A walking wheel module using a frameless motor and built-in brakes

Abstract

This utility model discloses a walking wheel module using a frameless motor and a built-in brake, belonging to the technical field of walking wheel modules. This walking wheel module includes a walking wheel assembly, a reduction assembly, and a drive assembly. The drive assembly drives the reduction assembly to rotate, and the reduction assembly drives the walking wheel assembly. The drive assembly includes a housing, a permanent magnet brake, a frameless motor, a rear end cover, and a tail cover. The housing has an internal mounting groove. The permanent magnet brake and the frameless motor are arranged from left to right inside the mounting groove. The permanent magnet brake is sleeved on the output shaft of the frameless motor. The rear end cover is located on the outer side of the housing, and the tail cover is located at the end of the rear end cover furthest from the housing. The tail cover and the housing are connected by several anti-loosening bolts. This utility model integrates the permanent magnet brake and the frameless motor within the housing, reducing corrosion and improving space utilization. The permanent magnet brake has a fast braking response.

Description

Technical Field

[0001] This utility model relates to the field of walking wheel module technology, specifically a walking wheel module using a frameless motor and a built-in brake. Background Technology

[0002] A walking wheel module is a modular component integrating drive, transmission, support, and control functions, primarily used in the mobility systems of various mobile devices (such as robots, automated handling equipment, and intelligent vehicles). The AGV walking wheel module is the core component for AGVs to achieve autonomous movement, precise positioning, and efficient operation; its performance directly affects the AGV's operating efficiency, stability, and applicable scenarios. Based on the general walking wheel module, it has been optimized for the automation, high precision, and high stability requirements of AGVs. Common types include single-wheel drive modules, dual-wheel differential modules, and multi-wheel load-bearing modules.

[0003] Based on the above, the inventors have discovered the following problems: Current AGV walking wheel modules mostly use frame motors paired with external brakes. Frame motors are relatively large, placing significant pressure on the spatial layout within the limited space of an AGV, which is detrimental to the miniaturization and lightweighting of AGVs. External brakes are easily affected by external environmental factors during braking, leading to decreased braking performance and affecting the reliability of AGV operation. Moreover, current brakes have a slow response speed and rely on mechanical structures such as springs to provide braking force. After long-term use, torque attenuation is easily caused by spring fatigue, making it impossible to guarantee a stable braking effect and failing to meet the needs of AGVs in conditions such as rapid start-stop and precise positioning.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and provided a walking wheel module that uses a frameless motor and built-in brake, in order to achieve a more practical value. Utility Model Content

[0005] The purpose of this invention is to provide a walking wheel module using a frameless motor and a built-in brake to solve the problems mentioned in the background art.

[0006] In view of the above problems, the technical solution proposed by this utility model is as follows:

[0007] A walking wheel module using a frameless motor and a built-in brake includes a walking wheel assembly, a reduction assembly, and a drive assembly. The reduction assembly is disposed on the outer side of the walking assembly, and the drive assembly is disposed on the outer side of the reduction assembly. The drive assembly is used to drive the reduction assembly to rotate and to drive the walking wheel assembly. The drive assembly includes a housing, a permanent magnet brake, a frameless motor, a rear end cover, and a tail cover. The housing has an internal mounting groove. The permanent magnet brake and the frameless motor are disposed inside the mounting groove from left to right. The permanent magnet brake is sleeved on the output shaft of the frameless motor. The rear end cover is disposed on the outer side of the housing, and the tail cover is disposed at the end of the rear end cover away from the housing. The tail cover and the housing are connected by a number of anti-loosening bolts.

[0008] Furthermore, the permanent magnet brake includes a permanent magnet assembly, the outer wall of which is fixedly connected to the inner wall of the mounting groove. The permanent magnet assembly has a brake disc inside, the longitudinal section of which is "T" shaped. A friction pad is installed on the outer wall of the brake disc on the side opposite to the permanent magnet assembly, and an electromagnetic coil is installed on one side of the outer wall of the permanent magnet assembly.

[0009] The beneficial effect of adopting the above-mentioned further solution is that, since the brake disc is connected to the motor shaft of the frameless motor via a spline, the brake disc can have a certain distance of movement on the motor shaft, i.e., axial sliding under the action of the permanent magnet assembly and the electromagnetic coil; through the cooperative use of the permanent magnet assembly and the electromagnetic coil, when the electromagnetic coil is energized, it generates a magnetic field opposite to the magnetic field of the permanent magnet assembly. The magnetic force of the electromagnetic coil cancels out the magnetic force of the permanent magnet assembly, and the permanent magnet assembly has no magnetic attraction on the brake disc, i.e., the friction pads are separated from the permanent magnet assembly. Under the drive of the frameless motor, the brake disc rotates freely synchronously with the motor shaft, and the traveling wheel assembly is in an uncontrolled state. Braking status: When the electromagnetic coil is de-energized, the magnetic field opposite to that of the permanent magnet assembly disappears, and the permanent magnet assembly exerts a magnetic attraction on the brake disc, meaning the friction pads are in contact with the permanent magnet assembly. This contact generates friction, and the wheel assembly is in a braking state. When it is necessary to return the wheel assembly to an unbraked state, the electromagnetic coil is energized to generate a reverse magnetic field. This reverse magnetic field exerts a thrust on the brake disc opposite to the attraction of the permanent magnet. The brake disc is usually made of soft magnetic material, which is magnetized in the reverse magnetic field and generates an induced magnetic force in the same direction as the magnetic field. This induced magnetic force pushes the brake disc away from the permanent magnet assembly, causing the brake disc to reset.

[0010] Furthermore, the friction pad is made of one of the following materials: a semi-metallic matrix composite material, a carbon-ceramic composite material, or a sintered metal material.

[0011] The beneficial effects of adopting the above-mentioned further solutions are that the semi-metallic matrix composite material, carbon ceramic composite material or sintered metal material has high temperature resistance and wear resistance. During the braking process, the friction pad frequently comes into contact with the permanent magnet component. By setting the friction pad as one of the semi-metallic matrix composite material, carbon ceramic composite material or sintered metal material, it can be ensured that the friction pad still has good friction performance under long-term and high-frequency braking, is not easy to wear and deform, extends service life, reduces the frequency of maintenance and replacement due to friction pad damage, and ensures stable operation of the module.

[0012] Furthermore, the frameless motor includes a stator and a rotor. The outer wall of the stator is fixedly connected to the inner wall of the mounting groove. The rotor is located inside the stator. A motor inner sleeve is installed on the inner wall of the rotor. A motor shaft is located inside the motor inner sleeve. One end of the motor shaft extends into the interior of the brake disc, and the motor shaft is connected to the brake disc via a spline. The stator is made of stacked silicon steel sheets, and a permanent magnet is installed inside the rotor.

[0013] The beneficial effects of adopting the above-mentioned further solution are that the stator is made of laminated silicon steel sheets, and the stator winding is made of copper material with high conductivity; permanent magnets are installed inside the rotor, and the permanent magnets are embedded inside the rotor core. Through the cooperation of the stator and rotor, a stable magnetic field is formed. The rotor and stator work together to achieve efficient electromagnetic conversion, allowing the frameless motor to output stable power; the structure of the motor inner sleeve and the motor shaft ensures smooth rotation of the motor shaft. At the same time, the motor shaft is splinedly connected to the brake disc, so that the power transmission and braking control are closely connected, improving the coordination between drive and braking, and allowing the walking wheel module to run smoothly.

[0014] Furthermore, the drive assembly also includes an encoder grating and a servo driver, with the encoder mounted on the end of the motor shaft away from the brake disc and the servo driver mounted between the rear end cover and the tail cover.

[0015] The beneficial effect of adopting the above-mentioned further solution is that the encoder magnetic grid is installed at the end of the motor shaft, which can collect information such as the motor shaft speed and position in real time. Based on this information, the servo driver can accurately adjust the running state of the frameless motor, realize high-precision control of the speed and position of the walking wheel module, and improve the driving accuracy of the AGV.

[0016] Furthermore, the reduction assembly includes a wheel-type planetary reducer, whose input shaft is connected to the motor shaft. The wheel-type planetary reducer housing has a first annular flange and a second annular flange on both sides. The wheel-type planetary reducer is connected to the housing by a first fastening bolt. The advantages of this further solution are that the wheel-type planetary reducer is reliably connected to the housing via the first fastening bolt; its input shaft is connected to the motor shaft, effectively reducing the output speed of the frameless motor and increasing torque, allowing the walking wheel assembly to operate at a suitable speed and torque. When the AGV is carrying heavy loads, the increased torque from the wheel-type planetary reducer ensures powerful drive of the walking wheel module.

[0017] Furthermore, the walking wheel assembly includes a wheel hub, the wheel planetary reducer is disposed inside the wheel hub, the wheel hub and the wheel planetary reducer are connected by a second fastening bolt, and a rubber-coated wheel is fitted on the outside of the wheel hub.

[0018] The beneficial effects of adopting the above-mentioned further solution are that the wheel hub and the wheel planetary reducer are connected by the second fastening bolt, making the connection between the entire walking wheel module stable; by setting a rubber-coated wheel on the outside of the wheel hub, the rubber-coated wheel has good buffering and shock absorption performance, which reduces the noise generated when the AGV is running and increases the friction with the ground, ensuring walking stability.

[0019] Furthermore, the housing, rear end cover, and tail cover are all made of high-strength aluminum alloy.

[0020] The advantages of adopting the above-mentioned further solutions are that by using high-strength aluminum alloy for the housing, rear end cover, and tail cover, the structural rigidity of the housing, rear end cover, and tail cover is ensured, thereby ensuring the overall structural stability of the walking wheel module; at the same time, the high-strength aluminum alloy material is lightweight, which can reduce the overall weight of the walking wheel module; in actual use, the shape of the housing can be optimized according to the overall layout of the AGV walking wheel module, minimizing the volume and improving space utilization while meeting strength requirements.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows: This walking wheel module using a frameless motor and built-in brake integrates the permanent magnet brake and frameless motor inside the housing, avoiding external dust and moisture corrosion and reducing the failure rate. Simultaneously, without affecting the driving and braking of the walking wheel assembly, the overall structure of the walking wheel module is more compact, shortening the axial dimension of the AGV walking wheel module and effectively improving the space utilization of the AGV chassis. The permanent magnet brake provides a fast response speed, generating braking force within milliseconds, significantly reducing the response time compared to traditional brakes. This meets the high-precision control requirements of AGV vehicles under conditions such as rapid start-stop and emergency braking, improving the safety and stability of AGV operation. Furthermore, because the permanent magnet assembly provides a stable magnetic field, the braking torque is stable and reliable, not easily affected by external environmental interference, ensuring good braking performance even in harsh working environments. Attached Figure Description

[0022] Figure 1 A three-dimensional structural diagram of a walking wheel module using a frameless motor and a built-in brake provided by this utility model;

[0023] Figure 2 An exploded three-dimensional structural diagram of a walking wheel module using a frameless motor and a built-in brake, provided for this utility model;

[0024] Figure 3 An exploded three-dimensional structural diagram of a drive assembly for a walking wheel module using a frameless motor and a built-in brake, provided for this utility model;

[0025] Figure 4 An exploded three-dimensional structural diagram of a permanent magnet brake for a walking wheel module using a frameless motor and a built-in brake, provided for this utility model;

[0026] Figure 5 An exploded three-dimensional structural diagram of a frameless motor using a frameless motor and a walking wheel module with a built-in brake, provided for this utility model.

[0027] In the diagram: 1. Walking wheel assembly; 11. Wheel hub; 12. Rubber-coated wheel; 2. Reduction assembly; 21. Wheel planetary reducer; 3. Drive assembly; 31. Housing; 32. Permanent magnet brake; 3201. Permanent magnet assembly; 3202. Brake disc; 3203. Electromagnetic coil; 33. Frameless motor; 3301. Stator; 3302. Rotor; 3303. Motor inner sleeve; 3304. Motor shaft; 34. Rear end cover; 35. Encoder magnetic grating; 36. Servo driver; 37. Tail cover. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figures 1-5 This utility model provides a technical solution: a walking wheel module using a frameless motor and a built-in brake, including a walking wheel assembly 1, a reduction assembly 2, and a drive assembly 3. The reduction assembly 2 is disposed on the outer side of the walking assembly, and the drive assembly 3 is disposed on the outer side of the reduction assembly 2. The drive assembly 3 is used to drive the reduction assembly 2 to rotate, and the reduction assembly 2 is used to drive the walking wheel assembly 1. The drive assembly 3 includes a housing 31, a permanent magnet brake 32, a frameless motor 33, a rear end cover 34, and a tail cover 37. The housing 31 has an internal mounting groove. The permanent magnet brake 32 and the frameless motor 33 are disposed from left to right inside the mounting groove. The brake 32 is mounted on the output shaft of the frameless motor 33. The rear end cover 34 is located on the outer side of the housing 31, and the tail cover 37 is located at the end of the rear end cover 34 away from the housing 31. The tail cover 37 and the housing 31 are connected by several anti-loosening bolts, thus embedding the permanent magnet brake 32 and the frameless motor 33 inside the housing 31. This prevents the permanent magnet brake 32 and the frameless motor 33 from being externally mounted and subject to dust and moisture corrosion, reducing the failure rate. Compared with existing models using framed motors and external brakes, this design makes the overall structure of the walking wheel module more compact, shortening the axial dimension of the AGV walking wheel module and effectively improving the space utilization of the AGV chassis. The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] Please see Figures 1-5This utility model provides a technical solution: a permanent magnet brake 32 includes a permanent magnet assembly 3201, the outer wall of which is fixedly connected to the inner wall of the mounting groove. A brake disc 3202 is provided inside the permanent magnet assembly 3201. The longitudinal section of the brake disc 3202 is "T"-shaped. A friction pad is installed on the outer wall of the brake disc 3202 on the side opposite to the permanent magnet assembly 3201. An electromagnetic coil 3203 is installed on one side of the outer wall of the permanent magnet assembly 3201. The friction pad is made of one of the following materials: a semi-metallic composite material, a carbon-ceramic composite material, or a sintered metal material. A frameless motor 33 includes a stator 3301 and a rotor 33. 02. The outer wall of the stator 3301 is fixedly connected to the inner wall of the mounting groove. The stator 3301 houses a rotor 3302. A motor inner sleeve 3303 is installed on the inner wall of the rotor 3302. A motor shaft 3304 is located inside the motor inner sleeve 3303. One end of the motor shaft 3304 extends into the brake disc 3202, and the end of the motor shaft 3304 is connected to the brake disc 3202 via a spline. The stator 3301 is made of stacked silicon steel sheets. A permanent magnet is installed inside the rotor 3302. The drive assembly 3 also includes an encoder magnetic grating 35 and a servo driver 36. The encoder is installed on the motor shaft 3304 away from the brake disc. At one end of 3202, the servo driver 36 is installed between the rear end cover 34 and the tail cover 37. When the electromagnetic coil 3203 is energized, it generates a magnetic field opposite to the magnetic field of the permanent magnet assembly 3201. The magnetic force of the electromagnetic coil 3203 cancels out the magnetic force of the permanent magnet assembly 3201, and the permanent magnet assembly 3201 has no magnetic attraction to the brake disc 3202. That is, the friction pad is separated from the permanent magnet assembly 3201, and the brake disc 3202 rotates freely synchronously with the motor shaft 3304 under the drive of the frameless motor 33. The walking wheel assembly 1 is in an unbraked state. When the electromagnetic coil 3203 is de-energized, it interacts with the permanent magnet assembly 3201. When the magnetic field with the opposite direction disappears, the permanent magnet assembly 3201 has a magnetic attraction to the brake disc 3202, that is, the friction plate is in contact with the permanent magnet assembly 3201, and friction is generated after contact, and the walking wheel assembly 1 is in a braking state; through the cooperation of the frameless motor 33, the encoder magnetic grating 35 and the servo driver 36, when the frameless motor 33 is working, the encoder magnetic grating 35 collects information such as the speed and position of the motor shaft 3304, and the servo driver 36 precisely adjusts the running state of the frameless motor 33 based on this information, so as to achieve high-precision control of the speed and position of the walking wheel module and improve the driving accuracy of the AGV.

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Please see Figures 1-5 This utility model provides a technical solution: the reduction assembly 2 includes a wheel-type planetary reducer 21, the input shaft of the wheel-type planetary reducer 21 is connected to the motor shaft 3304, the outer sides of the wheel-type planetary reducer 21 are provided with a first annular flange and a second annular flange, the wheel-type planetary reducer 21 is connected to the housing 31 by a first fastening bolt, the traveling wheel assembly 1 includes a hub 11, the wheel-type planetary reducer 21 is disposed inside the hub 11, the hub 11 is connected to the wheel-type planetary reducer 21 by a second fastening bolt, the outer side of the hub 11 is fitted with a rubber-coated wheel 12, the housing 31, the rear end cover 34 and the tail cover 37 are all Made of high-strength aluminum alloy, the wheel planetary reducer 21 is connected to the housing 31 by the first fastening bolt, and the wheel hub 11 is connected to the wheel planetary reducer 21 by the second fastening bolt, making the connection between the entire walking wheel module stable. When the frameless motor 33 is working and the electromagnetic coil 3203 is energized, the input shaft of the wheel planetary reducer 21 is driven by the motor shaft 3304, which can effectively reduce the output speed of the motor shaft 3304 of the frameless motor 33 and increase the torque, so that the walking wheel assembly 1 can run at a suitable speed and torque. When the AGV trolley is carrying heavy goods, the torque increased by the wheel planetary reducer 21 can ensure that the walking wheel module is driven powerfully. Specifically, the working principle of this frameless motor and built-in brake-equipped walking wheel module is as follows: During use, when the frameless motor 33 is operating and the electromagnetic coil 3203 is energized, the input shaft of the wheel planetary reducer 21 is connected to the motor shaft 3304, effectively reducing the output speed of the motor shaft 3304 of the frameless motor 33 and increasing torque. This allows the walking wheel assembly 1 to operate at a suitable speed and torque. When the AGV is carrying heavy loads, the increased torque from the wheel planetary reducer 21 ensures powerful drive for the walking wheel module. When the AGV needs to start / stop quickly or brake urgently, the electromagnetic coil 3203 is de-energized, and the magnetic field opposite to the magnetic field of the permanent magnet assembly 3201 disappears, and the permanent magnet assembly 3201... There is a magnetic attraction between the brake disc 3202 and the permanent magnet assembly 3201. The friction pad is in contact with the permanent magnet assembly 3201, and friction is generated after contact. The walking wheel assembly 1 is in a braking state. When the AGV needs to release the brake and start moving again, the electromagnetic coil 3203 is energized again to generate a reverse magnetic field. The reverse magnetic field will generate a thrust on the brake disc 3202 in the opposite direction to the attraction of the permanent magnet. The brake disc 3202 is usually made of soft magnetic material. In the reverse magnetic field, it will be magnetized and generate an induced magnetic force in the same direction as the magnetic field. The induced magnetic force pushes the brake disc 3202 to reset, so that the brake disc 3202 moves away from the permanent magnet assembly 3201. Then, the walking wheel assembly 1 is rotated under the drive of the frameless motor 33.

[0033] It should be noted that all standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. Furthermore, since this application is mainly used to protect mechanical devices, the control methods and circuit connections will not be explained in detail in this application.

Claims

1. A walking wheel module using a frameless motor and a built-in brake, characterized in that, The device includes a walking wheel assembly (1), a reduction assembly (2), and a drive assembly (3). The reduction assembly (2) is located on the outer side of the walking assembly, and the drive assembly (3) is located on the outer side of the reduction assembly (2). The drive assembly (3) is used to drive the reduction assembly (2) to rotate, and the reduction assembly (2) is used to drive the walking wheel assembly (1). The drive assembly (3) includes a housing (31), a permanent magnet brake (32), a frameless motor (33), a rear end cover (34), and a tail cover. (37) The housing (31) has an installation groove inside. The permanent magnet brake (32) and the frameless motor (33) are arranged inside the installation groove from left to right. The permanent magnet brake (32) is sleeved on the output shaft of the frameless motor (33). The rear end cover (34) is located on the outside side of the housing (31). The tail cover (37) is located at the end of the rear end cover (34) away from the housing (31). The tail cover (37) and the housing (31) are connected by several anti-loosening bolts.

2. A walking wheel module using a frameless motor and a built-in brake as described in claim 1, characterized in that, The permanent magnet brake (32) includes a permanent magnet assembly (3201), the outer wall of which is fixedly connected to the inner wall of the mounting groove. The permanent magnet assembly (3201) has a brake disc (3202) inside, the longitudinal section of which is "T" shaped. A friction pad is installed on the outer wall of the brake disc (3202) on the side opposite to the permanent magnet assembly (3201). An electromagnetic coil (3203) is installed on one side of the outer wall of the permanent magnet assembly (3201).

3. A walking wheel module using a frameless motor and a built-in brake as described in claim 1, characterized in that, The frameless motor (33) includes a stator (3301) and a rotor (3302). The outer wall of the stator (3301) is fixedly connected to the inner wall of the mounting groove. The rotor (3302) is provided inside the stator (3301). A motor inner sleeve (3303) is installed on the inner wall of the rotor (3302). A motor shaft (3304) is provided inside the motor inner sleeve (3303). One end of the motor shaft (3304) extends into the interior of the brake disc (3202), and one end of the motor shaft (3304) is connected to the brake disc (3202) by a spline.

4. A walking wheel module using a frameless motor and a built-in brake according to claim 1, characterized in that, The drive assembly (3) also includes an encoder grating (35) and a servo driver (36), the encoder being mounted on the end of the motor shaft (3304) away from the brake disc (3202), and the servo driver (36) being mounted between the rear end cover (34) and the tail cover (37).

5. A walking wheel module using a frameless motor and a built-in brake according to claim 1, characterized in that, The reduction assembly (2) includes a wheel planetary reducer (21), the input shaft of the wheel planetary reducer (21) is connected to the motor shaft (3304) for transmission, the outer sides of the wheel planetary reducer (21) are provided with a first annular flange and a second annular flange, and the wheel planetary reducer (21) is connected to the housing (31) by a first fastening bolt.

6. A walking wheel module using a frameless motor and a built-in brake according to claim 5, characterized in that, The walking wheel assembly (1) includes a wheel hub (11), the wheel planetary reducer (21) is disposed inside the wheel hub (11), the wheel hub (11) and the wheel planetary reducer (21) are connected by a second fastening bolt, and the wheel hub (11) is fitted with a rubber-coated wheel (12).

7. A walking wheel module using a frameless motor and a built-in brake according to claim 1, characterized in that, The housing (31), rear end cover (34) and tail cover (37) are all made of high-strength aluminum alloy.

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