Detachable tire for hub motor, hub motor, and wheeled mobile robot

Abstract

A detachable tire for a hub motor, a hub motor, and a wheeled mobile robot. The detachable tire comprises a hub and a tread; the hub comprises a side shield adapted to be detachably connected to a motor body of a hub motor, and a tread mounting cylinder provided on one side of the side shield; and the tread is circumferentially sleeved outside the tread mounting cylinder. Further disclosed are a hub motor provided with the detachable tire, and a wheeled mobile robot provided with the hub motor. By using the present application, during detachment / installation of a tire, because the hub is provided and the tread is assembled on the hub, rapid detachment / installation from / to the hub motor can be implemented by using the hub, so that the detachment / installation process is simpler and more convenient, and damage to a motor rotor is avoided.

Description

Removable tire for hub motor, hub motor and mobile wheeled robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 31, 2023, with application number 202322939494.7 and invention name “Removable tire, hub motor and mobile wheeled robot for hub motor”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a detachable tire for a hub motor, a hub motor, and a mobile wheeled robot. Background Art

[0003] In-wheel motors are designed to integrate a vehicle's powertrain, transmission, and braking systems. Due to their integrated design, they occupy much less space than traditional motors. As their application scenarios become increasingly diverse, they are being widely used in products such as automobiles, handling robots, and cleaning equipment.

[0004] A hub motor includes an externally mounted tire. When the tire needs to be replaced due to wear, the assembly and disassembly process is complex and can easily damage the hub structure due to the structural design in the related art. Currently, the related art employs the following solution to facilitate assembly and disassembly of the tire relative to the motor: the tire tread and the motor rotor are mated using a "mortise and tenon" structure, with the tread secured axially by a protective cover fixed to the motor rotor. With this solution, the outer wall of the motor rotor must be specially designed with raised projections, and corresponding grooves are designed into the inner wall of the tire tread. Before the tire is mounted on the motor rotor, the alignment must be visually inspected to prevent interference. Therefore, this "mortise and tenon" structure is complex to install and is expensive to manufacture. Furthermore, when disassembling the tire, the motor rotor's protective cover must be removed before the tire tread is removed, which is complex and can easily damage the protective cover structure.

[0005] Summary of the Invention

[0006] The present application aims to solve at least one of the above technical problems to a certain extent. To this end, the present application provides a detachable tire for a hub motor, a hub motor, and a mobile wheeled robot.

[0007] In a first aspect, an embodiment of the present application provides a detachable tire for a hub motor, the detachable tire comprising: a wheel core and a tire skin, the wheel core comprising a side fender for detachably connecting to a motor body of the hub motor and a tire skin mounting tube arranged on one side of the side fender, the tire skin being arranged around the outside of the tire skin mounting tube.

[0008] The application of this application has the following beneficial effects: by setting a wheel core and assembling the tire skin onto the wheel core, when the tire needs to be disassembled, the wheel core can be used to achieve quick disassembly and assembly with the hub motor, making the disassembly and assembly process simpler and avoiding damage to the motor rotor.

[0009] Optionally, an annular edge is circumferentially provided on one side of the tire skin mounting cylinder close to the side baffle, and a surface of the tire skin facing the annular edge is in contact with the annular edge.

[0010] In a second aspect, the present application further provides an in-wheel hub motor, comprising a motor body and a detachable tire for the in-wheel hub motor as described in any of the above technical solutions, wherein the motor body is disposed within the inner cavity of the wheel core and is detachably connected to a side baffle. The reasoning behind the beneficial effects of the in-wheel hub motor provided by this application and the aforementioned detachable tire is similar and will not be repeated here.

[0011] Optionally, the motor body includes a motor rotor and a first end cover and a second end cover arranged at both ends of the motor rotor, the side baffle is detachably connected to the first end cover, and the tire skin mounting tube is arranged around the outside of the motor rotor.

[0012] Optionally, one of the side baffle and the first end cover is provided with a positioning protrusion, and the other is provided with a positioning hole adapted to the positioning protrusion, and the positioning protrusion extends into the positioning hole.

[0013] Optionally, the side guard is provided with a threaded ejection hole for screwing a bolt into. When the bolt is screwed into the threaded ejection hole, as the screwing operation proceeds, the end of the bolt applies pressure to the surface of the first end cap facing the side guard. Thus, simply by tightening the bolt, pressure is applied to separate the side guard from the first end cap, making disassembly very simple.

[0014] Optionally, the second end cover has an annular flange extending radially out of the motor rotor, and the tire skin mounting tube abuts against the annular flange with its end surface facing the annular flange.

[0015] Optionally, at least one of the end surface of the tire skin mounting cylinder and the end surface of the first end cover is provided with a guiding inclined surface.

[0016] Optionally, the side baffle is detachably connected to the first end cover by bolts.

[0017] In a third aspect, the present application further provides a mobile wheeled robot comprising a body, the mobile wheeled robot further comprising an in-wheel motor as described in any of the above technical solutions, the in-wheel motor being disposed on the body. The reasoning process for the beneficial effects of the mobile wheeled robot provided in this application is similar to that of the aforementioned detachable tire and will not be repeated here.

[0018] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0020] FIG1 is a schematic structural diagram of a detachable tire for a hub motor provided in an embodiment of the present application;

[0021] FIG2 is a schematic structural diagram of a hub motor using a detachable tire provided in an embodiment of the present application;

[0022] FIG3 is an exploded view of the hub motor in FIG2 ;

[0023] FIG4 is a cross-sectional view of the hub motor in FIG2 ;

[0024] FIG5 is an enlarged schematic diagram of part A in FIG4 .

[0025] Among them, 1. wheel core, 10. side baffle, 100. positioning hole, 101. mounting hole, 102. threaded ejection hole, 11. tire skin mounting tube, 110. annular rim, 2. tire skin, 3. motor rotor, 4. first end cover, 40. positioning protrusion, 41. guide slope, 5. second end cover, 50. annular flange, 6. bolt, 7. fixed shaft. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to be used to explain the present application and are not to be construed as limiting the present application.

[0027] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0028] This embodiment provides a detachable tire for an in-wheel motor. As shown in FIG1 , the detachable tire includes a wheel core 1 and a tire skin 2. The wheel core 1 includes a side baffle 10 for detachably connecting to the motor body of the in-wheel motor and a tire skin mounting barrel 11 disposed on one side of the side baffle 10. The tire skin 2 is sheathed around the tire skin mounting barrel 11. In this embodiment, the tire skin 2 is not directly mounted on the motor rotor 3. Instead, the tire skin 2 is assembled to the wheel core 1 by providing the wheel core 1. When the tire needs to be removed or installed, the wheel core 1 is used to quickly remove or install the tire from the in-wheel motor, making the removal process more convenient and avoiding damage to the motor rotor 3.

[0029] The wheel core 1 in the detachable tire provided in this embodiment can be made of metal materials such as aluminum alloy, stainless steel, or hard plastic materials, and the tire skin 2 can be made of materials such as rubber or polyurethane.

[0030] Furthermore, since the tire skin 2 is not mounted in direct contact with the motor rotor 3 but is instead mounted to the motor rotor 3 via the wheel core 1, the tire skin 2 can be assembled using a suitable method based on the selected material, thereby improving assembly efficiency and reducing manufacturing costs. For example, when the tire skin 2 is made of polyurethane, the wheel core 1 can be made of aluminum alloy, and the two can be directly manufactured into one piece through casting. When the tire skin 2 is made of rubber, the wheel core 1 can be made of a metal material such as aluminum alloy or stainless steel, or a hard plastic material, and the tire skin 2 can be installed onto the tire skin mounting tube 11 of the wheel core 1 using an interference fit.

[0031] In an optional embodiment, the wheel core 1 and the tire skin 2 are formed into an integral structure, for example, by directly manufacturing the wheel core 1 and the tire skin 2 into an integral structure by integral casting as described above. This reduces manufacturing costs while ensuring the stability of the wheel core 1 and the tire skin 2.

[0032] Furthermore, as shown in Figures 2, 4, and 5, in this embodiment, an annular edge 110 is circumferentially provided on the tire skin mounting tube 11 near the side baffle 10. The surface of the tire skin 2 facing the annular edge 110 is in contact with the annular edge 110. Thus, when the tire skin 2 is mounted on the tire skin mounting tube 11 using interference fit, the inner sidewall of the annular edge 110 limits the tire skin 2, and the friction between the tire skin 2 and the tire skin mounting tube 11 ensures the stability of both.

[0033] In one embodiment, a mounting hole 101 is provided on the side baffle 10 , and the detachable tire can be mounted on the motor rotor 3 through the mounting hole 101 and the bolt 6 .

[0034] In one embodiment, a threaded ejection hole 102 is formed on the side guard 10, and a thread is provided in the threaded ejection hole 102. When the detachable tire needs to be removed from the motor rotor 3, a bolt can be screwed into the threaded ejection hole 102. As the bolt is screwed in, the side guard 10 is pushed away from the motor rotor 3, thereby achieving the removal of the detachable tire.

[0035] Figures 2, 3, and 4 illustrate schematic diagrams of a hub motor equipped with a removable tire according to this embodiment. The hub motor includes a motor body and the removable tire according to this embodiment. The motor body is mounted within the inner cavity of the wheel core 1 and is detachably connected to the side guard 10. Specifically, the motor body includes a motor rotor 3 and first and second end caps 4 and 5 disposed at opposite ends of the motor rotor 3. The side guard 10 is detachably connected to the first end cap 4, and a tire skin mounting tube 11 is disposed around the outside of the motor rotor 3.

[0036] To ensure stable contact between the removable tire and the motor body, at least one set of contacts must be formed between the side fender 10 and the first end cap 4, and between the tire tread mounting tube 11 and the second end cap 5. In one example, the side fender 10 is in contact with the first end cap 4, and the tire tread mounting tube 11 is in contact with the second end cap 5; in another example, the side fender 10 is in contact with the first end cap 4, and there is a gap between the tire tread mounting tube 11 and the second end cap 5; in another example, there is a gap between the side fender 10 and the first end cap 4, and the tire tread mounting tube 11 is in contact with the second end cap 5. To increase the stability of the contact between the removable tire and the motor body, the side fender 10 with a larger contact area can be selected to be in contact with the first end cap 4. At the same time, to improve the compatibility between the removable tire and the motor body, there can be a gap between the tire tread mounting tube 11 and the second end cap 5.

[0037] In one embodiment, a mounting hole 101 is provided on the side baffle 10, and a threaded hole corresponding to the mounting hole 101 is provided on the first end cover 4. The side baffle 10 can be connected to the first end cover 4 using bolts 6. It is easy to understand that in other optional embodiments, connection methods such as pin fastening can also be used.

[0038] In one embodiment, the hub motor also includes a motor stator (not shown in the figure) and a fixed shaft 7. The motor stator is located between the motor rotor 3 and the fixed shaft 7. During operation, the motor rotor 3 rotates relative to the motor stator and the fixed shaft 7. The working principle of the hub motor belongs to the existing technology and will not be repeated here.

[0039] To facilitate assembly, in this embodiment, a positioning hole 100 is provided on the side guard 10, and a positioning protrusion 40 is provided on the first end cap 4. The positioning hole 100 is adapted to the positioning protrusion 40. After assembly, the positioning protrusion 40 extends into the positioning hole 100. Thus, during assembly, the positioning protrusion 40 is aligned and inserted into the positioning hole 100 to complete the initial positioning. The side guard 10 and the first end cap 4 are then screwed together and secured using the bolt 6. It is understood that in an alternative embodiment, the positioning hole can also be provided on the first end cap 4, while the corresponding positioning protrusion is provided on the side guard 10. In this case, the positioning hole provided on the first end cap is a blind hole structure.

[0040] To ensure good stability between the tire and the motor rotor 3 after assembly, the structure of the second end cap 5 is also designed in this embodiment. Specifically, the second end cap 5 has an annular flange 50 that extends radially out of the motor rotor 3. The end surface of the tire skin mounting tube 11 facing the annular flange 50 abuts against the annular flange 50. In this way, during the process of assembling the tire onto the motor rotor 3, the end surface of the tire skin mounting tube 11 facing the annular flange 50 abuts against the annular flange 50. The annular flange 50 can limit the position of the tire skin mounting tube 11 on the wheel core 1, providing a prompt for proper assembly.

[0041] Furthermore, to facilitate assembly and disassembly, this embodiment also includes a guide structure and a threaded ejection hole 102. Specifically, to facilitate assembly, as shown in FIG5 , a guide ramp 41 is provided on the end surface of the first end cap 4. This facilitates the connection of the tire tread mounting tube 11 between the first end cap 4 and the motor rotor 3 during assembly. It will be readily understood that, in alternative embodiments, the guide ramp can also be provided on the end surface of the tire tread mounting tube. Furthermore, to facilitate disassembly, as shown in FIG2 and FIG3 , a threaded ejection hole 102 is provided on the side guard 10 in this embodiment for screwing in bolts. The threaded ejection hole 102 is threaded. This allows the side guard 10 to be removed from the first end cap 4 during disassembly if the connection between the tire tread mounting tube 11 and the motor rotor 3 is too tight to be removed. For example, the bolts connecting the side guard 10 to the first end cap 4 can be used to disassemble the tire, eliminating the need for additional disassembly tooling and simplifying the operation. Specifically, the thread size parameters of the threaded ejection hole 102 are designed to match the size parameters of the bolt used to connect the side guard 10 to the first end cap 4. Thus, after the bolt is removed, it is screwed into the threaded ejection hole 102. As the screwing operation proceeds, the end of the bolt applies pressure to the surface of the first end cap 4 facing the side guard 10. In this way, simply tightening the bolt applies pressure to separate the side guard 10 from the first end cap 4. It is understood that the thread size parameters of the threaded ejection hole 102 and the size parameters of the bolt used to connect the side guard 10 to the first end cap 4 can also be different. An additional matching disassembly bolt can be prepared. Although this requires additional disassembly bolts, bolts are relatively common, easy to obtain, and relatively easy to obtain, making this disassembly method less difficult.

[0042] The present application also provides a mobile wheeled robot, such as a cleaning robot, a handling robot, or a position guidance robot, etc. This type of mobile wheeled robot includes a fuselage and the aforementioned hub motor, and the hub motor is arranged on the fuselage.

[0043] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present application are included within the scope of the claims.

Claims

1. A detachable tire for a hub motor, the detachable tire comprising a wheel core (1) and a tire skin (2), the wheel core (1) comprising a side baffle (10) for detachably connecting to a motor body of the hub motor and a tire skin mounting tube (11) arranged on one side of the side baffle (10), the tire skin (2) being arranged around and sleeved outside the tire skin mounting tube (11).

2. The detachable tire for a hub motor as described in claim 1, wherein an annular edge (110) is circumferentially arranged on one side of the tire skin mounting tube (11) close to the side baffle (10), and a surface of the tire skin (2) facing the annular edge (110) is in contact with the annular edge (110).

3. The detachable tire for a hub motor according to claim 1, wherein the side baffle (10) is provided with a threaded ejection hole (102) for screwing a bolt into.

4. A hub motor, comprising a motor body, characterized in that: It also comprises a detachable tire for a hub motor as claimed in any one of claims 1 to 3, wherein the motor body is arranged in the inner cavity of the wheel core (1), and the motor body is detachably connected to the side baffle (10).

5. The hub motor as described in claim 4, wherein the motor body includes a motor rotor (3) and a first end cover (4) and a second end cover (5) arranged at both ends of the motor rotor (3), the side baffle (10) is detachably connected to the first end cover (4), and the tire skin mounting tube (11) is arranged around the outside of the motor rotor (3).

6. The hub motor according to claim 5, wherein one of the side baffle (10) and the first end cover (4) is provided with a positioning protrusion (40), and the other is provided with a positioning hole (100) adapted to the positioning protrusion (40), and the positioning protrusion (40) extends into the positioning hole (100).

7. The hub motor as described in claim 5, wherein the second end cover (5) has an annular flange (50) extending radially out of the motor rotor (3), and the tire skin mounting tube (11) abuts against the annular flange (50) with its end surface facing the annular flange (50).

8. The hub motor according to claim 5, wherein at least one of the end surface of the tire skin mounting cylinder (11) and the end surface of the first end cover (4) is provided with a guiding inclined surface (41).

9. The hub motor according to claim 5, characterized in that: The side baffle (10) is detachably connected to the first end cover (4) via bolts (6).

10. A mobile wheeled robot, comprising a body, the mobile wheeled robot further comprising a hub motor as claimed in any one of claims 4 to 9, wherein the hub motor is arranged on the body.

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