An integrated servo wheel module for a robot

Abstract

The utility model discloses an integrated servo wheel module for robot relates to robot walking wheel technical field, including planetary reducer, rubber wheel and motor body, and the planetary reducer includes planet carrier, and the planet carrier is rotationally connected with the adapted internal gear ring, and the inside of planet carrier is equipped with a plurality of planetary gear with internal gear ring meshing on the circumference, and the rubber wheel is fixedly arranged on the internal gear ring, and forms integrated structure with planetary reducer, and the motor body is fixedly arranged at one side of planet carrier, and the output of motor body is fixedly equipped with the sun gear with planetary gear meshing, and the one end of motor body is fixedly equipped with motor cover away from planetary reducer, and the motor cover is equipped with the driver for driving motor body, and the motor body is equipped with binding post, and the binding post is connected driver. The utility model is compact, saves the space, and does not need the additional separate driver, and the integration level is high.

Description

Technical Field

[0001] This utility model belongs to the field of robot walking wheel technology, specifically relating to an integrated servo wheel module for robots. Background Technology

[0002] With the rapid development of intelligent warehousing and logistics and the robotics industry, AGVs, AMRs, and some wheeled robots all use precisely controlled wheels as their motion actuators. However, existing wheels consist of optional components such as motors, reducers, and wheels, which are independent of each other and have a large overall size after assembly. Furthermore, the wheels lack built-in drivers and require external drivers, further increasing space consumption. Therefore, we have designed and proposed an integrated servo wheel module for robots. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies, such as bulky size and lack of built-in drivers, by proposing an integrated servo wheel module for robots. This integrated servo wheel module for robots features a compact layout, saves space, and has a high degree of integration.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] Design an integrated servo wheel module for robots, including a planetary reducer, a rubber wheel, and a motor body. The planetary reducer includes a planet carrier with a matching internal gear ring rotatably connected to it. Multiple planetary gears meshing with the internal gear ring are arranged circumferentially inside the planet carrier. The rubber wheel is fixedly mounted on the internal gear ring, forming an integral structure with the planetary reducer. The motor body is fixedly mounted on one side of the planet carrier. A sun gear meshing with the planetary gears is provided on the output end of the motor body. A motor cover is fixedly mounted on the end of the motor body away from the planetary reducer. A driver for driving the motor body is located inside the motor cover. A terminal block is provided on the motor body, and the terminal block is connected to the driver.

[0006] Furthermore, the motor body is a brushless DC motor.

[0007] Furthermore, the motor body has lugs on both sides, and the lugs have multiple first mounting holes.

[0008] Furthermore, the planetary carrier is provided with a flange for fixing the motor body, the flange is provided with a limiting groove and a fixing hole, and a limiting post is provided on one side of the motor body corresponding to the position of the limiting groove.

[0009] Furthermore, the planetary carrier is provided with a plurality of mounting slots on its circumference for mounting the planetary gears.

[0010] Furthermore, the outer side of the motor cover is provided with heat dissipation teeth, and the heat dissipation teeth are provided with a second mounting hole for installing a cooling fan.

[0011] Furthermore, the feature is that a brake is provided at the end of the motor body away from the output shaft.

[0012] Compared with existing technologies, the integrated servo wheel module for robots proposed in this utility model has the following advantages:

[0013] (1) The output shaft of the motor body of this utility model is a sun gear structure of a planetary reducer. The motor body is directly installed on the planetary reducer, which is compact and saves space. It solves the problem that the walking wheel motor, reducer and wheels need to be installed separately, and the size is bulky after installation.

[0014] (2) The driver of the motor body of this utility model is integrated into the motor, so no separate driver is required, and the integration is high. This solves the problem that the walking wheels do not have built-in drivers. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 This is a partial cross-sectional structural schematic diagram of the present invention;

[0018] Figure 3 This is a top view of the motor body in this utility model;

[0019] Figure 4 This is a schematic diagram of the assembly of the planetary reducer and the rubber wheel in this utility model;

[0020] Figure 5 This is a three-dimensional structural diagram of the planetary carrier in this utility model;

[0021] The following are marked in the diagram: 1. Planetary reducer; 11. Planetary carrier; 12. Internal gear ring; 13. Flange; 14. Mounting slot; 15. Limiting slot; 16. Fixing hole; 2. Rubber wheel; 3. Planetary gear; 4. Motor body; 41. Motor cover; 42. Support lug; 421. First mounting hole; 43. Terminal block; 44. Heat dissipation gear; 441. Second mounting hole; 45. Limiting post; 5. Driver; 6. Brake; 7. Sun gear. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0023] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0025] The structural features of this utility model will now be described in detail with reference to the accompanying drawings.

[0026] Example 1

[0027] See Figures 1-5An integrated servo wheel module for robots includes a planetary reducer 1, rubber wheels 2, and a motor body 4. The motor body 4 is a brushless DC motor with high torque, stable and reliable operation, and low noise. The planetary reducer 1 includes a planet carrier 11, on which a matching internal gear ring 12 is rotatably connected. A bearing for supporting the rotation of the internal gear ring 12 is provided between the internal gear ring 12 and the planet carrier 11. Multiple planetary gears 3 meshing with the internal gear ring 12 are arranged circumferentially inside the planet carrier 11. The planetary gears 3 are helical, which can increase gear strength and reduce reducer noise. The planetary carrier 11 has multiple mounting slots 14 on its circumference for mounting planetary gears 3. The planetary gears 3 are rotatably connected in the mounting slots 14, so that the outer side of the planetary gears 3 meshes with the internal gear ring 12. The rubber wheel 2 is fixedly mounted on the internal gear ring 12, forming an integral structure with the planetary reducer 1. The motor body 4 is fixedly mounted on one side of the planetary carrier 11. The planetary reducer 1 has threaded holes for connecting the motor body 4 and the rubber wheel 2. Specifically, the planetary carrier 11 has a flange 13 for fixing the motor body 4. The flange 13 has a limiting groove 15 and a fixing hole 16. A limiting post is provided on one side of the motor body 4 corresponding to the position of the limiting groove 15. 45. During assembly, the motor body 4 is initially positioned by inserting the limiting post 45 into the limiting groove 15. Then, the motor body 4 is fixedly connected to the flange 13 by screws. The output end of the motor body 4 is provided with a sun gear 7 that meshes with the planetary gear 3. The sun gear 7 is located in the planet carrier 11 and meshes with the planetary gear 3. The motor body 4 directly drives the planetary gear 3 through the sun gear 7. The planetary gear 3 drives the internal gear ring 12 to rotate, thereby realizing the movement of the rubber wheel 2. The planetary reducer 1 adopts a transmission method with the planet carrier 11 fixed, the sun gear 7 as input, and the internal gear ring 12 as output. This transmission method is reliable and can withstand large torque output.

[0028] For ease of installation, lugs 42 are provided on both sides of the motor body 4. The lugs 42 are provided with multiple first mounting holes 421. The lugs 42 and the first mounting holes 421 on the lugs 42 are directly arranged on the motor housing and do not occupy other structural positions.

[0029] A motor cover 41 is fixedly provided at the end of the motor body 4 away from the planetary reducer 1. A driver 5 for driving the motor body 4 is provided inside the motor cover 41. A terminal block 43 is provided on the motor body 4, and the terminal block 43 is connected to the driver 5. The motor body 4 can be directly driven to rotate through the driver 5 without the need for an additional motor driver. In order to ensure that the driver 5 has good heat dissipation, heat dissipation teeth 44 are arranged in an array on the outer side of the motor cover 41. The heat dissipation teeth 44 are provided with a second mounting hole 441 for installing a cooling fan. The setting of the heat dissipation teeth 44 can prevent the control circuit board from being damaged by overheating. A second mounting hole 441 for an axial fan is reserved on the heat dissipation teeth 41, so that the driver 5 can be protected by forced heat dissipation by the fan in high-temperature environments.

[0030] This utility model discloses an integrated servo wheel module for robots. It features a compact layout, saves space, and has a high degree of integration. Specifically, conventional walking wheels and drive motors are generally separate structures, requiring couplings or other transitional structures for connection. However, in this utility model, the output shaft of the motor body 4 is the sun gear 7 structure of the planetary reducer 1. The motor body 4 is directly mounted on the planetary reducer 1, eliminating the need for transitional structures and reducing size. Furthermore, the motor housing of the motor body 4 has pre-drilled mounting holes for the servo walking wheel, saving space by not occupying other areas. The rubber wheel 2 is directly mounted on the internal gear ring 12 of the planetary reducer 1's output structure, simplifying installation. The driver 5 of the motor body 1 is integrated within the motor, eliminating the need for a separate driver and achieving a high degree of integration. Specifically, the motor body 4 can be directly mounted on the planetary carrier 11 structure of the planetary reducer 1 as its power source, and the rubber wheel 2 is directly mounted on the internal gear ring 12 structure of the planetary reducer 1. This layout eliminates redundant transitional structures for these three components, saving space.

[0031] Example 2

[0032] Reference Figure 2 In another preferred embodiment of this utility model, the difference from embodiment 1 is that a brake 6 is provided at the end of the motor body 4 away from the output shaft. The brake 6 is an optional component, a power-off brake, integrated inside the motor housing of the motor body 4, and is used to brake the output shaft of the motor body 4.

[0033] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An integrated servo wheel module for a robot, comprising a planetary reducer (1), a rubber wheel (2), and a motor body (4), wherein the planetary reducer (1) comprises a planet carrier (11), a matching internal gear ring (12) is rotatably connected to the planet carrier (11), and a plurality of planetary gears (3) meshing with the internal gear ring (12) are provided in the circumferential direction inside the planet carrier (11), characterized in that, The rubber wheel (2) is fixedly mounted on the internal gear ring (12) and forms an integral structure with the planetary reducer (1); The motor body (4) is fixedly mounted on one side of the planetary carrier (11), and the output end of the motor body (4) is provided with a sun gear (7) that meshes with the planetary gear (3). The motor body (4) is fixedly provided with a motor cover (41) at one end away from the planetary reducer (1). The motor cover (41) is provided with a driver (5) for driving the motor body (4). The motor body (4) is provided with a terminal block (43) and the terminal block (43) is connected to the driver (5).

2. The integrated servo wheel module for a robot according to claim 1, characterized in that, The motor body (4) is a brushless DC motor.

3. The integrated servo wheel module for a robot according to claim 1, characterized in that, The motor body (4) has lugs (42) on both sides, and the lugs (42) have multiple first mounting holes (421).

4. An integrated servo wheel module for a robot according to claim 1, characterized in that, The planetary carrier (11) is provided with a flange (13) for fixing the motor body (4). The flange (13) is provided with a limiting groove (15) and a fixing hole (16). A limiting post (45) is provided on one side of the motor body (4) corresponding to the position of the limiting groove (15).

5. An integrated servo wheel module for a robot according to claim 1, characterized in that, The planet carrier (11) has multiple mounting slots (14) on its circumference for mounting the planetary gears (3).

6. An integrated servo wheel module for a robot according to claim 1, characterized in that, The outer side of the motor cover (41) is provided with heat dissipation teeth (44), and the heat dissipation teeth (44) are provided with a second mounting hole (441) for installing a cooling fan.

7. An integrated servo wheel module for a robot according to any one of claims 1-6, characterized in that, The motor body (4) has a brake (6) located at the end away from the output shaft.

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