, the steering disc 8, the first opening 9, the support seat 10, the mounting seat 11, the mounting part 12, the steering driving assembly 13, the wheel body driving assembly 14, the steering disc 15, the upper engaging part 16, the lower engaging part 17, the third opening 18, the bevel gear 19, the linkage shaft 20, the driving connection plate 21, the first driving motor 22, the first power steering member 23, the second driving motor 24, the second power steering member 25, the steering gear 26, the transmission gear 27, the transmission member 28, the shaft seat 29. DETAILED DESCRIPTION

[0040] The embodiments of the utility model will be described below in combination with the drawings:

[0041] Embodiment one

[0042] Reference Figures 1 to 5The high-density miniature differential electric control wheel of the embodiment comprises a first wheel body 1, a second wheel body 2, a support frame 3, a support 5, a steering disc 8, a steering drive assembly 13, a wheel body drive assembly 14, a first driving device and a second driving device, the support frame 3 is arranged transversely parallel to a horizontal plane, the first wheel body 1 and the second wheel body 2 are arranged respectively on both sides of the middle part of the support frame 3, and the first wheel body 1 and the second wheel body 2 can rotate relative to the support frame 3 along a horizontal axis; the support 5 is provided with a mounting cavity 6, and the upper part of the support 5 is provided with a second opening 7 which is communicated with the mounting cavity 6; the support frame 3 is located in the middle part of the mounting cavity 6; the steering disc 8 is located in the mounting cavity 6 and is movably connected with the inner side of the mounting cavity 6 in an axial rotation manner, and the support frame 3 is rotatably arranged on the steering disc 8, and the steering disc 8 drives the support frame 3 to steer when the steering disc 8 rotates; the steering drive assembly 13 is arranged on the lower part of the support 5 and is in transmission connection with the steering disc 8; the wheel body drive assembly 14 is arranged on the upper part of the support 5 and is in transmission connection with the first wheel body 1 or the second wheel body 2 through the second opening 7; the first driving device is arranged on the support 5 and is in transmission connection with the steering drive assembly 13, and is used for driving the steering disc 8 to rotate; the second driving device is arranged on the support 5 and is in transmission connection with the wheel body drive assembly 14, and the second driving device drives the wheel body to rotate through the wheel body drive assembly 14.

[0043] The steering disc 8 is annular, the support frame 3 is arranged in a manner that the vertical center of the support frame 3 coincides with the center of the steering disc 8, and the steering disc 8 is provided with a first opening 9 in the middle part which can accommodate the rotation of the first wheel body 1 and the second wheel body 2.

[0044] The steering disc 8 is annular, which facilitates the rotation and driving of the steering disc 8, and the annular steering disc 8 rotates uniformly at each position, thereby prolonging the service life, and in addition, the annular steering disc 8 can provide fixing points for both ends of the support frame 3, thereby facilitating the installation of the support frame 3.

[0045] The lower outer side of the steering disc 8 is provided with a plurality of vertical teeth at intervals; the steering drive assembly 13 is provided with a steering gear 26 which is linked with the steering disc 8, and the first driving device drives the steering disc 8 to rotate through the steering gear 26.

[0046] In the above scheme, the vertical teeth on the outer side of the steering disc 8 are driven to drive the steering disc 8 to rotate (in other embodiments, the vertical teeth on the inner side of the steering disc 8 are driven to drive the steering disc 8 to rotate), thereby realizing the accurate rotation of the steering disc 8 and the rapid steering of the wheel body.

[0047] The wheel body driving assembly 14 comprises a rotating disc 15, a bevel gear 19 and a linkage shaft 20. The rotating disc 15 is movably connected to the inner side of the second opening 7 in an axially rotatable manner. The rotating disc 15 is provided with an upper engaging part 16 above the second opening 7 and a lower engaging part 17 towards the lower side of the mounting cavity 6. The second driving device is in driving connection with the upper engaging part 16. The bevel gear 19 is rotatably arranged on the steering disc 8 along a horizontal axis and is in engagement with the lower engaging part 17. The bevel gear 19 is fixedly connected to the middle part of the first wheel body 1 or the second wheel body 2 through the linkage shaft 20.

[0048] The upper engaging part 16 and the lower engaging part 17 are provided with teeth at intervals. The linkage shaft 20 is connected to the corresponding wheel body through the driving connection plate 21 arranged at the end thereof.

[0049] The wheel body driving assembly 14 has a small number of components, low cost and high transmission efficiency. The second opening 7 enables the wheel body driving assembly 14 to extend into the mounting cavity 6 from the upper part of the support 5 to drive the wheel body to rotate, thereby reducing the arrangement difficulty of the wheel body driving assembly 14, fully utilizing the structure of the support 5, improving the space utilization and reducing the space occupied by the product.

[0050] The rotating disc 15 is provided with a third opening 18 in the middle part for accommodating the rotation of the first wheel body 1 and the second wheel body 2.

[0051] The third opening 18 enables the upper part of the first wheel body 1 and the second wheel body 2 to be avoided, further reduces the height of the support 5, reduces the space occupied by the product in the vertical direction, makes the product suitable for robots with strict height limitations, and thus enables the robot to be designed to be more compact.

[0052] In the embodiment, the bevel gear 19 is fixedly connected to the middle part of the second wheel body 2 through the linkage shaft 20. The steering disc 8 is correspondingly provided with a mounting seat 11 extending towards the middle part of the second wheel body 2. The mounting seat 11 is provided with a mounting part 12 arranged vertically to align with the third opening 18. The bevel gear 19 is rotatably arranged on the mounting part 12 along a horizontal axis.

[0053] In another embodiment, the bevel gear 19 is fixedly connected to the middle part of the first wheel body 1 through the linkage shaft 20. The steering disc 8 is correspondingly provided with a mounting seat 11 extending towards the middle part of the first wheel body 1. The mounting seat 11 is provided with a mounting part 12 arranged vertically to align with the third opening 18. The bevel gear 19 is rotatably arranged on the mounting part 12 along a horizontal axis.

[0054] The above arrangement enables the bevel gear 19 to be fixed relative to the steering disc 8 and to rotate with the steering disc 8. On the one hand, it improves the compactness of the components and reduces the space occupied by the product. On the other hand, it reduces the installation difficulty of the wheel body driving assembly 14, thereby facilitating the production and maintenance of the product.

[0055] A transmission gear 27 is further included, the transmission gear 27 is linked with the upper engaging part 16, and the second driving device drives the rotating disc 15 to rotate through the transmission gear 27.

[0056] The shafts fixing the transmission gear 27 and the shaft fixing the steering driving assembly 13 are respectively arranged on two sides of the vertical surface of the vertical split support 5.

[0057] Since the transmission gear 27 and the steering driving assembly 13 are respectively arranged on the upper part and the lower part of the support 5, and combined with the above arrangement mode, the transmission gear 27 and the steering driving assembly 13 are staggered and arranged on two sides of the vertical surface of the vertical split support 5, so that the width of the support 5 can be compressed, and the product can be designed to be smaller.

[0058] The supporting frame 3 is installed on the upper end of the steering disc 8.

[0059] Specifically, the supporting frame 3 is a cylindrical supporting shaft 4 at both ends; the inner side of the steering disc 8 is provided with two supporting seats 10 arranged oppositely, and the supporting shaft 4 is movably connected with the corresponding supporting seat 10.

[0060] The above arrangement mode makes the steering disc 8 play a supporting role on the supporting frame 3, facilitates the arrangement of the wheel body driving assembly 14, and limits the supporting frame 3 to a position above the middle of the installation cavity 6, so that the axis of the wheel body is adjusted upward, and the support 5 can be arranged closer to the ground, thereby compressing the height of the product.

[0061] The first wheel body 1 and the second wheel body 2 rotate independently.

[0062] Since the two wheel bodies rotate independently, one wheel body is driven to rotate, and the other wheel body is driven to rotate, when the two wheel bodies rotate and turn, the friction of the wheel bodies on the ground is mainly sliding friction, which does not have obvious damage to the ground and the wheel bodies, thereby effectively protecting the ground and the wheel bodies, reducing the cost and the service life, and facilitating the steering of the wheel bodies, reducing the steering resistance, and reducing the power consumption of the second driving device.

[0063] The first driving device includes a first driving motor 22 and a first power steering member 23, the first driving motor 22 is horizontally arranged at one end of the support 5 away from the steering disc 8, and the first power steering member 23 is arranged between the first driving motor 22 and the wheel body driving assembly 14.

[0064] The second driving device includes a second driving motor 24 and a second power steering member 25, the second driving motor 24 is horizontally arranged at one end of the support 5 away from the steering disc 8, and the second power steering member 25 is arranged between the second driving motor 24 and the steering driving assembly 13.

[0065] The above arrangement makes the first driving device, the second driving device and the wheel body arranged at both ends of the support 5, thereby reducing the space occupied by the product in the height direction and the width direction of the support 5.

[0066] The power steering member belongs to the prior art device and is mainly used for power direction conversion, such as converting horizontal power to vertical output or converting vertical power to horizontal output. The power steering member of the present scheme adopts a gear scheme, and other structural schemes can also be used according to actual conditions.

[0067] In the embodiment, the transmission gear 27, the steering gear 26, the first power steering member 23 and the second power steering member 25 are all provided with mounting shafts which are vertically mounted to the support 5 and can rotate relative to the support 5 (a bearing is arranged between the mounting shaft and the support 5). The mounting and fixing of the transmission gear 27, the steering gear 26, the first power steering member 23 and the second power steering member 25 belong to the prior art, and will not be described in detail here.

[0068] Working principle:

[0069] Forward / reverse movement: the second driving device works to drive the transmission gear 27 to rotate, the transmission gear 27 transmits power to the rotating disc 15 (the upper engaging part 16), the rotating disc 15 (the lower engaging part 17) drives the bevel gear 19 to rotate, and since the bevel gear 19 is fixedly connected to the second wheel body 2 through the linkage shaft 20, the second wheel body 2 connected to the bevel gear 19 rotates around its own axis to drive the high-density micro differential electric control wheel to move forward or backward, and the first wheel body 1 moves simultaneously.

[0070] Steering: the first driving device works to drive the steering gear 26 to rotate, the steering gear 26 transmits power to the steering disc 8, the steering disc 8 rotates to drive the support frame 3 to rotate, and the first wheel body 1 and the second wheel body 2 rotate and complete steering when the support frame 3 rotates.

[0071] Turning: the first driving device works to complete steering (the rotation angle is less than ±90°) of the first wheel body 1 and the second wheel body 2, and then the second driving device works to drive the second wheel body 2 to rotate, and the first wheel body 1 moves simultaneously.

[0072] Lateral movement: the first driving device works to complete steering ±90° of the first wheel body 1 and the second wheel body 2, and then the second driving device works to drive the second wheel body 2 to rotate, and the first wheel body 1 moves simultaneously.

[0073] Ground adaptation: during movement, the first wheel body 1 and / or the second wheel body 2 contact a slope, and the wheel body drives the support frame 3 to rotate around the horizontal axis of the center of the support frame 3.

[0074] Compared with the prior art, the high-density micro differential electric control wheel has the following beneficial effects:

[0075] (1) The high-density micro differential electric control wheel has the mounting cavity 6 arranged in the support 5, and the support frame 3 provided with the first wheel body 1 and the second wheel body 2 is arranged in the middle of the mounting cavity 6, so that the support 5 is closer to the ground, and the space occupied by the utility model in the vertical height is reduced.

[0076] (2) The high-density micro differential electric control wheel is provided with the first wheel body 1 and the second wheel body 2, and the two wheel bodies share the load, so that the utility model is used for the robot with a large load demand.

[0077] (3) The first wheel body 1 and the second wheel body 2 are turned by the steering disc 8 arranged outside the two wheel bodies, so that the precise turning of the wheel bodies is more efficiently realized, the turning of the two wheel bodies is still realized smoothly under the condition of bearing a large load, and the problems of a large turning radius and a slow turning process (a large friction force between the wheel body and the ground) of the existing large-load omnidirectional driving unit are solved.

[0078] (4) The high-density micro differential electric control wheel is provided with the support frame 3 which is rotatably arranged on the steering disc 8, so that the support frame 3 can swing and rotate to the left and right sides, so as to ensure that the utility model can adapt to a harsh working environment, the two wheel bodies keep in contact with the ground by swinging with the support frame 3 on the uneven road surface, the utility model can keep supporting the vehicle body, and the problems that the existing heavy-load omnidirectional driving unit cannot be applied to the application occasions with a poor road condition and a poor environment are effectively solved.

[0079] (5) Compared with the steering driving assembly 13 and the wheel body driving assembly 14 which are arranged on the upper part or the lower part of the support 5, so that the upper part or the lower part of the support 5 needs to be long enough to provide sufficient mounting positions, the steering driving assembly 13 and the wheel body driving assembly 14 are arranged on the upper part and the lower part of the support 5 respectively, the two driving assemblies are arranged in a separated mode, so that the length of the support 5 can be shortened, the utility model is designed to be more compact, the rotation and the driving of the wheel body are separated in the vertical space, the steering driving assembly 13 drives the wheel body to turn in the lower part of the vertical space, the wheel body driving assembly 14 drives the wheel body to rotate in the upper part of the vertical space, and the rotation and the driving of the wheel body are avoided from interfering with each other.

[0080] (6) The high-density micro differential electric control wheel is not designed in an integral mode, but in a patching mode, so that the production rate is improved, the problems of difficult disassembly and maintenance of each component, inconvenience in maintenance, a large volume, high equipment cost and high production cost are overcome.

[0081] (7) The high-density micro differential electric control wheel is a robot driving unit integrating high-load, high-reliability speed reducer, low-profile vehicle body and small size, which is suitable for narrow and small mobile robots;

[0082] (8) The robot using the high-density micro differential electric control wheel simplifies the internal structure, and is convenient for installation, control and maintenance.

[0083] Embodiment Two

[0084] Referring to Figure 6 , this embodiment is a variant of Embodiment One, and the difference from Embodiment One is that the positions of the support frame 3 and the steering drive assembly 13 are different.

[0085] In this embodiment, the support frame 3 is installed in the middle of the steering disc 8.

[0086] A plurality of vertical teeth are arranged on the inner side of the lower part of the steering disc 8.

[0087] The steering drive assembly 13 is provided with at least one steering gear 26 and at least one transmission member 28. The steering gear 26 is located on the inner side of the steering disc 8 and is linked with the steering disc 8. The transmission member 28 is arranged between the first driving device and the steering gear 26. The first driving device drives the steering disc 8 to rotate through the transmission member 28 and the steering gear 26.

[0088] In this embodiment, the bracket 5 is provided with an axle seat 29 for installing the transmission member 28. The transmission member 28 is a gear with teeth on the upper and lower parts, and the radii of the upper and lower parts are different.

[0089] Embodiment Three

[0090] Referring to Figure 7 , this embodiment is a variant of Embodiment One, and the difference from Embodiment One is that the positions of the support frame 3 and the steering drive assembly 13 are different.

[0091] In this embodiment, the support frame 3 is installed on the upper part of the steering disc 8.

[0092] A plurality of vertical teeth are arranged on the inner side of the lower part (or middle part) of the steering disc 8.

[0093] The steering drive assembly 13 is provided with at least one steering gear 26 and at least one transmission member 28. The steering gear 26 is located on the inner side of the steering disc 8 and is linked with the steering disc 8. The transmission member 28 is arranged between the first driving device and the steering gear 26. The first driving device drives the steering disc 8 to rotate through the transmission member 28 and the steering gear 26.

[0094] In this embodiment, the bracket 5 is provided with an axle seat 29 for installing the transmission member 28. The transmission member 28 is a gear with teeth on the upper and lower parts, and the radii of the upper and lower parts are different.

[0095] Embodiment Four

[0096] The embodiment is a variant of the embodiment one, and the difference from the embodiment one is that the positions of the steering drive assembly and the wheel body drive assembly are arranged.

[0097] The high-density micro differential electric control wheel comprises a first wheel body, a second wheel body, a support frame, a support, a steering disc, a steering drive assembly, a wheel body drive assembly, a first driving device and a second driving device, the support frame is arranged horizontally and transversely to a horizontal plane, the first wheel body and the second wheel body are arranged on both sides of the middle part of the support frame respectively, the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis, the support is provided with a mounting cavity, the support frame is located in the middle part of the mounting cavity, the steering disc is located in the mounting cavity and is movably connected to the inner side of the mounting cavity in an axial direction, the support frame is movably arranged on the steering disc, and the steering disc drives the support frame to rotate when the steering disc rotates, the steering drive assembly is arranged at the lower part of the support and is in transmission connection with the steering disc, the wheel body drive assembly is arranged at the upper part of the support and is in transmission connection with the first wheel body or the second wheel body, the first driving device is arranged on the support and is in transmission connection with the steering drive assembly, and the first driving device is used for driving the steering disc to rotate, the second driving device is arranged on the support and is in transmission connection with the wheel body drive assembly, and the second driving device drives the wheel body in transmission connection with the wheel body drive assembly to rotate through the wheel body drive assembly.

[0098] Compared with the prior art, the high-density micro differential electric control wheel of the utility model, the steering drive assembly and the wheel body drive assembly are arranged on the upper and lower parts of the support respectively, the two driving assemblies are arranged in a separated mode, so that the length of the support can be shortened, and the utility model is designed to be more compact.

[0099] According to the disclosure and teaching of the above description, the person skilled in the art of the utility model can also change and modify the above embodiments. Therefore, the utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the utility model should also fall within the protection scope of the claims of the utility model. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the utility model.

Claims

1. A high density micro-differential electronically controlled wheel, characterized in that, The utility model relates to a kind of steering wheel and wheel body driving device, including: First wheel body; Second wheel body; Support frame is laterally arranged in parallel horizontal plane, and first wheel body and second wheel body are respectively arranged in the both sides of the middle part of support frame, and first wheel body and second wheel body can be rotated along a horizontal axis relative to support frame; Support, provided with mounting cavity;Support frame is located in the middle part of mounting cavity; Steering wheel, located in mounting cavity and is axially rotatable with the inside of mounting cavity movably connected, support frame is rotatably arranged on steering wheel, and steering wheel is rotated to drive support frame steering; Steering drive assembly, arranged in the lower part of support, and with steering wheel transmission connection; Wheel body drive assembly, arranged in the upper part of support, and with first wheel body or second wheel body transmission connection; First driving device, arranged on support, and with steering drive assembly transmission connection, for driving steering wheel rotation; Second driving device, arranged on support, and with wheel body drive assembly transmission connection, and second driving device drives wheel body rotation through wheel body drive assembly with wheel body drive assembly transmission connection.

2. The high-density micro-differential electronically controlled wheel according to claim 1, characterized in that, First wheel body and second wheel body relatively independent rotation.

3. The high-density micro-differential electronically controlled wheel according to claim 1, characterized in that, Steering wheel is annular, and the vertical center of support frame is coincident with the center of steering wheel, and the middle part of steering wheel is provided with first aperture that can accommodate the rotation of first wheel body and second wheel body.

4. The high-density micro-differential electronically controlled wheel according to claim 3, characterized in that, The outside of the lower part of steering wheel is provided with a plurality of vertical teeth along the circumference, and the steering drive assembly is provided with at least one steering gear, and the steering gear is linked with the steering wheel, and the first driving device drives the steering wheel to rotate through the steering gear. Alternatively, support frame is installed in the middle part of steering wheel, and the inside of the lower part of steering wheel is provided with a plurality of vertical teeth along the circumference, and the steering drive assembly is provided with at least one steering gear and at least one transmission member, and the steering gear is located inside the steering wheel and is linked with the steering wheel, and the transmission member is arranged between the first driving device and the steering gear, and the first driving device drives the steering wheel to rotate through the transmission member and the steering gear. Alternatively, support frame is installed on the upper part of steering wheel, and the inside of the middle part or lower part of steering wheel is provided with a plurality of vertical teeth along the circumference, and the steering drive assembly is provided with at least one steering gear and at least one transmission member, and the steering gear is located inside the steering wheel and is linked with the steering wheel, and the transmission member is arranged between the first driving device and the steering gear, and the first driving device drives the steering wheel to rotate through the transmission member and the steering gear.

5. The high-density micro-differential electronically controlled wheel according to claim 1, characterized in that, The upper part of support is provided with second aperture that communicates with mounting cavity; Wheel body drive assembly includes rotary disc, bevel gear and linkage shaft, the rotary disc is axially rotatable with the inside of second aperture movably connected, the rotary disc is provided with upper engaging part above second aperture, and the rotary disc is provided with lower engaging part towards the lower side of mounting cavity;Second driving device is transmission connected with upper engaging part;Bevel gear is rotatably arranged on steering disc along a horizontal axis, and bevel gear is engaged with lower engaging part; Bevel gear is fixedly connected with the middle part of first wheel body through linkage shaft, or bevel gear is fixedly connected with the middle part of second wheel body through linkage shaft.

6. The high-density micro-differential electronically controlled wheel according to claim 5, characterized in that, Rotary disc is provided with third aperture that can accommodate the rotation of first wheel body and second wheel body in the middle part.

7. The high-density micro-differential electronically controlled wheel according to any one of claims 5 to 6, characterized in that, It also includes at least one transmission gear, and the transmission gear is linked with the upper engaging part, and the second driving device drives the rotary disc to rotate through the transmission gear.

8. The high-density micro-differential electronically controlled wheel according to claim 7, characterized in that, The shaft of the transmission gear and the shaft of the steering drive assembly are respectively arranged on the two sides of a vertical plane that divides the support.

9. The high-density micro-differential electronically controlled wheel according to claim 1, characterized in that, The first driving device and the second driving device are arranged at one end of the support away from the steering disc.

10. High density micro-differential electronically controlled wheel, characterized by the fact that, Comprise: The first wheel body; The second wheel body; The support frame is arranged transversely parallel to the horizontal plane, and the first wheel body and the second wheel body are respectively arranged at both sides of the middle part of the support frame, and the first wheel body and the second wheel body can rotate relative to the support frame along a horizontal axis; The support frame is provided with a mounting cavity; The steering disc is located in the mounting cavity and is movably connected to the inner side of the mounting cavity in an axial direction, and the support frame is movably arranged on the steering disc, and the steering disc drives the support frame to turn when it rotates; The steering driving assembly is arranged on the upper part of the support frame and is in transmission connection with the steering disc; The wheel body driving assembly is arranged on the lower part of the support frame and is in transmission connection with the first wheel body or the second wheel body; The first driving device is arranged on the support frame and is in transmission connection with the steering driving assembly, and is used for driving the steering disc to rotate; The second driving device is arranged on the support frame and is in transmission connection with the wheel body driving assembly, and the second driving device drives the wheel body in transmission connection with the wheel body driving assembly to rotate through the wheel body driving assembly.

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