Rotary wheel module, chassis assembly and wheeled robot
Patent Information
- Application Number
- CN202522115297.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-30
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-09-30
AI Technical Summary
The existing shock absorption structure of wheeled robots has high requirements for the mechanical properties of elastic element materials, which makes the elastic elements easy to damage and increases manufacturing costs, thus hindering their development and widespread application.
A rotating wheel module is designed by placing an elastic element between a first connector and a second connector. The rotating wheel is hinged to a bracket around a rotation axis, and the support arm is hinged to the bracket around a third axis. The rotation axis is located between the first and third axes, forming a suspension structure. The restoring torque generated by the elastic force balances the overturning torque generated by the impact force, thereby reducing the elastic force requirement of the elastic element.
This reduces the requirements for the material mechanical properties of elastic elements, decreases the risk of damage to elastic elements, lowers manufacturing costs, and improves the shock absorption effect of wheeled robots.
Smart Images
Figure CN224928785U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wheeled robot technology, and more particularly to a rotating wheel module, chassis assembly, and wheeled robot. Background Technology
[0002] Wheeled robots move using rotating wheels mounted on their bottoms. To reduce the adverse effects of road bumps on internal precision instruments, some wheeled robots incorporate shock-absorbing structures above the rotating wheels. However, most current shock-absorbing structures use a method where the elastic element is directly exposed to the impact force. This structural layout places high demands on the material mechanical properties of the elastic element and is prone to fatigue damage. Furthermore, the requirement for high material mechanical properties in the elastic element hinders the reduction of manufacturing costs for wheeled robots, thus impeding their development and widespread application. Utility Model Content
[0003] The purpose of this application is to provide a rotating wheel module, chassis assembly, and wheeled robot to improve the technical problem that the shock absorption structure of existing wheeled robots has high requirements for the mechanical properties of elastic element materials.
[0004] In a first aspect, embodiments of this application provide a rotating wheel module, comprising:
[0005] Mounting plate;
[0006] A bracket, wherein the bracket is spaced apart from the mounting plate;
[0007] A support arm, one end of which is fixedly connected to the mounting plate, and the other end of which is hinged to the bracket around a third axis;
[0008] The elastic arm includes a first connector, a second connector, and an elastic element disposed between the first connector and the second connector. The two ends of the elastic element along its own elastic deformation direction respectively abut against the first connector and the second connector. The first connector is hinged to the bracket about a first axis, and the second connector is hinged to the mounting plate about a second axis.
[0009] A rotating wheel is mounted on the bracket and rotates around its own axis of rotation. The axis of rotation is located between the first axis and the third axis, and the axis of rotation, the first axis, the second axis, and the third axis are parallel to each other.
[0010] Furthermore, the first connector has a first guide fixed at one end facing the second connector, and the second connector has a second guide fixed at one end facing the first connector. One of the first guide and the second guide is a guide shaft, and the other of the first guide and the second guide is a guide sleeve. The guide shaft is slidably installed in the guide sleeve along the elastic deformation direction of the elastic element, and the elastic element is arranged around the guide sleeve.
[0011] Furthermore, the rotating wheel is equipped with a hub motor, which includes a stator and a rotor. The stator of the hub motor is fixedly mounted on the bracket, and the rotor of the hub motor is fixedly connected to the rotating wheel so that the rotating wheel can rotate around the rotation axis.
[0012] Furthermore, the rotating wheel includes a tread and an inner end face and an outer end face located at both ends of the tread along the direction of the rotation axis. The bracket includes a connecting section and a first support section and a second support section connected to both ends of the connecting section. The first support section and the second support section are parallel to the inner end face and the outer end face, respectively.
[0013] Furthermore, there are two of each of the support arms and the elastic arms. The two support arms are symmetrical about the rotating wheel in the direction of the third axis, and the two support arms are respectively hinged to the first support segment and the second support segment. The two elastic arms are symmetrical about the rotating wheel in the direction of the first axis, and the first connecting members of the two elastic arms are respectively hinged to the first support segment and the second support segment. The second connecting members of the two elastic arms are respectively hinged to both ends of the mounting plate along the second axis.
[0014] Furthermore, it also includes a fixing plate, the mounting plate being rotatably connected to the fixing plate about a fourth axis, the fourth axis being parallel to the elastic deformation direction of the elastic element.
[0015] Furthermore, it also includes a steering motor, which is fixedly mounted on the mounting plate, and the output shaft of the steering motor is fixedly connected to the mounting plate so that the mounting plate can rotate relative to the mounting plate about the fourth axis.
[0016] Furthermore, the fixing plate is provided with a first limiting part on the side of the mounting plate along the fourth axis and a second limiting part on the side of the mounting plate along the fourth axis and near the fixing plate. When the mounting plate rotates around the fourth axis in the forward or reverse direction to the maximum rotation angle relative to the fixing plate, the second limiting part abuts against the first limiting part.
[0017] Secondly, embodiments of this application also provide a chassis assembly, including a chassis and the rotating wheel module described in the first aspect, wherein the mounting plate is mounted on the chassis.
[0018] Thirdly, embodiments of this application also provide a wheeled robot, including the chassis assembly described in the second aspect above.
[0019] Compared with the prior art, the embodiments of this application have the following main advantages:
[0020] In the rotating wheel module of this application embodiment, since the elastic element is disposed between the first connecting member and the second connecting member, the first connecting member is hinged to the bracket around the first axis, the rotating wheel is hinged to the bracket around the rotation axis, and the support arm is hinged to the bracket around the third axis, and the rotation axis is located between the first axis and the third axis, when the rotating wheel is subjected to an impact force from the road surface, the lever arm of the impact force relative to the hinge point (i.e., the hinge position between the support arm and the bracket) is smaller than the lever arm of the elastic force generated by the elastic element at this time relative to the hinge point. Furthermore, because the restoring torque formed by the elastic force needs to balance the overturning torque formed by the impact force, the elastic force of the elastic element can be less than the impact force at this time, unlike the elastic elements of existing shock-absorbing structures where the elastic force is approximately equal to the impact force. Based on this, when designing and manufacturing the rotating wheel module of this application embodiment, an elastic element with lower material mechanical properties can be selected as the elastic element, instead of having to select an elastic element with higher material mechanical properties as in the prior art. Therefore, by installing the rotating wheel module of this application embodiment on a wheeled robot, the technical problem of the high requirements for the material mechanical properties of the elastic element in the shock-absorbing structure of existing wheeled robots can be improved. Attached Figure Description
[0021] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a three-dimensional structural diagram of a rotating wheel module according to an embodiment of this application;
[0023] Figure 2 This is an exploded view of the rotating wheel module according to an embodiment of this application;
[0024] Figure 3 This is a right view of a rotating wheel module according to an embodiment of this application;
[0025] Figure 4 This is a schematic diagram of the force analysis of a rotating wheel module according to an embodiment of this application at the instant it is subjected to a vertically upward impact force Fn;
[0026] Figure 5 This is a schematic diagram of the force analysis of a rotating wheel module according to an embodiment of the present application when it is actually subjected to a vertically upward impact force Fn;
[0027] Figure 6 This is a schematic diagram of the structure of a chassis assembly according to an embodiment of this application.
[0028] Figure label:
[0029] 1. Rotating wheel module; 2. Chassis;
[0030] 100. Mounting plate; 110. Connecting column; 120. Second limiting part; 200. Bracket; 210. First support section; 220. Second support section; 230. Connecting section; 240. Closing section; 300. Support arm; 400. Elastic arm; 410. First connecting piece; 411. Guide shaft; 412. First end cover; 420. Second connecting piece; 421. Guide sleeve; 422. Second end cover; 430. Elastic element; 500. Rotating wheel; 600. Fixing plate; 610. Mounting boss; 620. First limiting part; 700. Steering motor; 800. Rolling bearing; 810. Inner ring; 820. Outer ring; 900. Coupling. Detailed Implementation
[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0032] It is important to understand that when a component is referred to as being "fixed to," "set on," or "mounted to" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to," it can be directly connected to or indirectly connected to that other component.
[0033] It should be noted that the terms "upper," "lower," "left," "right," "front," "rear," "inner," "outer," "top," "bottom," "vertical," "horizontal," "length," "width," and "height," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and for 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. Therefore, they should not be construed as limitations on this application. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The term "multiple" means two or more, unless otherwise explicitly specified.
[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
[0035] Please see Figure 1-5 The first aspect of this application provides a rotating wheel module 1, including a rotating wheel 500, a mounting plate 100, a bracket 200, a support arm 300, and an elastic arm 400. The mounting plate 100 serves as a mounting component for the rotating wheel module 1, enabling it to be mounted on the chassis of an AGV (Automated Guided Vehicle), a sweeping robot, or a wheeled robot, thereby allowing the self-moving device to move on the road surface via the rotation of the rotating wheel 500. In this embodiment, the rotating wheel module 1 mounted on the chassis of a wheeled robot is used as an example for explanation.
[0036] The bracket 200 of the rotating wheel module 1 is spaced apart from the mounting plate 100. The bracket 200 is used to mount the rotating wheel 500, which is rotatably mounted on the bracket 200 around its own axis of rotation. The top end of the support arm 300 is fixedly connected to the mounting plate 100, and the bottom end of the support arm 300 is hinged to the bracket 200 around a third axis, so that the bracket 200 can rotate relative to the bottom end of the support arm 300, thereby being able to withstand the impact transmitted from the road surface. In the following text, the position where the bottom end of the support arm 300 is hinged to the bracket 200 is referred to as the hinge point.
[0037] The elastic arm 400 includes a first connector 410, a second connector 420, and an elastic element 430 disposed between the first connector 410 and the second connector 420. The first connector 410 is hinged to the bracket 200 about a first axis, so that the bracket 200 can rotate relative to the bottom end of the elastic arm 400. The second connector 420 is hinged to the mounting plate 100 about a second axis, so that the top end of the elastic arm 400 can rotate relative to the mounting plate 100. The two ends of the elastic element 430 along its own elastic deformation direction abut against the first connector 410 and the second connector 420 respectively, so that the first connector 410 or the second connector 420 can undergo elastic deformation when subjected to impact force, thereby buffering the external impact force and realizing the shock absorption function. In this embodiment, the rotation axis of the rotating wheel 500 is located between the first axis and the third axis, and the rotation axis, the first axis, the second axis, and the third axis are parallel to each other. This ensures that the bracket 200, the elastic arm 400, the support arm 300, and the mounting plate 100 can jointly form the structure for suspending the rotating wheel 500, and also ensures that the elastic arm 400 and the support arm 300 are parallel to each other. The elastic arm 400 and the support arm 300 are located on the front and rear sides of the rotating wheel 500, respectively.
[0038] When the rotating wheel 500 rotates on the road surface, it is easily subjected to impact forces transmitted from the road surface due to unevenness, potholes, ditches, or other road imperfections. Please refer to [link / reference needed]. Figure 4 , Figure 4 This is a schematic diagram of the force analysis of the rotating wheel 500 at the instant it is subjected to an upward vertical impact force Fn. Figure 4 The hinge point is point C. When the rotating wheel 500 is subjected to an upward vertical impact force Fn, the impact force Fn is transmitted through the rotating wheel 500 to point B of the support 200 in the diagram. At this time, the impact force Fn at point B on the support 200 forms an overturning moment M1 relative to the hinge point C, M1 = Fn × L. BC L BC Let L be the distance from point B to point C on the support 200, which is also the lever arm of the overturning moment M1. For ease of understanding, assume that the elastic element 430 (without any displacement or deformation) is already compressed at this instant. Then, the elastic element 430 generates a vertically downward elastic force Fa. The elastic force Fa is transmitted to point A on the support 200 through the first connector 410. The elastic force Fa at point A on the support 200 forms a restoring moment M2 relative to the hinge point C, where M2 = Fa × L. AC L AC Let L be the distance from point A to point C of support 200, which is also the lever arm of the restoring torque M2. Since the restoring torque M2 is used to balance the overturning torque M1, M2 must be equal to M1, and L... AC Obviously greater than L BCTherefore, the elastic force Fa at this time must be less than the impact force Fn. If the existing damping structure is analyzed under the same conditions, it can be deduced that the elastic force Fa generated by the elastic element needs to be equal to the impact force Fn. Thus, it can be seen that the elastic force required to be generated by the elastic element 430 in this embodiment is less than the elastic force required to be generated by the elastic element in the existing damping structure. Therefore, an elastic element with lower material mechanical properties can be selected as the elastic element 430, and the requirements for the material mechanical properties of the elastic element 430 do not need to be too high.
[0039] Please see Figure 5 , Figure 5 This is a schematic diagram of the force analysis when the rotating wheel 500 is actually subjected to an upward vertical impact force Fn. The distance L from point A to point C on the support 200 is... AC The support arm 300 remains unchanged and cannot rotate relative to the mounting plate 100, while the elastic element 430 is compressed and shortened. Therefore, even if the impact force itself is vertically upward from the road surface, after the rotating wheel 500 is subjected to force, the elastic element 430 will actually rotate a small angle θ relative to the bracket 200. Figure 5 The angle θ is significantly amplified, and the support 200 will also rotate relative to the bottom end of the support arm 300. At this time, the overturning moment M1 formed by the impact force Fn at point B on the support 200 relative to the hinge point C is still equal to Fn×L. BC The restoring torque M2 formed by the elastic force Fa at point A on the support 200 relative to the hinge point C is equal to Because of L AC Always greater than L BC Whether it is the elastic element 430 in the existing damping structure or the elastic element 430 in the embodiment of this application, the restoring torque M2 formed is equal to Therefore, the elastic force required by the elastic element 430 in this embodiment is still smaller than that required by the elastic element in the existing shock absorption structure, which further illustrates that the requirements for the material mechanical properties of the elastic element 430 in this application do not need to be too high.
[0040] Specifically, in Figure 4-5 In the illustrated embodiment, the distance from the rotation axis to the first axis is equal to the distance from the rotation axis to the third axis, i.e., L BC For L AC The elastic force Fa generated by the elastic element 430 is about half of the impact force Fn, so the elastic force Fa generated by the elastic element 430 is also close to half of the impact force Fn.
[0041] The rotating wheel module 1 provided in this application embodiment has an elastic element 430 disposed between the first connector 410 and the second connector 420. The first connector 410 is hinged to the bracket 200 around a first axis, the rotating wheel 500 is hinged to the bracket 200 around a rotation axis, and the support arm 300 is hinged to the bracket 200 around a third axis, with the rotation axis located between the first and third axes. Therefore, when the rotating wheel 500 is subjected to an impact force from the road surface, the lever arm of the impact force relative to the hinge point is less than the lever arm of the elastic force generated by the elastic element 430 relative to the hinge point. Furthermore, because the restoring torque formed by the elastic force needs to balance the overturning torque formed by the impact force, the elastic force of the elastic element 430 can be less than the impact force, unlike the elastic element 430 of existing shock-absorbing structures where the elastic force is approximately equal to the impact force. Based on this, when designing and manufacturing the rotating wheel module 1 of this application embodiment, an elastic element with lower material mechanical properties can be selected as the elastic element 430, instead of having to select an elastic element with higher material mechanical properties as required in the prior art. Therefore, by installing the rotating wheel module 1 of the present application embodiment onto a wheeled robot, the technical problem of the high requirements of the elastic element 430 material mechanical properties for the shock absorption structure of the existing wheeled robot can be improved.
[0042] Please see Figure 1-2 In one embodiment, the first connector 410 has a first guide fixed at one end facing the second connector 420, and the second connector 420 has a second guide fixed at one end facing the first connector 410. The first guide is a guide shaft 411, and the second guide is a guide sleeve 421. The guide shaft 411 is slidably mounted in the guide sleeve 421 along the elastic deformation direction of the elastic element 430. The elastic element 430 is arranged around the guide sleeve 421 to prevent the elastic element 430 from falling off between the first connector 410 and the second connector 420. Furthermore, it can be understood that by arranging the elastic element 430 around the guide sleeve 421, the elastic deformation direction of the elastic element 430 can also be guided by the linear sliding of the guide sleeve 421 relative to the guide shaft 411.
[0043] Specifically, in this embodiment, the elastic element 430 is a helical spring, which can be successfully fitted onto the guide sleeve 421 through the hollow cavity around which the helical spring spirals.
[0044] In some other embodiments, a first guide member can be provided as a guide sleeve 421, and a second guide member can be provided as a guide shaft 411. In this case, the elastic element 430 can also be provided around the guide sleeve 421 so that the guide sleeve 421 can also guide the elastic deformation direction of the elastic element 430.
[0045] Please see Figure 1-2In one embodiment, the first connector 410 is fixed with a first end cap 412 at one end facing the second connector 420, and the second connector 420 is fixed with a second end cap 422 at one end facing the first connector 410. An elastic element 430 is disposed between the first end cap 412 and the second end cap 422, and the two ends of the elastic element 430 along its own elastic deformation direction respectively abut against the first end cap 412 and the second end cap 422.
[0046] In one embodiment, a hub motor is installed inside the rotating wheel 500. The hub motor includes a stator and a rotor. The stator of the hub motor is fixedly mounted on the bracket 200, and the rotor of the hub motor is fixedly connected to the rotating wheel 500, so that the rotating wheel 500 can rotate around the rotation axis and is rotatably connected to the bracket 200 around the rotation axis. In other words, the rotating wheel 500 is rotatably connected to the bracket 200 through the hub motor. In this embodiment, a conventional hub motor is used to house the rotating wheel 500 and rotatably mount the rotating wheel 500 onto the bracket 200. This is a conventional technical means in the art, and therefore will not be described in detail. However, it should be noted that the rotating wheel module 1 in this embodiment not only achieves rotation due to its hub motor and rotating wheel 500, but also provides excellent cushioning and shock absorption due to the aforementioned elastic arm 400, bracket 200, support arm 300, and mounting plate 100. These two features are integrated into the same rotating wheel module 1, exhibiting a high degree of modularity. It can be directly installed and disassembled via the mounting plate 100, facilitating subsequent maintenance and upgrades. Furthermore, the highly modular design reduces the space occupied by the rotating wheel module 1 in the chassis of wheeled robots or other self-moving devices, reduces the number and volume of structural components required for its integration, and improves the lightweight nature of the rotating wheel module 1.
[0047] Please see Figure 1-2 In one embodiment, the rotating wheel 500 includes a tread and an inner end face and an outer end face located at both ends of the tread along the rotation axis. The bracket 200 includes a connecting section 230 and a first support section 210 and a second support section 220 connected to both ends of the connecting section 230. The rotating wheel 500 is located in the area enclosed by the first support section 210, the connecting section 230 and the second support section 220. The first support section 210 and the second support section 220 are located on both sides of the rotating wheel 500 along the rotation axis. The first support section 210 and the second support section 220 are parallel to the inner end face and the outer end face, respectively.
[0048] Specifically, in this embodiment, the bracket 200 is annular. In addition to the connecting segment 230, the first support segment 210 and the second support segment 220, the bracket 200 also includes a closing segment 240. The closing segment 240 is used to connect the end of the first support segment 210 away from the connecting segment 230 and the end of the second support segment 220 away from the connecting segment 230. This allows the first support segment 210, the connecting segment 230, the second support segment 220 and the closing segment 240 to form an annular structure, so that the rotating wheel 500 is located in the area enclosed by the annular bracket 200.
[0049] Please see Figure 1-2 In one embodiment, two support arms 300 are provided, symmetrical about the rotating wheel 500 along the third axis. The bottom ends of the two support arms 300 are respectively hinged to the first support segment 210 and the second support segment 220, and the top ends of the two support arms 300 are respectively fixedly connected to both ends of the mounting plate 100 along the third axis. Two elastic arms 400 are also provided, symmetrical about the rotating wheel 500 along the first axis. The first connecting members 410 of the two elastic arms 400 are respectively hinged to the first support segment 210 and the second support segment 220, and the second connecting members 420 of the two elastic arms 400 are respectively hinged to both ends of the mounting plate 100 along the second axis.
[0050] Understandably, in this embodiment, when the rotating wheel 500 is subjected to an impact force, resulting in an overturning moment relative to the hinge point, the elastic force used to balance the restoring moment is evenly distributed to the two elastic elements 430 of the two elastic arms 400. This means that the elastic force generated by each elastic element 430 is equivalent to half the elastic force generated when only one elastic arm 400 is used. Therefore, each elastic element 430 only needs to support half of the elastic deformation, which further reduces the requirements on the mechanical properties of the elastic element 430 material. Furthermore, since the two support arms 300 and the two elastic arms 400 are symmetrically arranged about the rotating wheel 500, they can buffer the impact force on the inner and outer sides of the rotating wheel 500 respectively, making the buffering and shock absorption effect of the rotating wheel module 1 more uniform and stable.
[0051] Please see Figure 1-3 In one embodiment, the rotating wheel module 1 further includes a fixed plate 600, and a mounting plate 100 is rotatably connected to the fixed plate 600 about a fourth axis, the fourth axis being parallel to the elastic deformation direction of the elastic element 430. It can be understood that by setting the mounting plate 100 to be rotatably connected to the fixed plate 600 about the fourth axis, the rotating wheel 500 can rotate around the fourth axis in accordance with the rotation of the mounting plate 100 about the fourth axis, thereby enabling the rotating wheel 500 to steer.
[0052] Please see Figure 1-3In one embodiment, the rotating wheel module 1 further includes a steering motor 700, which is fixedly mounted on the fixed plate 600. The output shaft of the steering motor 700 is fixedly connected to the mounting plate 100 to transmit rotational torque to the mounting plate 100, thereby enabling the mounting plate 100 to rotate relative to the fixed plate 600 about the fourth axis.
[0053] Specifically, the fixed plate 600 has an outwardly protruding mounting boss 610 on the side away from the mounting plate 100, and the steering motor 700 is fixedly mounted on the mounting boss 610. A connecting post 110 is fixedly provided on the side of the mounting plate 100 near the fixed plate 600, and the output shaft of the steering motor 700 is fixedly connected to the connecting post 110 through a coupling 900, thereby realizing the fixed connection between the output shaft of the steering motor 700 and the mounting plate 100.
[0054] More specifically, the output shaft of the steering motor 700 is fixedly connected to the coupling 900, and the coupling 900 and the connecting column 110 are keyed together.
[0055] It is understood that in this embodiment, in addition to integrating the aforementioned rotation and shock absorption functions, the rotating wheel module 1 also possesses a steering function provided by the steering motor 700 and the fixing plate 600. All three are integrated onto the same rotating wheel module 1, exhibiting a highly modular characteristic. It can be directly installed and disassembled via the fixing plate 600, facilitating subsequent maintenance and upgrades of the rotating wheel module 1. Furthermore, the highly modular design reduces the space occupied by the rotating wheel module 1 in the chassis of wheeled robots or other self-moving devices, reduces the number and volume of structural components that need to be associated with the rotating wheel module 1, and improves the lightweight nature of the rotating wheel module 1.
[0056] Please see Figure 2 In one embodiment, the rotating wheel module 1 further includes a rolling bearing 800. The rolling bearing 800 is disposed on the side of the fixing plate 600 facing the mounting plate 100. The fixing plate 600 has a mounting groove (not shown in the figure) on the side facing the mounting plate 100, and the rolling bearing 800 is disposed in the mounting groove. The rolling bearing 800 includes an inner ring 810 and an outer ring 820. The outer ring 820 of the rolling bearing 800 is fixedly connected to the fixing plate 600, and the inner ring 810 of the rolling bearing 800 is sleeved on the output shaft of the steering motor 700. By providing the rolling bearing 800, the output shaft of the steering motor 700 can be supported, reducing the wear of the output shaft of the steering motor 700 and reducing energy consumption.
[0057] For example, the rolling bearing 800 can be selected from commonly used rolling bearings such as cylindrical roller bearings, tapered roller bearings, self-aligning roller bearings, needle roller bearings, angular contact ball bearings, and deep groove ball bearings. In this embodiment, in order to enable the rolling bearing 800 to have both good radial load carrying capacity and axial load carrying capacity, and to be suitable for installation in the limited space, a needle roller bearing is selected as the rolling bearing 800 here.
[0058] Specifically, the inner ring 810 of the rolling bearing 800 is indirectly connected to the output shaft of the steering motor 700 by being sleeved on the connecting post 110 of the mounting plate 100, which facilitates the assembly of the rolling bearing 800.
[0059] Please see Figure 2 In one embodiment, the fixing plate 600 is provided with a first limiting part 620 on the side of the mounting plate 100 along the fourth axis, and the mounting plate 100 is provided with a second limiting part 120 on the side of the fixing plate 600 along the fourth axis. When the mounting plate 100 rotates around the fourth axis in the forward or reverse direction to the maximum rotation angle relative to the fixing plate 600, the second limiting part 120 and the first limiting part 620 abut against each other to achieve limiting.
[0060] Specifically, in this embodiment, the first limiting part 620 is a limiting step disposed on the side of the fixing plate 600 near the mounting plate 100. The limiting step is arc-shaped, and the aforementioned mounting groove is circular. The limiting step is disposed around the mounting groove. The second limiting part 120 is a limiting block fixed to the side of the mounting plate 100 near the fixing plate 600. The limiting block and the limiting step partially or completely overlap in the direction of the fourth axis, so that when the mounting plate 100 rotates around the fourth axis in the forward or reverse direction to the maximum rotation angle relative to the fixing plate 600, the limiting block and the limiting step abut against each other.
[0061] In other embodiments, the first limiting part 620 may be a limiting block separately fixed to the fixing plate 600, corresponding to the maximum forward rotation angle and the maximum reverse rotation angle of the mounting plate 100 relative to the fixing plate 600. The second limiting part 120 may be two spaced-apart limiting blocks separately fixed to the mounting plate 100. Alternatively, the first limiting part 620 may be two spaced-apart limiting blocks, and the second limiting part 120 may be a single limiting block. The key is to ensure that the limiting blocks on the mounting plate 100 and the fixing plate 600 at least partially overlap in the fourth axial direction to achieve mutual contact.
[0062] Please see Figure 6A second aspect of this application also provides a chassis assembly, which includes a chassis 2 and a rotating wheel module 1 as described in the above embodiment. A fixing plate 600 of the rotating wheel module 1 is fixedly connected to the chassis 2 so that the rotating wheel module 1 can be mounted on the chassis 2. Because the mounting plate 100 is rotatably connected to the fixing plate 600 about a fourth axis, the mounting plate 100 in this embodiment is also rotatably mounted on the chassis 2 about a fourth axis.
[0063] The chassis assembly provided in this application embodiment includes the rotating wheel module 1 of the above embodiment. Therefore, after it is installed on a wheeled robot, it can also improve the technical problem that the shock absorption structure of the existing wheeled robot has high requirements for the mechanical properties of the elastic element material.
[0064] Furthermore, a third aspect of this application provides a wheeled robot that includes the chassis assembly described in the above embodiments.
[0065] The wheeled robot provided in this application embodiment improves the technical problem of high requirements for the mechanical properties of elastic element materials in the shock absorption structure of existing wheeled robots because it includes the rotating wheel module 1 of the above embodiment.
[0066] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.
Claims
1. A rotating wheel module, characterized in that, include: Mounting plate; A bracket, wherein the bracket is spaced apart from the mounting plate; A support arm, one end of which is fixedly connected to the mounting plate, and the other end of which is hinged to the bracket around a third axis; The elastic arm includes a first connector, a second connector, and an elastic element disposed between the first connector and the second connector. The two ends of the elastic element along its own elastic deformation direction respectively abut against the first connector and the second connector. The first connector is hinged to the bracket about a first axis, and the second connector is hinged to the mounting plate about a second axis. A rotating wheel is mounted on the bracket and rotates around its own axis of rotation. The axis of rotation is located between the first axis and the third axis, and the axis of rotation, the first axis, the second axis, and the third axis are parallel to each other.
2. The rotating wheel module according to claim 1, characterized in that, The first connector has a first guide fixed at one end facing the second connector, and the second connector has a second guide fixed at one end facing the first connector. One of the first guide and the second guide is a guide shaft, and the other of the first guide and the second guide is a guide sleeve. The guide shaft is slidably installed in the guide sleeve along the elastic deformation direction of the elastic element, and the elastic element is arranged around the guide sleeve.
3. The rotating wheel module according to claim 1, characterized in that, The rotating wheel is equipped with a hub motor, which includes a stator and a rotor. The stator of the hub motor is fixedly mounted on the bracket, and the rotor of the hub motor is fixedly connected to the rotating wheel so that the rotating wheel can rotate around the rotation axis.
4. The rotating wheel module according to claim 1, characterized in that, The rotating wheel includes a tread and an inner end face and an outer end face located at both ends of the tread along the direction of the rotation axis. The bracket includes a connecting section and a first support section and a second support section connected to both ends of the connecting section. The rotating wheel is located in the area enclosed by the first support section, the connecting section and the second support section. The first support section and the second support section are parallel to the inner end face and the outer end face, respectively.
5. The rotating wheel module according to claim 4, characterized in that, Two support arms and two elastic arms are provided. The two support arms are symmetrical about the rotating wheel in the direction of the third axis. The two support arms are respectively hinged to the first support segment and the second support segment. The two elastic arms are symmetrical about the rotating wheel in the direction of the first axis. The first connecting members of the two elastic arms are respectively hinged to the first support segment and the second support segment. The second connecting members of the two elastic arms are respectively hinged to both ends of the mounting plate along the second axis.
6. The rotating wheel module according to claim 1, characterized in that, It also includes a fixing plate, the mounting plate being rotatably connected to the fixing plate about a fourth axis, the fourth axis being parallel to the elastic deformation direction of the elastic element.
7. The rotating wheel module according to claim 6, characterized in that, It also includes a steering motor, which is fixedly mounted on the mounting plate, and the output shaft of the steering motor is fixedly connected to the mounting plate so that the mounting plate can rotate relative to the mounting plate about the fourth axis.
8. The rotating wheel module according to claim 6, characterized in that, The fixing plate has a first limiting part on the side of the mounting plate along the fourth axis and a second limiting part on the side of the mounting plate along the fourth axis and near the fixing plate. When the mounting plate rotates around the fourth axis in the forward or reverse direction to the maximum rotation angle relative to the fixing plate, the second limiting part abuts against the first limiting part.
9. A chassis assembly, characterized in that, It includes a chassis and a rotating wheel module as described in any one of claims 1-8, wherein the mounting plate is mounted on the chassis.
10. A wheeled robot, characterized in that, Includes the chassis assembly as described in claim 9.