Servo-driven wheels for an omnidirectional mobile platform

Abstract

This utility model provides a servo-driven wheel for an omnidirectional mobile platform, relating to the field of drive wheel technology. The servo-driven wheel of this omnidirectional mobile platform includes a first servo hub motor, a rotating housing on the outer side of the first servo hub motor, a fixing ring fixedly connected to the outer side of the rotating housing, mounting brackets fixedly connected to both ends of the fixing ring, and a second servo hub motor fixedly connected between the two mounting brackets. A rubber tire is mounted on the outer side of the second servo hub motor. This servo-driven wheel of the omnidirectional mobile platform, by incorporating a cleaning component, can clean dust adhering to the surface of the rubber tire when the servo hub motor drives the rubber tire to rotate, thereby ensuring its surface cleanliness and thus guaranteeing the driving effect of the rubber tire. Furthermore, by using the first servo hub motor in conjunction with the second servo hub motor, the rubber tire can be driven in multiple directions, which is beneficial for practical applications.

Description

Technical Field

[0001] This utility model relates to the field of drive wheel technology, specifically a servo drive wheel for an omnidirectional mobile platform. Background Technology

[0002] With the rapid development of industrial automation, intelligent logistics, service robots, and new energy vehicles, the demand for high-precision, high-reliability, and highly integrated mobile platform drive wheels is increasing. Traditional drive wheels mostly use external motors, reducers, and drive shafts to transmit power, which has problems such as complex structure, large size, low transmission efficiency, susceptibility to environmental interference, and difficult maintenance.

[0003] Against this backdrop, servo hub motors have gradually entered the market and are widely used in small-scale work equipment with high precision requirements, such as AGVs, collaborative robots, medical equipment, and special vehicles. However, in the use of existing servo hub motor-driven drive wheels, due to their small size on small equipment, dust accumulation on the drive wheel surface can easily affect their driving performance, which is detrimental to practical applications.

[0004] Therefore, those skilled in the art provide a servo-driven wheel for an omnidirectional mobile platform to solve the problems mentioned in the background art. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a servo drive wheel for an omnidirectional mobile platform, which solves the problem mentioned in the background art where dust accumulation on the surface of the drive wheel in the prior art easily affects its driving performance.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: a servo drive wheel for an omnidirectional mobile platform, including a first servo hub motor, a rotating housing provided on the outer side of the first servo hub motor, a fixing ring fixedly connected to the outer side of the rotating housing, mounting brackets fixedly connected to both ends of the fixing ring, a second servo hub motor fixedly connected between the two mounting brackets, and a rubber tire provided on the outer side of the second servo hub motor; A cleaning component is provided at the bottom of the first servo hub motor, which is used to clean the dust adhering to the surface of the rubber tire.

[0007] Through the above technical solution, the cleaning components can clean the dust adhering to the surface of the rubber tire when the servo hub motor drives the rubber tire to rotate, thereby ensuring its surface cleanliness and thus ensuring the driving effect of the rubber tire. At the same time, by setting the first servo hub motor to work in conjunction with the second servo hub motor, the rubber tire can be driven in multiple directions, which is beneficial to practical applications.

[0008] Preferably, the cleaning assembly includes a mounting plate and cleaning bristles. The mounting plate is mounted on the bottom of the first servo hub motor by screws, and the cleaning bristles are fixedly mounted at equal intervals on the bottom of the mounting plate, with the bottom of each cleaning bristle contacting the outer side of the rubber tire.

[0009] With the above technical solution, when the second servo hub motor drives the rubber tire to rotate, the cleaning bristles in contact with it can continuously clean the dust adhering to its surface, thereby ensuring its surface cleanliness and thus ensuring the driving effect of the rubber tire.

[0010] Preferably, an encoder is fixedly installed inside both the first servo hub motor and the second servo hub motor, and a connecting wire is installed on the outside of both the first servo hub motor and the second servo hub motor, and the encoder is electrically connected to the connecting wire.

[0011] The above technical solution utilizes connecting wires to power the encoder on one hand and to transmit signals on the other.

[0012] Preferably, both the first servo hub motor and the second servo hub motor have rotor coils rotatably connected inside them, and spokes are fixedly connected to the outside of the rotor coils. The rotating housing is fixedly installed on the outside of the spokes of the first servo hub motor, and the rubber tire is fixedly installed on the outside of the spokes of the second servo hub motor.

[0013] The above technical solution utilizes the rotation of the rotor coil to drive the spokes to rotate.

[0014] Preferably, both the first servo hub motor and the second servo hub motor are equipped with an electromagnetic safety brake. The electromagnetic safety brake is electrically connected to the connecting wire and is used to brake the rotor coil when the power is off.

[0015] The above technical solution enables the electromagnetic safety brake to be powered using connecting wires.

[0016] Preferably, the surface of the rubber tire is patterned.

[0017] The above technical solution utilizes tread patterns to increase the adhesion of rubber tires, thereby improving their performance.

[0018] This utility model provides a servo-driven wheel for an omnidirectional mobile platform, which has the following beneficial effects: The servo-driven wheels of this omnidirectional mobile platform, by incorporating a cleaning component, can clean the dust adhering to the surface of the rubber tires when the servo hub motor drives the rubber tires to rotate, thereby ensuring the surface cleanliness and thus guaranteeing the driving effect of the rubber tires. At the same time, by setting the first servo hub motor to work in conjunction with the second servo hub motor, the rubber tires can be driven in multiple directions, which is beneficial for practical applications. Attached Figure Description

[0019] Figure 1 This is a first-view three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a second-view three-dimensional structural diagram of the present invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of the second servo hub motor of this utility model.

[0022] Figure 4 This is a schematic diagram of the fixing ring and mounting bracket structure of this utility model.

[0023] In the diagram: 1. First servo hub motor; 2. Rotating housing; 3. Fixing ring; 4. Mounting bracket; 5. Second servo hub motor; 6. Rubber tire; 7. Mounting plate; 8. Cleaning brush; 9. Encoder; 10. Connecting wire; 11. Rotor coil; 12. Electromagnetic safety brake; 13. Wheel spokes. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] Reference Figure 1 , Figure 2 and Figure 3This utility model embodiment provides a servo drive wheel for an omnidirectional mobile platform, including a first servo hub motor 1 and a second servo hub motor 5. A servo hub motor is a drive device that highly integrates a motor, encoder, reducer, wheel, and tire into one unit. Its core feature is that it is directly integrated into the wheel hub, driving the wheel to rotate without traditional mechanical transmission components, which is existing technology. A rotating housing 2 is provided on the outer side of the first servo hub motor 1, and a rubber tire 6 is provided on the outer side of the second servo hub motor 5. A rotor coil 11 is rotatably connected inside both the first and second servo hub motors 1 and 5. A spoke 13 is fixedly connected to the outer side of each rotor coil 11. The rotation of the rotor coil 11 drives the spoke 13 to rotate. The rotating housing 2 is fixedly installed on the outer side of the spoke 13 of the first servo hub motor 1, and when the spoke 13 rotates, it drives the rotating housing 2 to rotate. The rubber tire 6 is fixedly installed on the outer side of the spoke 13 of the second servo hub motor 5, and when the spoke 13 rotates, it drives the rubber tire 6 to rotate.

[0026] Reference Figure 1 , Figure 2 and Figure 4 In one aspect of this embodiment, a fixing ring 3 is fixedly connected to the outer side of the rotating housing 2, and mounting brackets 4 are fixedly connected to both ends of the fixing ring 3. A second servo hub motor 5 is fixedly connected between the two mounting brackets 4. The mounting brackets 4 can be used to install and fix the second servo hub motor 5. At the same time, the rotation of the rotating housing 2 can drive the fixing ring 3 and the mounting brackets 4 to rotate, thereby driving the second servo hub motor 5 to adjust its orientation angle. The surface of the rubber tire 6 is patterned, which can increase the adhesion of the rubber tire 6, thereby improving its performance.

[0027] Reference Figure 3In one aspect of this embodiment, encoders 9 are fixedly installed inside both the first servo hub motor 1 and the second servo hub motor 5. The encoders 9 can detect the rotational position, speed, and direction of the servo hub motors in real time and convert these physical quantities into electrical signals, feeding them back to the external control system to achieve high-precision closed-loop control. Connecting wires 10 are installed on the outer sides of both the first servo hub motor 1 and the second servo hub motor 5. The encoders 9 are electrically connected to the connecting wires 10, which are used to supply power to the encoders 9 and to transmit signals. Electromagnetic safety brakes 12 are installed inside both the first servo hub motor 1 and the second servo hub motor 5. The electromagnetic safety brakes 12 are electrically connected to the connecting wires 10, which supply power to the electromagnetic safety brakes 12. The electromagnetic safety brakes 12 are used to brake the rotor coil 11 when power is off. The electromagnetic safety brakes 12 are prior art. When normally energized, the control circuit supplies power to the electromagnetic coil of the electromagnetic safety brakes 12, generating electromagnetic attraction that overcomes the preload of the internal spring assembly, causing the moving and stationary friction plates to separate. At this point, the electromagnetic safety brake 12 is fully released, allowing the motor rotor to rotate freely. When the electromagnetic safety brake 12 is de-energized: the electromagnetic attraction disappears instantly, the preload of the spring assembly is released, and the pressure plate is quickly pushed to press the moving and stationary friction plates together, generating a huge frictional braking torque. This torque acts directly on the motor rotor, causing it to stop rotating within a short time, thus completing the braking operation.

[0028] Reference Figure 1 and Figure 2 In one aspect of this embodiment, a cleaning component is provided at the bottom of the first servo hub motor 1. The cleaning component is used to clean the dust adhering to the surface of the rubber tire 6. The cleaning component includes a mounting plate 7 and cleaning bristles 8. The mounting plate 7 is installed at the bottom of the first servo hub motor 1 by screws. The cleaning bristles 8 are fixedly installed at equal intervals at the bottom of the mounting plate 7. The bottom of each cleaning bristle 8 is in contact with the outer side of the rubber tire 6. When the second servo hub motor 5 drives the rubber tire 6 to rotate, the cleaning bristles 8 in contact with it can continuously clean the dust adhering to its surface, thereby ensuring its surface cleanliness and thus ensuring the driving effect of the rubber tire 6.

[0029] Working principle: First, the device is installed on the equipment that needs to be driven. During use, the rotation of the rotor coil 11 inside the second servo hub motor 5 drives the spokes 13 to rotate, which in turn drives the rubber tire 6 mounted on the spokes 13 to rotate, thus using the rubber tire 6 for driving operation. Simultaneously, as the second servo hub motor 5 drives the rubber tire 6 to rotate, the cleaning bristles 8 in contact with it continuously clean the dust adhering to its surface, ensuring its cleanliness and thus guaranteeing the driving effect of the rubber tire 6.

[0030] When the drive direction needs to be adjusted, the rotation of the rotor coil 11 inside the first servo hub motor 1 drives the spokes 13 to rotate, thereby driving the rotating housing 2 mounted on the spokes 13 to rotate, which in turn drives the fixed ring 3 and the mounting bracket 4 to rotate, thereby driving the second servo hub motor 5 to adjust the orientation angle.

[0031] At the same time, encoder 9 can detect the rotational position, speed and direction of the servo hub motor in real time, and convert these physical quantities into electrical signals to feed back to the external control system, thereby achieving high-precision closed-loop control.

[0032] When the electromagnetic safety brake 12 is normally energized, the control circuit supplies power to the electromagnetic coil of the electromagnetic safety brake 12, generating electromagnetic attraction that overcomes the preload of the internal spring assembly, causing the moving and stationary friction plates to separate. At this time, the electromagnetic safety brake 12 is fully released, and the motor rotor can rotate freely. When the electromagnetic safety brake 12 is de-energized, the electromagnetic attraction disappears instantly, the preload of the spring assembly is released, and the pressure plate is quickly pushed to press the moving and stationary friction plates together, generating a huge frictional braking torque. This torque acts directly on the motor rotor, causing it to stop rotating in a short time, thus completing the braking operation.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A servo drive wheel of an omnidirectional mobile platform, comprising a first servo wheel hub motor (1), characterized in that, A rotating housing (2) is provided on the outside of the first servo hub motor (1). A fixing ring (3) is fixedly connected to the outside of the rotating housing (2). Mounting brackets (4) are fixedly connected to both ends of the fixing ring (3). A second servo hub motor (5) is fixedly connected between the two mounting brackets (4). A rubber tire (6) is provided on the outside of the second servo hub motor (5). A cleaning component is provided at the bottom of the first servo hub motor (1), which is used to clean the dust adhering to the surface of the rubber tire (6).

2. The omni-directional mobile platform servo drive wheel of claim 1, wherein: The cleaning assembly includes a mounting plate (7) and cleaning bristles (8). The mounting plate (7) is mounted on the bottom of the first servo hub motor (1) by screws. The cleaning bristles (8) are fixedly mounted at equal intervals on the bottom of the mounting plate (7). The bottom of each cleaning bristle (8) is in contact with the outer side of the rubber tire (6).

3. The omni-directional mobile platform servo drive wheel of claim 1, wherein: The first servo hub motor (1) and the second servo hub motor (5) are both fixedly equipped with encoders (9), and the first servo hub motor (1) and the second servo hub motor (5) are both equipped with connecting wires (10), and the encoders (9) are electrically connected to the connecting wires (10).

4. The servo drive wheel of the omnidirectional mobile platform according to claim 3, characterized in that: The first servo hub motor (1) and the second servo hub motor (5) are both rotatably connected to a rotor coil (11), and the outer side of the rotor coil (11) is fixedly connected to a spoke (13). The rotating housing (2) is fixedly installed on the outer side of the spoke (13) of the first servo hub motor (1), and the rubber tire (6) is fixedly installed on the outer side of the spoke (13) of the second servo hub motor (5).

5. The servo drive wheel of the omnidirectional mobile platform according to claim 4, characterized in that: The first servo hub motor (1) and the second servo hub motor (5) are both equipped with an electromagnetic safety brake (12). The electromagnetic safety brake (12) is electrically connected to the connecting wire (10). The electromagnetic safety brake (12) is used to brake the rotor coil (11) when the power is off.

6. The servo drive wheel of the omnidirectional mobile platform according to claim 1, characterized in that: The surface of the rubber tire (6) is patterned.

Images