A wheel power transmission axle and a wheeled robot

Abstract

This utility model provides a wheel power transmission shaft and a wheeled robot, including a power wheel assembly, a steering drive assembly, a power transmission assembly, a drive adapter assembly, a dual-mode power drive assembly, a base shell component, and a driven wheel assembly. The power wheel assembly is installed at the front of the base shell component, and the driven wheel assembly is installed at the rear of the base shell component. The steering drive assembly is used to drive the power wheel assembly to steer, and the power transmission assembly can form a multi-degree-of-freedom transmission connection between the same-side rotating disk and the power shaft, so that the rotating disk can still drive the rotation of the power wheel body while the power wheel body is steer. The drive adapter assembly forms a transmission connection between the dual-mode power drive assembly and the rotating disk, which allows the outer tooth surface of the hard-connected gear and the double-sided toothed belt to mesh with the adapter gear, forming a switching between rigid transmission connection and flexible transmission connection of the adapter gear in the dual-mode power drive assembly, suitable for different road conditions.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, and in particular to a wheel power transmission shaft and a wheeled robot. Background Technology

[0002] Wheeled mobile robots are widely used in warehousing and logistics, emergency rescue and services due to their high efficiency, stability and controllability. Their motion performance largely depends on the design and layout of the drive and steering system.

[0003] Currently, the mainstream drive wheel layout for wheeled robots is the "Ackerman" steering system, which separates the drive and steering functions within the chassis. Two non-steering rear wheels provide drive, while two steerable front wheels control direction. This is the most traditional vehicle model, but its disadvantages are obvious: a large turning radius, requiring significant steering space, inability to achieve zero-radius turning or lateral movement, and severely limited maneuverability. Furthermore, in complex road conditions, if one drive wheel becomes suspended or slips, all power will be consumed by that spinning wheel through the differential, causing the vehicle to instantly lose forward momentum and resulting in poor terrain passability. Utility Model Content

[0004] One of the objectives of this invention is to provide a wheel power transmission shaft that utilizes an automatically steerable power wheel assembly, a multi-degree-of-freedom transmission mechanism arranged in a triangular frame between the inner end of the disc and the power wheel body, and a dual-mode power drive assembly that provides a switching method for rigid and flexible transmission connections to the adapter gear, thereby safely and stably improving the mobility of its transmission.

[0005] The purpose of this utility model is achieved through the following technical solution: a wheel power transmission shaft, including a power wheel assembly, a power transmission assembly, a drive adapter assembly, and a dual-mode power drive assembly. The power wheel assembly includes a steering base, the power transmission assembly includes a main ball seat and a main hexagonal column, the drive adapter assembly includes an adapter gear, and the dual-mode power drive assembly includes a double-sided toothed belt and a hard-connected gear.

[0006] Steering mounts are distributed in pairs on the outside of the chassis. Each set of steering mounts has a power shaft seat screwed to its lower outer end. Each set of power shaft seats has a power wheel body screwed laterally to its outer side. The steering mounts are symmetrically fixed to the outside of the wheeled robot's chassis, and the paired power shaft seats can rotate synchronously in the same direction.

[0007] The wheeled robot chassis also has pairs of rotating disks that are screwed together. The outer side of the rotating disk is fixed with a main eccentric ball joint and a secondary eccentric ball joint. The inner side of the rotating shaft of each set of power wheels is fixed with a main rotating seat and a docking ball joint. One end of the main ball joint is swivelly connected to the main eccentric ball joint, one end of the main hexagonal column is swivelly connected to the main rotating seat, and the other end of the main hexagonal column is slidably inserted into the other end of the main ball joint. The secondary eccentric ball joint is swivelly connected to a secondary ball joint, and the docking ball joint is swivelly connected to a secondary hexagonal column. The other end of the secondary hexagonal column is slidably inserted into the other end of the secondary ball joint.

[0008] The transfer gears on the same side are connected to the rotary disk drive, and the two sets of transfer gears are at the same height and coplanar. The chassis of the wheeled robot also has a vertically sliding switching frame. The double-sided toothed belt is installed on the upper end of one side of the switching frame, and the hard-connecting gear is installed on the lower end of one side of the switching frame. The hard-connecting gear and the double-sided toothed belt are connected to the same drive mechanism, and both the double-sided toothed belt and the transfer gear are coplanar.

[0009] The usage process of the technical solution of this utility model is as follows:

[0010] By controlling the steering drive mechanism that is connected to the paired distributed drive axles, the two sets of drive wheels can be driven synchronously and in the same direction.

[0011] The purpose of the power transmission component is to ensure that the rotational motion of the disk can still be transmitted to the power wheel even after the angle between the rotation axis of the power wheel and the rotation center of the disk changes.

[0012] The main ball seat and the main hexagonal groove serve as the main transmission mechanism connecting the inner side of the power wheel's rotating shaft to the outer side of the rotating disk. The universal joint between the main eccentric ball head and the main ball seat allows the rotating shaft of the power wheel to change angle relative to the center of rotation of the rotating disk without interrupting power transmission. The rotation of the rotating disk drives the rotation of the main eccentric ball head, which in turn drives the rotation of the main ball seat through the universal joint. The main ball seat drives the rotation of the main hexagonal column through a sliding connection with the main hexagonal column. The sliding connection between the main hexagonal column and the main ball seat allows the main hexagonal column to freely extend and retract within the main ball seat to compensate for the length changes caused by angle changes. The main hexagonal column, through a joint with the main rotating seat, allows both the rotating disk to rotate and the rotating shaft of the power wheel to have a certain swing angle relative to the main hexagonal column, thereby driving the rotation of the power wheel's rotating shaft and realizing the movement of the power wheel.

[0013] The secondary ball seat and secondary hexagonal column serve as auxiliary transmission mechanisms between the inner side of the power wheel shaft and the outer side of the turntable. The secondary eccentric ball head seat and the docking ball head seat can provide multi-degree-of-freedom rotation. The universal joint between the docking ball head seat and the secondary hexagonal column also allows for angle changes. The sliding connection between the secondary hexagonal column and the secondary ball seat also allows for the extension and retraction of the secondary hexagonal column to compensate for changes in length and angle. The universal joint between the secondary eccentric ball head seat and the secondary ball seat allows for an angle between the turntable's rotation center and the power wheel shaft, ensuring the accuracy and reliability of the turntable's rotational motion transmitted to the power wheel and preventing jamming during transmission.

[0014] Furthermore, the adapter gears on the same side are connected to the rotary disk drive. The rotation of the two sets of adapter gears in the same direction and synchronously can drive the rotation of the two sets of rotary disks in the same direction and synchronously. Through the automatic vertically movable switching frame, the hard-connected gears and double-sided toothed belts can be moved, so that the outer tooth surface of the double-sided toothed belt and the hard-connected gears can be individually meshed with the two sets of adapter gears, forming the switching between hard transmission connection and flexible transmission connection between the drive system and the adapter gears in the dual-mode power drive assembly.

[0015] Another objective of this utility model is to provide a wheeled robot, including a bottom shell component and a driven wheel assembly. The bottom shell component includes a bottom shell and a power transmission cavity, and the driven wheel assembly includes a driven shaft and a driven wheel body.

[0016] The power transmission chamber is fixedly connected to the middle of the bottom wall of the base shell, together forming the mounting base for the wheeled robot.

[0017] A pair of driven shaft seats are fixedly installed at the rear of the bottom end of the inner cavity of the bottom shell. The driven shaft is screwed into the driven shaft seat, and the driven wheel is fixedly installed at the end of the driven shaft. Together they form the driven part of the wheeled robot.

[0018] Furthermore, if necessary, the driven wheel assembly installed at the rear of the bottom shell can be replaced with a power wheel assembly, a steering drive assembly, a power transmission assembly, a drive adapter assembly, and a dual-mode power drive assembly, so that all four wheels of the wheeled robot can have the ability to steer and move.

[0019] By adopting the above technical solution, this utility model can achieve the following beneficial effects:

[0020] (1) The power wheel can not only turn, but also has its own driving force for the movement of the wheeled robot, which can improve the mobility and flexibility of the wheeled robot.

[0021] (2) In order to ensure that the power wheel can still form an effective and stable transmission connection between the turntable and the power wheel during the turning process, that is, after forming a certain angle with the turntable, the present invention not only sets a main ball seat and a main hexagonal column between the main eccentric ball head seat on the outer side of the turntable and the main rotating seat on the inner side of the power wheel, but also sets a secondary ball seat and a secondary hexagonal column between the secondary eccentric ball head seat on the outer side of the turntable and the docking ball head seat on the inner side of the power wheel, and sets the docking ball head seat to be different from the ball head design of the main rotating seat, so that the rotation of the turntable can still drive the rotation of the power wheel after the angle of the power wheel changes relative to the turntable; and also sets a secondary ball seat and a secondary hexagonal column between the secondary eccentric ball head seat on the outer side of the turntable and the docking ball head seat on the inner side of the power wheel, and sets the docking ball head seat to be different from the ball head design of the main rotating seat, so that the docking ball head seat and the secondary eccentric ball head seat form a multi-degree-of-freedom structure, forming a complementary support for the transmission structure between the main eccentric ball head seat and the main rotating seat, ensuring the accuracy and reliability of the transmission of the turntable rotation motion to the power wheel.

[0022] (3) The hard-connected gear and the outer tooth surface of the double-sided toothed belt in the dual-mode power drive assembly of this utility model can switch to mesh with two sets of transition gears, forming a switch between rigid meshing connection and flexible meshing connection. This can be used for precise travel on smooth roads and improve the adaptability to uneven roads. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the power wheel assembly of this utility model;

[0026] Figure 3 This is a schematic diagram of the steering drive assembly of this utility model;

[0027] Figure 4 This is a schematic diagram of the transmission structure between the rotating shaft and the steering rod in this utility model;

[0028] Figure 5 This is a schematic diagram of the power transmission component of this utility model;

[0029] Figure 6 This is a schematic diagram of the transmission structure between the rotary disc and the steering shaft of this utility model;

[0030] Figure 7 This is a schematic diagram of the transmission component between the rotary table and the steering shaft of this utility model;

[0031] Figure 8 This is a schematic diagram of the structure of the drive adapter component of this utility model;

[0032] Figure 9 This is a first-view structural schematic diagram of the dual-mode power drive component of this utility model;

[0033] Figure 10 This is a structural schematic diagram of the dual-mode power drive component of this utility model from a second perspective;

[0034] Figure 11 This is a structural schematic diagram of the dual-mode power drive component of this utility model from a third-view perspective;

[0035] Figure 12 This is a structural schematic diagram of the bottom shell component of this utility model;

[0036] Figure 13 This is a schematic diagram of the driven wheel assembly of this utility model.

[0037] Figure label:

[0038] 1. Drive wheel assembly; 101. Steering mount; 102. Drive axle mount; 103. Steering shaft; 104. Drive axle; 105. Drive wheel body;

[0039] 2. Steering drive assembly; 201. Lateral connecting frame; 202. Steering rod; 203. Steering slide; 204. Central pivot shaft; 205. Rotary rod; 206. Rotary column; 207. Semi-gear ring connecting rod; 208. Semi-gear ring; 209. Steering motor; 210. Steering gear; 211. Central pivot shaft seat;

[0040] 3. Power transmission assembly; 301. Power transmission swivel seat; 302. Power transmission shaft; 303. Spinner; 304. Side mounting seat; 305. Main eccentric ball head seat; 306. Main ball seat; 307. Main spin seat; 308. Main spin head; 309. Main hexagonal column; 310. Main hexagonal groove; 311. Secondary eccentric ball head seat; 312. Secondary ball seat; 313. Secondary hexagonal groove; 314. Connecting ball head seat; 315. Connecting ball seat; 316. Secondary hexagonal column;

[0041] 4. Drive adapter assembly; 401. Power large bevel gear; 402. Adapter shaft seat; 403. Adapter shaft; 404. Adapter small bevel gear; 405. Adapter gear;

[0042] 5. Dual-mode power drive assembly; 501. Switching moving frame; 502. Moving slide column; 503. Top seat; 504. Moving electric cylinder; 505. Double-sided toothed belt; 506. Hard-connected gear; 507. Drive shaft seat; 508. Drive shaft; 509. Elastic connecting toothed belt; 510. Adjusting slide; 511. Inner slide; 512. Adjusting toothed pulley; 513. Adjusting bolt; 514. Moving slide; 515. Drive toothed pulley; 516. Drive connecting toothed belt; 517. Power motor;

[0043] 6. Bottom shell components; 601. Bottom shell; 602. Power transmission cavity;

[0044] 7. Driven wheel assembly; 701. Driven shaft seat; 702. Driven shaft; 703. Driven wheel body. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of 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 protection scope of this utility model.

[0046] In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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. They 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 on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] like Figures 1-13 As shown, a wheel power transmission shaft and a wheeled robot are disclosed. The steering seats 101 in the power wheel assembly 1 are distributed in pairs. The lower outer end of each set of steering seats 101 is screwed with a power shaft seat 102. The outer side of each set of power shaft seats 102 is laterally screwed with a power wheel body 105. The steering seats 101 are symmetrically fixed to the outer side of the chassis of the wheeled robot, and the paired power shaft seats 102 can rotate synchronously and in the same direction.

[0048] The wheeled robot chassis also has pairs of rotating disks 303 screwed together, with the rotating disks 303 on the same side being connected to the power wheel body 105 via transmission. A main eccentric ball joint seat 305 and a secondary eccentric ball joint seat 311 are fixed to the outer surface of the rotating disk 303, and the main eccentric ball joint seat 305 and the secondary eccentric ball joint seat 311 are located on the same circular path centered on the rotating disk 303. A main rotating seat 307 and a docking ball joint seat 314 are fixed to the inner side of the rotating shaft of each set of power wheel bodies 105. Similarly, the distance between the center of the main rotating seat 307 and the rotating shaft of the power wheel body 105 is the same as the distance between the center of the docking ball joint seat 314 and the rotating shaft of the power wheel body 105. The distance between the centers is equal. One end of the main ball seat 306 is universally swivelly connected to the main eccentric ball head seat 305. One end of the main hexagonal column 309 is swivelly connected to the main spin seat 307. The other end of the main hexagonal column 309 is slidably inserted into the other end of the main ball seat 306. The secondary eccentric ball head seat 311 is universally swivelly connected to the secondary ball seat 312. The connecting ball head seat 314 is universally swivelly connected to the secondary hexagonal column 316. The other end of the secondary hexagonal column 316 is slidably inserted into the other end of the secondary ball seat 312. Based on the rotation of the power wheel body 105 with the power shaft seat 102, a stable transmission connection is formed between the spinner 303 and the power wheel body 105.

[0049] The adapter gear 405 on the same side is connected to the rotary table 303 for transmission, and the two sets of adapter gears 405 are at the same height and coplanar. The chassis of the wheeled robot also has a vertically sliding switching frame 501. The double-sided toothed belt 505 is installed on the upper end of one side of the switching frame 501, and the hard-connecting gear 506 is installed on the lower end of one side of the switching frame 501. The hard-connecting gear 506 and the double-sided toothed belt 505 are connected to the same drive mechanism. The double-sided toothed belt 505 and the double-sided toothed belt 505 are both coplanar with the adapter gear 405, which allows the outer tooth surfaces of the hard-connecting gear 506 and the double-sided toothed belt 505 to mesh with the adapter gear 405 for switching.

[0050] The working principle of this power transmission shaft is as follows:

[0051] The power transmission shaft of the wheel is a part that sets the steerable power wheel 105 to drive the wheeled robot to move, with the aim of improving the mobility and flexibility of the wheeled robot.

[0052] By controlling the steering drive mechanism connected to the paired distributed drive axle seats 102, the two sets of drive wheels 105 can be turned synchronously and in the same direction.

[0053] The purpose of the power transmission component 3 is to ensure that the rotational motion of the disc 303 can still be transmitted to the power wheel 105 after the rotation angle of the shaft of the power wheel 105 relative to the rotation center of the disc 303 changes.

[0054] The main ball seat 306 and the main hexagonal groove 310 serve as the main transmission mechanism connecting the inner side of the shaft of the power wheel 105 to the outer side of the turntable 303. The universal joint between the main eccentric ball head seat 305 and the main ball seat 306 allows the shaft of the power wheel 105 to change angle relative to the center of rotation of the turntable 303 without interrupting power transmission. The rotation of the turntable 303 drives the rotation of the main eccentric ball head seat 305, which in turn drives the rotation of the main ball seat 306 via the universal joint. The main ball seat 306, through its sliding connection with the main hexagonal column 309, drives the rotation of the main ball seat 306. The rotation of the main hexagonal column 309 and the sliding connection between the main hexagonal column 309 and the main ball seat 306 allow the main hexagonal column 309 to freely extend and retract within the main ball seat 306 to compensate for the length change caused by the angle change. The main hexagonal column 309 is screwed into the main rotating seat 307. The screwing between the main hexagonal column 309 and the main rotating seat 307 allows the rotating disk 303 to rotate and also allows the rotating shaft of the power wheel 105 to have a certain swing angle relative to the main hexagonal column 309, thereby driving the rotation of the rotating shaft of the power wheel 105 and realizing the movement of the power wheel 105.

[0055] The secondary ball seat 312 and the secondary hexagonal column 316 serve as auxiliary transmission mechanisms between the inner side of the shaft of the power wheel 105 and the outer side of the turntable 303. The secondary eccentric ball head seat 311 and the docking ball head seat 314 can provide multi-degree-of-freedom rotation. The universal joint between the docking ball head seat 314 and the secondary hexagonal column 316 also allows for angle changes. The sliding connection between the secondary hexagonal column 316 and the secondary ball seat 312 also allows for the extension and retraction of the secondary hexagonal column 316 to compensate for changes in length and angle. The universal joint between the secondary eccentric ball head seat 311 and the secondary ball seat 312 allows for an angle between the spin center of the turntable 303 and the shaft of the power wheel 105, ensuring the accuracy and reliability of the transmission of the rotational motion of the turntable 303 to the power wheel 105, and preventing jamming during transmission.

[0056] The main transmission mechanism formed by the main ball seat 306 and the main hexagonal groove 310 between the inner side of the shaft of the power wheel body 105 and the outer side of the turntable 303, and the auxiliary transmission mechanism formed by the secondary ball seat 312 and the secondary hexagonal column 316 between the inner side of the shaft of the power wheel body 105 and the outer side of the turntable 303, together form a triangular support structure with strong stability that can be varied in multiple degrees of freedom between the outer side of the turntable 303 and the inner side of the power wheel body 105. This structure can prevent the system from shaking or deforming under force, making the operation more stable.

[0057] Furthermore, the adapter gear 405 on the same side is connected to the rotary disk 303. The two sets of adapter gears 405 rotate in the same direction and synchronously, which can drive the two sets of rotary disks 303 to rotate in the same direction and synchronously. Through the automatic vertically movable switching frame 501, the hard connection gear 506 and the double-sided toothed belt 505 can be moved, so that the outer tooth surface of the double-sided toothed belt 505 and the hard connection gear 506 can be individually meshed with the two sets of adapter gears 405, forming the switching between hard transmission connection and flexible transmission connection between the drive system and the adapter gear 405 in the dual-mode power drive assembly 5.

[0058] On smooth roads, a rigid connection gear 506 and an adapter gear 405 can be engaged. The adapter gear 405 and the rigid connection gear 506 are rigidly connected, which can provide precise drive, avoid energy loss in slippage, and ensure the stability and control precision of straight-line driving.

[0059] For uneven road surfaces, the outer tooth surface of the double-sided toothed belt 505 can be flexibly engaged with the adapter gear 405, allowing the transmission mechanism to slip to a certain extent. This can both protect the dual-mode power drive component 5 and improve the passability on uneven road surfaces. For example, if one of the power wheels 105 is obstructed and slips, the power in the dual-mode power drive component 5 will be automatically transferred to the other power wheel 105 that still has traction, thereby preventing the wheel from spinning freely and losing power.

[0060] Furthermore, the slippage between the outer tooth surface of the double-sided toothed belt 505 and the adapter gear 405 allows for minor wear on the outer tooth surface of the double-sided toothed belt 505 to a certain extent. This is because this slippage is essentially an overload protective slippage, the purpose of which is to quickly balance the torque of the two drive wheels 105, rather than continuous high-speed friction. Once the torque is restored to balance (such as when the suspended drive wheel 105 lands or the obstructed wheel crosses the obstacle), the system immediately resumes synchronous meshing transmission. Therefore, each slippage event is instantaneous and minute, resulting in extremely limited wear.

[0061] To improve wear resistance, the outer tooth surface of the double-sided toothed belt 505 can be made of highly elastic and wear-resistant polymer materials such as reinforced polyurethane (PU) or neoprene rubber (CR), and high-strength aramid or steel wire rope can be embedded as a tensile carrier. This ensures that the resulting wear is a slow and minimal process, and its cumulative effect will not affect the structural integrity, transmission function, or long-term reliability of the double-sided toothed belt 505.

[0062] The specific structures of the drive wheel assembly 1 and the steering drive assembly 2 are as follows: Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the steering shaft 103 is vertically screwed to the steering base 101, the power shaft 104 is horizontally screwed to the power shaft seat 102, and the middle part of the power wheel body 105 is fixedly connected to the outer end of the power shaft 104.

[0063] The steering drive assembly 2 is used to drive the steering. The transverse connecting frame 201 is transversely fixed inside the wheeled robot chassis. The top of each set of steering shafts 103 is fixed with a steering rod 202. The steering groove 203 is opened on the inner side of the main body of the steering rod 202.

[0064] A central shaft seat 211 is fixed at the bottom center of the transverse connecting frame 201. A central shaft 204 is screwed into the central shaft seat 211. A fixed rotating rod 205 and a semi-tooth ring connecting rod 207 are inserted into the bottom end of the central shaft 204. A rotating column 206 is screwed to both ends of the main body of the rotating rod 205. The rotating column 206 on the same side is rolled in the steering groove 203.

[0065] A semi-tooth ring 208 is fixedly installed on the top of the outer end of the semi-tooth ring connecting rod 207. A steering motor 209 is fixedly installed on the top of the transverse connecting frame 201. A steering gear 210 is inserted into the bottom end of the shaft of the steering motor 209, and the steering gear 210 meshes with the semi-tooth ring 208.

[0066] It can drive the steering gear 210 to rotate and cooperate with the half gear ring 208, forming a rotational motion of the half gear ring connecting rod 207 and the rotating rod 205 around the central rotating shaft 204. This causes the rotating columns 206 at both ends of the rotating rod 205 to form a rolling connection with the corresponding steering slide groove 203, forming a synchronous steering motion of the two sets of steering fixed rods 202 around the steering shaft 103. This causes the two sets of power shaft seats 102 to drive the power shaft seat 102 and the power wheel body 105 to rotate synchronously in the same direction.

[0067] The specific structures of the power transmission component 3, drive adapter component 4, and dual-mode power drive component 5 are as follows: Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, the power transmission hubs 301 are fixed in pairs inside the chassis of the wheeled robot. Each set of hubs 303 has a power transmission shaft 302 fixed in the middle of the inner side of the hub. The power transmission shafts 302 on the same side are screwed to the power transmission hubs 301.

[0068] The side mounting base 304 is fixed to the inner end of the drive shaft 104, and the main rotating seat 307 and the docking ball head seat 314 are both fixed to the inner side of the side mounting base 304.

[0069] The main ball seat 306 has a main hexagonal groove 310 in its main body. One end of the main hexagonal column 309 is fixed with a main spin head 308. The main spin head 308 is screwed to the main spin seat 307. The other end of the main hexagonal column 309 is slidably connected to the main hexagonal groove 310.

[0070] One end of the secondary hexagonal column 316 is fixed with a docking ball seat 315, which is omnidirectionally connected to the docking ball head seat 314. The main body of the secondary ball seat 312 is provided with a secondary hexagonal groove 313, and the other end of the secondary hexagonal column 316 is slidably connected to the secondary hexagonal groove 313.

[0071] Furthermore, within the range of torque rotation of the spinner 303, the main ball seat 306 can form a universal connection with the main eccentric ball head seat 305 without disengaging from it. Similarly, the auxiliary ball seat 312 can form a universal connection with the auxiliary eccentric ball head seat 311 without disengaging from it, and the docking ball seat 315 can form a universal connection with the docking ball head seat 314 without disengaging from it.

[0072] The adapter shaft seats 402 are fixed in pairs inside the chassis of the wheeled robot. The adapter shaft 403 on the same side is screwed to the adapter shaft seat 402. The adapter gear 405 is inserted into one end of the adapter shaft 403. The other end of the adapter shaft 403 is inserted into the adapter small bevel gear 404. The power large bevel gear 401 is inserted into the outer ring of the turntable 303, and the adapter small bevel gear 404 on the same side meshes with the power large bevel gear 401.

[0073] The teeth of the two sets of power bevel gears 401 face the same side, which allows the two sets of power bevel gears 401 to rotate synchronously and in the same direction when the two sets of adapter gears 405 rotate synchronously and in the same direction, thereby ensuring that the two sets of turntables 303 can always rotate synchronously and in the same direction.

[0074] The bottoms of the paired movable slide columns 502 are fixedly connected to the chassis of the wheeled robot. The top seat 503 is fixed to the top of the movable slide column 502. The movable slide blocks 514 are symmetrically fixedly installed in the main body of the switching movable frame 501. The movable slide blocks 514 on the same side are vertically slidably connected to the movable slide columns 502.

[0075] A mobile electric cylinder 504 is also fixedly installed inside the chassis of the wheeled robot. The top end of the telescopic rod of the mobile electric cylinder 504 is fixedly connected to the bottom end of the switching mobile frame 501, which can form a stable vertical movement of the switching mobile frame 501.

[0076] Each of the triangular structures of the switching frame 501 is fixedly equipped with a drive shaft seat 507. Each set of drive shaft seats 507 is horizontally screwed with a drive shaft 508. A hard-connecting gear 506 is inserted into one side of the bottom drive shaft 508. Each set of drive shafts 508 at the top is fitted with an elastic connecting toothed belt 509. A double-sided toothed belt 505 is sleeved and installed between the elastic connecting toothed belts 509.

[0077] On the other side of the drive shaft 508, there are fixed drive toothed pulleys 515. Drive connecting toothed belts 516 are sleeved and installed between the drive toothed pulleys 515. On the other side of the switching moving frame 501, a power motor 517 is fixedly installed at the lower end. The rotating shaft of the power motor 517 is coaxially fixed with the drive shaft 508 at the bottom. The transmission mechanism formed by the drive toothed pulleys 515 and the drive connecting toothed belts 516 can drive each set of drive shafts 508 to rotate synchronously and in the same direction. This can drive the elastic connecting toothed belt 509 and the hard connecting gear 506 to rotate synchronously and in the same direction. This makes the moving direction of the outer tooth surface of the double-sided toothed belt 505 consistent with the rotation direction of the hard connecting gear 506. After the two mesh with the adapter gear 405, they can drive the adapter gear 405 to rotate in a constant direction.

[0078] An adjusting slide 510 is fixedly installed at the top center of the main body of the switching moving frame 501. An inner slide 511 is vertically slidably connected inside the adjusting slide 510, and the inner slide 511 will not detach from the adjusting slide 510. An adjusting toothed pulley 512 is horizontally screwed to one end of the inner slide 511, and the adjusting toothed pulley 512 contacts the inner surface of the double-sided toothed belt 505.

[0079] The top of the main body of the adjusting slide 510 is threaded with an adjusting bolt 513. The bottom end of the adjusting bolt 513 is screwed to the top of the inner slide 511. By turning the adjusting bolt 513, the inner slide 511 can be driven to slide vertically in the adjusting slide 510 to adjust the contact position of the adjusting toothed pulley 512 with the inner surface of the double-sided toothed belt 505, thereby adjusting the tension of the double-sided toothed belt 505. After the tension of the double-sided toothed belt 505 changes, the elastic meshing force between the adapter gear 405 and the outer tooth surface of the double-sided toothed belt 505 will change, and the degree of slippage between the outer tooth surface of the double-sided toothed belt 505 and the adapter gear 405 will also change.

[0080] The purpose of manually adjusting the tension of the double-sided toothed belt 505 by turning the adjusting bolt 513 is that once the tension of the double-sided toothed belt 505 is adjusted, it does not need to be frequently adjusted within its normal operating range. Therefore, in order to simplify the wheeled robot, the tension adjustment method of the double-sided toothed belt 505 is set to manual.

[0081] The specific structures of the bottom shell component 6 and the driven wheel assembly 7 are as follows: Figure 1 , Figure 12 and Figure 13 As shown, the power transmission cavity 602 is fixedly connected to the middle of the bottom wall of the bottom shell 601, together forming the mounting base for the wheeled robot, and the side wall of the bottom shell 601 is provided with through holes to eliminate interference with each transmission mechanism.

[0082] The steering base 101 is symmetrically fixedly connected to the front of the outer side of the bottom housing 601, the transverse connecting frame 201 is transversely fixedly connected to the front of the inner cavity of the bottom housing 601, the power transmission rotary seat 301 and the adapter shaft seat 402 are both fixedly installed at the bottom end of the inner cavity of the bottom housing 601, and the bottom end of the moving slide column 502 and the bottom end of the main body of the moving electric cylinder 504 are both fixedly installed in the power transmission cavity 602.

[0083] A pair of driven shaft seats 701 are fixedly installed at the rear of the bottom end of the inner cavity of the bottom shell 601. The driven shaft 702 is screwed into the driven shaft seat 701. The driven wheel body 703 is fixedly installed at the end of the driven shaft 702, together forming the driven part of the wheeled robot.

[0084] Furthermore, if necessary, the driven wheel assembly 7 installed at the rear of the bottom shell 601 can be replaced with the power wheel assembly 1, steering drive assembly 2, power transmission assembly 3, drive adapter assembly 4, and dual-mode power drive assembly 5, so that all four wheels of the wheeled robot can have the ability to steer and drive, thereby further improving the mobility of the wheeled robot.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A wheel power transmission axle comprising a power wheel assembly (1), characterized in that: It also includes a power transmission component (3), a drive adapter component (4), and a dual-mode power drive component (5); The power wheel assembly (1) includes a steering base (101), the power transmission assembly (3) includes a main ball seat (306) and a main hexagonal column (309), the drive adapter assembly (4) includes an adapter gear (405), and the dual-mode power drive assembly (5) includes a double-sided toothed belt (505) and a hard-connected gear (506). Steering mounts (101) are arranged in pairs, and each set of steering mounts (101) has a drive shaft seat (102) screwed to its lower outer end. Each set of drive shaft seats (102) has a drive wheel body (105) screwed to its outer side. The steering mounts (101) are symmetrically fixed to the outer side of the chassis, and the paired drive shaft seats (102) can rotate synchronously and in the same direction. Inside the chassis, there are also paired turntables (303). The outer side of the drive wheel (105) is fixed with a main eccentric ball head seat (305) and a secondary eccentric ball head seat (311). The inner side of the shaft of each drive wheel (105) is fixed with a main spin seat (307) and a connecting ball head seat (314). One end of the main ball seat (306) is universally screwed to the main eccentric ball head seat (305), one end of the main hexagonal column (309) is screwed to the main spin seat (307), and the other end of the main hexagonal column (309) is screwed to the main ball head seat (307). The other end of the seat (306) is slidably inserted, and the secondary eccentric ball head seat (311) is universally screwed with a secondary ball seat (312). The mating ball head seat (314) is universally screwed with a secondary hexagonal column (316). The other end of the secondary hexagonal column (316) is slidably inserted with the other end of the secondary ball seat (312). The transfer gear (405) on the same side is connected to the rotating disk (303) for transmission, and the two sets of transfer gears (405) are at the same height and coplanar. A switching moving frame (501) is also slidably connected inside the chassis. A double-sided toothed belt (505) is installed on the upper end of one side of the switching moving frame (501), and a hard-connecting gear (506) is installed on the lower end of one side of the switching moving frame (501). The hard-connecting gear (506) and the double-sided toothed belt (505) are connected to the same drive mechanism. Both the double-sided toothed belt (505) and the double-sided toothed belt (505) are coplanar with the adapter gear (405).

2. A wheel power transmission shaft according to claim 1, characterized in that: The power wheel assembly (1) also includes a power shaft (104), a steering shaft (103) is fixed at the top of the power shaft seat (102), the steering shaft (103) is screwed to the steering base (101), the power shaft (104) is screwed to the power shaft seat (102), and the middle part of the power wheel body (105) is fixedly connected to the outer end of the power shaft (104).

3. A wheel power transmission shaft according to claim 2, wherein: The power transmission assembly (3) also includes a power transmission hub (301) and a side mounting base (304). The power transmission hubs (301) are fixed in pairs inside the chassis. A power transmission shaft (302) is fixed in the middle of the inner side of each set of hubs (303). The power transmission shafts (302) on the same side are screwed to the power transmission hubs (301). The side mounting base (304) is fixed to the inner end of the power shaft (104). The main hub (307) and the docking ball head seat (314) are both fixed to the inner side of the side mounting base (304). The main ball seat (306) has a main six-way valve in its main body. The main hexagonal column (309) has a main hexagonal head (308) fixed at one end, which is screwed to the main hexagonal seat (307). The other end of the main hexagonal column (309) is slidably connected to the main hexagonal groove (310). The auxiliary hexagonal column (316) has a docking ball seat (315) fixed at one end, which is slidably connected to the docking ball head seat (314). The auxiliary ball seat (312) has an auxiliary hexagonal groove (313) in its main body, and the other end of the auxiliary hexagonal column (316) is slidably connected to the auxiliary hexagonal groove (313).

4. A wheel power transmission shaft according to claim 1, 2 or 3, characterised in that: The drive adapter assembly (4) also includes a power bevel gear (401), an adapter shaft seat (402), and an adapter shaft (403). The adapter shaft seats (402) are fixed in pairs inside the chassis. The adapter shaft (403) on the same side is screwed to the adapter shaft seat (402). The adapter gear (405) is inserted into one end of the adapter shaft (403). The other end of the adapter shaft (403) is inserted into the adapter small bevel gear (404). The power bevel gear (401) is inserted into the outer ring of the turntable (303), and the adapter small bevel gear (404) on the same side meshes with the power bevel gear (401).

5. A wheel power transmission shaft according to claim 1, 2 or 3, characterised in that: The dual-mode power drive assembly (5) also includes a movable slide column (502), a top seat (503), and a drive connecting toothed belt (516). The bottoms of the paired movable slide columns (502) are fixed to the chassis. The top seat (503) is fixed to the top of the movable slide column (502). Movable slide blocks (514) are symmetrically fixed in the main body of the switching moving frame (501). The movable slide blocks (514) on the same side are slidably connected to the movable slide columns (502). A movable electric cylinder (504) is also fixedly installed in the chassis. The top of the telescopic rod is fixedly connected to the bottom center of the switching frame (501). Each triangular structure of the switching frame (501) has a drive shaft seat (507) fixedly installed at the sharp corner. Each set of drive shaft seats (507) has a drive shaft (508) horizontally screwed in. A hard-connecting gear (506) is inserted into one side of the bottom drive shaft (508). Each set of drive shafts (508) at the top has an elastic connecting toothed belt (509) inserted into one side. A double-sided toothed belt (505) is sleeved and installed between the elastic connecting toothed belts (509).

6. A wheel power transmission shaft according to claim 1, 2 or 3, characterised in that: An adjusting slide (510) is fixedly installed at the top center of the main body of the switching frame (501). An inner slide (511) is slidably connected inside the adjusting slide (510). An adjusting toothed pulley (512) is screwed to one end of the inner slide (511). The adjusting toothed pulley (512) contacts the inner surface of the double-sided toothed belt (505).

7. A wheel power transmission shaft according to claim 2 or 3, characterised in that: The inner end of the drive shaft (104) is also connected to a steering drive assembly (2). The steering drive assembly (2) includes a transverse connecting frame (201) and a steering groove (203). The transverse connecting frame (201) is fixed to the chassis. A steering rod (202) is fixed to the top of each set of steering shafts (103). The steering groove (203) is opened on the inner side of the main body of the steering rod (202). A central shaft mounting seat (211) is fixed to the middle of the bottom end of the transverse connecting frame (201). A central shaft (204) is screwed into the central shaft mounting seat (211). 04) has a fixed rotating rod (205) and a semi-tooth ring connecting rod (207) inserted at the bottom end. Both ends of the main body of the rotating rod (205) are screwed with a rotating column (206). The rotating column (206) on the same side is rolled in the steering groove (203). A semi-tooth ring (208) is fixedly installed on the top of the outer end of the semi-tooth ring connecting rod (207). A steering motor (209) is fixedly installed on the top of the transverse connecting frame (201). A fixed steering gear (210) is inserted at the bottom end of the shaft of the steering motor (209), and the steering gear (210) meshes with the semi-tooth ring (208).

8. A wheeled robot comprising a wheel power transmission shaft as claimed in claim 7, characterized in that: It also includes a bottom shell component (6), which includes a bottom shell (601) and a power transmission cavity (602). The power transmission cavity (602) is fixedly connected to the middle of the bottom wall of the bottom shell (601) to form the chassis structure of the wheeled robot. The steering seat (101) is symmetrically fixedly connected to the front of the outer side of the bottom shell (601). The transverse connecting frame (201) is fixedly connected to the front of the inner cavity of the bottom shell (601). The power transmission rotating seat (301) and the adapter shaft seat (402) are both fixedly installed at the bottom end of the inner cavity of the bottom shell (601). The bottom end of the moving slide column (502) and the bottom end of the main body of the moving electric cylinder (504) are both fixedly installed in the power transmission cavity (602).

9. A wheeled robot according to claim 8, wherein: It also includes a driven wheel assembly (7), which includes a driven shaft (702) and a driven wheel body (703). A pair of driven shaft seats (701) are fixedly installed at the rear of the bottom end of the inner cavity of the bottom housing (601). The driven shaft (702) is screwed into the driven shaft seat (701), and the driven wheel body (703) is fixedly installed at the end position of the driven shaft (702).

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