CN115972890A - Robot walking wheel - Google Patents

Abstract

The embodiment of the invention provides a robot walking wheel, wherein the robot walking wheel comprises: the direction control unit comprises a steering motor and a speed reduction unit in driving connection with the steering motor; the driving wheel unit is in driving connection with the output end of the speed reducing unit; the driving wheel unit comprises a driving motor and a double-swing-disc transmission assembly in driving connection with the driving motor, and the double-swing-disc transmission assembly comprises two swing disc wheels which are arranged at intervals relatively. According to the technical scheme provided by the embodiment of the invention, the double-swing-disc transmission assembly is arranged in the driving wheel unit, so that the walking power transmission in the driving wheel unit is more stable, and the rotation of the driving wheel unit is more stable.

Description

Robot walking wheel

Technical Field

The invention relates to the technical field of robots, in particular to a traveling wheel of a robot.

Background

With the development of robots towards intellectualization, the application fields of robots are also more and more extensive, such as service robots, medical robots, industrial robots and the like. At present, a robot walking wheel adopted in a robot integrates a steering function and a walking function, so that a wheel hub part of the robot can walk under the driving of a power source and can steer under the driving of the power source.

In the use process of the robot, the stability of the rotation of the robot walking wheels needs to be ensured in the walking process of the robot, so that the problem that how to ensure the stability of the robot walking wheels when the robot is controlled to walk and turn is needed to be solved urgently is solved.

Disclosure of Invention

In view of the above problems, embodiments of the present invention are proposed to provide a road wheel for a robot that solves the above problems.

In one embodiment of the present invention, there is provided a robotic road wheel comprising:

the direction control unit comprises a steering motor and a speed reduction unit in driving connection with the steering motor;

the driving wheel unit is in driving connection with the output end of the speed reducing unit;

the driving wheel unit comprises a driving motor and a double-swing-disc transmission assembly in driving connection with the driving motor, and the double-swing-disc transmission assembly comprises two swing disc wheels which are arranged at intervals relatively.

In some embodiments, the driving wheel unit includes a hub assembly, and a first fixing member and a second fixing member mounted on both sides of the hub assembly in the axial direction, and the first fixing member is provided with the driving motor for driving the hub assembly to rotate around its axis;

the double-wobble-disc transmission assembly is in driving connection with the hub assembly.

In some embodiments, the hub assembly has an accommodating space, the double-wobble plate transmission assembly is accommodated in the accommodating space, and the first fixing piece and the second fixing piece are mounted on two axial sides of the accommodating space in a closed manner.

In some embodiments, a mounting groove is formed in a side of the first fixing piece facing away from the accommodating space, and the driving motor is fixedly connected in the mounting groove;

and the first fixing piece is connected with a cover plate for covering the mounting groove.

In some embodiments, the double wobble plate drive assembly includes a drive crankshaft and two wobble plate wheels;

the driving crankshaft is in driving connection with the output end of the driving motor, and the two wobble plate wheels are respectively fixed on two non-coaxial shaft sections of the driving crankshaft;

the hub assembly is internally provided with a pinwheel positioning part and a pinwheel which is positioned at the pinwheel positioning part and matched with the wobble plate wheel.

In some embodiments, the direction control unit further comprises:

the steering motor and the speed reduction unit are arranged on the mounting frame;

and the output flange is connected with the output end of the speed reduction unit and is connected with the driving wheel unit.

In some embodiments, a fixed compression ring is further arranged on the mounting frame, and the mounting frame and the fixed compression ring form a clamping structure so as to clamp and fix the speed reduction unit between the mounting frame and the fixed compression ring.

In some embodiments, the direction control unit further includes a first transmission gear, a second transmission gear, and an end gear, the first transmission gear is in transmission connection with the driving motor, the second transmission gear is meshed between the first transmission gear and the end gear, and the end gear is connected with the input end of the speed reduction unit.

In some embodiments, the directional control unit further comprises a hollow shaft therein;

one end of the hollow shaft is connected with the output flange and communicated with the first wiring groove at the bottom of the output flange, and the other end of the hollow shaft penetrates through the speed reduction unit and the mounting rack and is communicated with the second wiring groove arranged above the mounting rack.

Additionally, in some embodiments, the direction control unit further comprises a sensing assembly disposed on the mounting bracket, the sensing assembly comprising a tip detection gear;

and a tail end transmission gear is arranged at one end of the hollow shaft, which is far away from the output flange, and is meshed with the tail end transmission gear through the tail end transmission gear.

According to the technical scheme provided by the embodiment of the invention, the double-wobble-disc transmission assembly is arranged in the driving wheel unit of the robot walking wheel, so that the walking power transmission in the driving wheel unit is more stable, and the rotation of the driving wheel unit is more stable. Different from the condition that the reduction ratio of the planetary reducer is limited by the diameter proportion, the reduction ratio of the double-swing-disc transmission assembly is only influenced by the tooth number of the swing disc wheel, and the double-swing-disc wheel can also eliminate uneven stress in the transmission process of the single-swing-disc wheel. The number of teeth of the wobble plate is reduced by adding one-level straight tooth transmission, so that the vibration in the high-speed operation process can be effectively reduced. The robot walking wheel provided by the embodiment of the invention is wide in application range, and can be used in various fields such as bionic robots, industrial robots, transfer robots, service robots, medical robots and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is an exploded schematic view of a robot walking wheel provided by an embodiment of the invention;

fig. 2 is a schematic perspective view of a robot walking wheel provided in an embodiment of the present invention;

fig. 3 is a schematic side view of a robot walking wheel according to an embodiment of the present invention;

fig. 4 is a rear view structural schematic diagram of a robot walking wheel provided by the embodiment of the invention;

FIG. 5 isbase:Sub>A schematic cross-sectional view taken along the line A-A in FIG. 4;

fig. 6 is an exploded view schematically illustrating a driving wheel unit according to an embodiment of the present invention;

FIG. 7 is a schematic sectional view of the driving wheel unit shown in FIG. 6;

fig. 8 is an exploded view of a direction control unit according to an embodiment of the present invention;

fig. 9 is a schematic sectional view of the direction control unit of fig. 6.

Description of the reference numerals

1: a direction control unit;

11: a motor mounting main body rear cover; 12: a master control circuit board; 13: a steering motor; 14: a motor mounting main body; 15: a mounting frame; 16: a deceleration unit; 17: an output flange; 18: a motor mounting main body front cover; 19: a first transmission gear; 110: a second transmission gear; 111: the tail end detection gear upper cover; 112: a middle rotating body; 113: a tail end detection gear; 114: a face gear; 115: a final drive gear; 116: fixing the compression ring; 117: a hollow shaft;

2: a drive wheel unit;

21: a first fixing member; 22: a drive motor; 23: installing a flange on the motor; 24: a drive crankshaft; 25: a first wobble plate wheel; 26: a second wobble plate wheel; 27: a hub; 271: a pinwheel; 28: a tire; 29: a second fixing member; 210: a detection device; 211: a cover plate; 212: a cage attachment member; 213: and (7) connecting the shafts.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Fig. 1 is an explosion structure schematic diagram of a robot walking wheel provided by an embodiment of the present invention, fig. 2 is a three-dimensional structure schematic diagram of the robot walking wheel provided by the embodiment of the present invention, and fig. 3 is a side view structure schematic diagram of the robot walking wheel provided by the embodiment of the present invention, as shown in fig. 1 to 3.

In one embodiment of the present invention, there is provided a robotic road wheel comprising: a direction control unit 1 and a drive wheel unit 2. The direction control unit 1 includes a steering motor 13 and a reduction unit 16 drivingly connected to the steering motor 13. The drive wheel unit 2 is drivingly connected to the output of the reduction unit 16. The driving wheel unit 2 comprises a driving motor 22 and a double-swing-disc transmission assembly in driving connection with the driving motor 22, and the double-swing-disc transmission assembly comprises two swing disc wheels which are arranged at intervals relatively.

The direction control unit 1 can be used for a part fixedly connecting the walking wheels of the robot with a chassis of the robot, the direction control unit 1 can drive the driving wheel unit 2 to perform steering action, and taking the directions in fig. 2 and 3 as examples, the direction control unit 1 can drive the driving wheel unit 2 to rotate around the axis in the vertical direction, so that the steering function of the walking wheels of the robot is realized. The driving wheel unit 2 can rotate around its own axis, which means a horizontal axis passing through the center of the driving wheel unit 2, so as to realize the walking function of the robot walking wheel. Wherein, through set up two wobble plate transmission assembly in drive wheel unit 2 for walking power transmission in drive wheel unit 2 is more stable, thereby makes drive wheel unit 2's rotation more stable. Different from the condition that the reduction ratio of the planetary reducer is limited by the diameter proportion, the reduction ratio of the double-swing-disc transmission assembly is only influenced by the tooth number of the swing disc wheel, and the double-swing-disc wheel can also eliminate uneven stress in the transmission process of the single-swing-disc wheel. The number of teeth of the wobble plate is reduced by adding one-level straight tooth transmission, so that the vibration in the high-speed operation process can be effectively reduced. In addition, the speed-reducing robot walking wheel provided by the embodiment of the invention is wide in application range, and can be used in various fields such as bionic robots, industrial robots, transfer robots, service robots, medical robots and the like.

Referring to fig. 6 and 7 in conjunction with fig. 1 to 5, in some practical embodiments of the present invention, one way of implementing the driving wheel unit 2 is that the driving wheel unit 2 includes a hub assembly and a first fixing member 21 and a second fixing member 29 mounted on both sides of the hub assembly in the axial direction, and the first fixing member 21 is provided with a driving motor 22 for driving the hub assembly to rotate around its axis. First mounting 21 and second mounting 29 are used for with directional control unit 1 fixed connection for directional control unit 1 can set up the top at the wheel hub subassembly, thereby avoid directional control unit 1 to set up the one side that is located the axial direction at the wheel hub subassembly and make the wheel hub subassembly the problem of one side load appear, improve the more big circumstances in the other side of load that the wheel hub subassembly is located one side of axial direction, be favorable to ensureing the equilibrium of robot walking wheel when control robot walking and turning to.

The double-wobble-disc transmission assembly is in driving connection with the hub assembly and is used for driving the hub assembly to rotate around the axis of the hub assembly, so that the walking function of the robot walking wheel is realized. The hub assembly comprises a hub 27 and a tire 28, the tire 28 is sleeved on the periphery of the hub 27, and two axial sides of the hub 27 are respectively connected with a first fixing member 21 and a second fixing member 29. Driving motor 22 accessible double-swing-disc transmission assembly exports walking power to the wheel hub subassembly can rotate around self axis under driving motor 22's drive and double-swing-disc transmission assembly's transmission, thereby realizes the walking function of robot walking wheel.

Further, in some realizable embodiments of the present invention, the hub assembly has an accommodating space, the double-swing-disc transmission assembly is received in the accommodating space, and the first fixing member 21 and the second fixing member 29 are mounted on two axial sides of the accommodating space in a closed manner. The inside of the hub assembly is hollow, the accommodating space, that is, the space inside the hub assembly, is sealed and installed at the two axial sides of the accommodating space in the hub assembly through the first fixing piece 21 and the second fixing piece 29, and the first fixing piece 21 and the second fixing piece 29 can be connected through the connecting shaft 213. The double-swing-disc transmission assembly for driving the hub assembly to walk can be sealed in the accommodating space inside the hub assembly through the first fixing piece 21 and the second fixing piece 29, so that the double-swing-disc transmission assembly is prevented from being influenced by the external environment. In order to seal the double-swing-disc transmission assembly, with continued reference to fig. 6 and 7, in some practical embodiments of the present invention, oil seals are further disposed in the accommodating space, the oil seals are disposed between the first fixing member 21 and the hub 27 and between the second fixing member 29 and the hub 27, and in cooperation with the oil seals, the first fixing member 21 and the second fixing member 29 form a closed environment with the hub 27, so as to perform an oil-proof sealing treatment on the double-swing-disc transmission assembly. In order to make the hub 27 rotate more smoothly, a rotating bearing member is disposed between the hub 27 and the first fixing member 21 and the second fixing member 29, respectively.

According to different requirements, the driving motor 22 may be disposed in the accommodating space or outside the accommodating space, and the driving motor 22 may be disposed on one side of the first fixing member 21 facing the accommodating space or on one side of the first fixing member 21 facing away from the accommodating space. When driving motor 22 sets up in accommodation space, and set up in one side of the orientation accommodation space of first mounting 21, for making driving motor 22 conveniently walk the line with between the directional control unit 1, be equipped with on the first mounting 21 and walk the line space, driving motor 22's cable can be followed and walked the line space and worn out accommodation space, and stretch into directional control unit 1, be connected with the part in the directional control unit 1, if be connected with the total control circuit board 12 in the directional control unit 1.

When driving motor 22 sets up in the one side of first mounting 21 that backs to the accommodation space, for improving driving motor 22's stability, one side of first mounting 21 that backs to the accommodation space is equipped with the mounting groove, and driving motor 22 fixed connection is in the mounting groove. The output end of the driving motor 22 can penetrate through the mounting groove and extend into the accommodating space to be connected with the double-swing-disc transmission assembly. In order to realize sealing the installation groove and the accommodation space, the first fixing member 21 is connected with a cover plate 211 for covering the installation groove, and the cover plate 211 is used for forming a relatively airtight environment for the installation groove, so as to avoid the driving motor 22 from being interfered by the outside.

Further, in some practical embodiments, the second fixing member 29 is provided with a through hole for connecting the output end of the driving motor 22, and in order to seal the through hole, a cover plate 211 is also provided on a side of the second fixing member 29 facing away from the accommodating space, and the through hole is covered by the cover plate 211 to seal the through hole, so as to prevent foreign matters from entering the accommodating space through the through hole. In addition, in order to prevent foreign substances such as dust from entering the accommodating space through the wiring space on the first fixing member 21, a holder connector 212 is further disposed at the top of the driving wheel unit 2 between the first fixing member 21 and the second fixing member 29, and the wiring space is protected by the holder connector 212.

In some practical embodiments of the present invention, in order to detect the rotation information of the driving motor 22, the first fixing member 21 or the second fixing member 29 is provided with a detecting device 210 for detecting the rotation information of the driving motor 22. The detecting device 210 includes, but is not limited to, an encoder chip, and the driving motor 22 can drive a magnet that can rotate synchronously with the output end of the driving motor 22, so that the detecting device 210 can detect the rotation information of the driving motor 22. The utility model provides an achievable mode is, the last drive connection of driving motor 22 has the motor to detect the flange, the motor is equipped with the magnet that is used for detecting driving motor 22 rotation information on detecting the flange, detection device 210 can establish on second mounting 29 or set up on the apron 211 of connecting second mounting 29, the last inspection hole that has of second mounting 29, detection device 210 stretches into the accommodation space through the inspection hole, when the motor detects the flange and rotates under driving motor 22's drive, the motor detects the flange and drives magnet rotation, thereby cooperation detection device 210 detectable driving motor 22's rotation information, rotation information includes but not limited to slew velocity, turned angle etc..

With continued reference to fig. 6 and 7, in some realizable embodiments of the invention, the double wobble plate drive assembly includes a drive crankshaft 24 and two wobble plate wheels. The driving crankshaft 24 is in driving connection with the output end of the driving motor 22, and the two wobble plate wheels are respectively fixed on two non-coaxial shaft sections of the driving crankshaft 24. The hub assembly is internally provided with a pinwheel positioning part and a pinwheel 271 which is positioned at the pinwheel positioning part and matched with the wobble plate wheel.

The output end of the driving motor 22 includes, but is not limited to, a motor mounting flange 23 and a driving crankshaft 24, the motor mounting flange 23 is in driving connection with the driving motor 22, and is used for transmitting torque power of the driving motor 22 and driving the driving crankshaft 24 to rotate, and one connection mode between the mounting flange and the driving crankshaft 24 is that the mounting flange and the driving crankshaft 24 are connected through a square hole and a square shaft. The second fixing member 29 is provided with a switching hole for connecting the driving crankshaft 24, one end of the driving crankshaft 24 far away from the driving motor 22 is rotatably connected with the switching hole, in order to reduce friction between the driving crankshaft 24 and the second fixing member 29, the tail end of the driving crankshaft 24 is sleeved with a tail end bearing, and the outer ring of the tail end bearing is connected with the second fixing member 29.

The driving crankshaft 24 is provided with at least shaft sections which are staggered and non-coaxial, the driving crankshaft 24 is connected with the two wobble plate wheels through different shaft sections, for example, the driving crankshaft 24 is respectively connected with the first wobble plate wheel 25 and the second wobble plate wheel 26 through two different shaft sections, and the installation directions of the first wobble plate wheel 25 and the second wobble plate wheel 26 are opposite. The driving motor 22 drives the driving crankshaft 24 to rotate through the motor mounting flange 23, and the driving crankshaft 24 drives the two first wobble plate wheels 25 and the second wobble plate wheels 26 which are opposite in direction to do staggered motion when rotating, so that the wobble plate wheels are matched with the pinwheel 271 to push the hub assembly to rotate, and the walking action of the robot walking wheel is realized.

Referring to fig. 8 and 9 in conjunction with fig. 1 to 5, in some realizable embodiments of the present invention, the direction control unit 1 may be realized in such a way that the direction control unit 1 further includes: mounting bracket 15 and output flange 17. The steering motor 13 and the reduction unit 16 are both provided on the mounting frame 15. The output flange 17 is connected to the output end of the reduction unit 16, and the output flange 17 is connected to the drive wheel unit 2. The mounting frame 15 can provide a support and a connection basis for other components of the direction control unit 1, the steering motor 13 provides steering power for steering actions of the robot walking wheel, the speed reduction unit 16 is used for achieving the purpose of reducing the speed of the steering motor 13, and the speed reduction unit 16 can reduce and transmit the high rotating speed of the steering motor 13 to the output flange 17, so that the angular speed of the output flange 17 during rotation meets the requirement, and the stability of the direction control unit 1 driving the driving wheel unit 2 during steering is ensured.

Further, in order to make the connection of the speed reduction unit 16 more stable, a fixing press ring 116 is further disposed on the mounting frame 15, and the mounting frame 15 and the fixing press ring 116 form a clamping structure to clamp and fix the speed reduction unit 16 between the mounting frame 15 and the fixing press ring 116. Compared with the method of fixing the speed reducing unit 16 only by using a fastener, the fixing press ring 116 can increase the contact area with the speed reducing unit 16 and increase the clamping acting force, so that the connection of the speed reducing unit 16 is more stable, and the speed reducing effect is prevented from being influenced by the position movement of the speed reducing unit 16.

In some practical embodiments of the present invention, the speed reduction unit 16 includes, but is not limited to, a harmonic reducer and a planetary reducer, and taking the speed reduction unit 16 as the harmonic reducer as an example, the harmonic reducer includes a wave generator, a flexible gear and a rigid gear, the wave generator, the flexible gear and the rigid gear are in sleeved fit, the output end of the steering motor 13 is in transmission connection with the wave generator of the harmonic reducer, the harmonic reducer makes the flexible gear (i.e. the flexible gear) generate elastic deformation through the rotation of the wave generator, and the flexible gear is engaged with the rigid gear (i.e. the steel wheel) to transmit motion, and the speed reduction purpose is achieved through the difference in the number of teeth between the flexible gear and the rigid gear. The high rotating speed of the steering motor 13 can be reduced and transmitted to the output flange 17 through the harmonic reducer, so that the angular speed of the output flange 17 during rotation meets the requirement, and the stability of the direction control unit 1 when driving the driving wheel unit 2 to steer is ensured. The output end of the harmonic reducer can be a steel wheel or a flexible wheel.

Further, in order to protect the steering motor 13 and the like in the steering control unit 1, the steering motor 13 also has a motor housing on the outer periphery thereof, through which the steering motor 13 and the like are coupled to the mounting bracket 15. One way of realizing the motor housing is that the motor housing comprises a motor mounting body rear cover 11, a motor mounting body 14 and a motor mounting body front cover 18, the steering motor 13 is arranged in a space enclosed by the motor mounting body rear cover 11, the motor mounting body 14 and the motor mounting body front cover 18, and the motor housing can play a role in taking water proofing, structural support and mounting fixation into consideration for parts such as the steering motor 13. Motor installation main part 14 is connected with mounting bracket 15, and motor installation main part 14 has first inner chamber and the second inner chamber that forms through the baffle partition, turns to motor 13 and is located first inner chamber and sets up on mounting bracket 15 through motor installation main part 14, is provided with total control circuit board 12 in the second inner chamber, and total control circuit board 12 is connected with turning to motor 13 electricity.

The motor installation main body 14 is a component for installing the steering motor 13, as shown in fig. 8, a partition plate is arranged inside the motor installation main body 14, a first inner cavity and a second inner cavity are respectively arranged on two sides of the partition plate, the first inner cavity can be used for installing the steering motor 13, the second inner cavity can be used for installing a master control circuit board 12 electrically connected with the steering motor 13, the power supply for the steering motor 13 can be realized through the master control circuit board 12, the opening of the first inner cavity on the motor installation main body 14 can be sealed by a motor installation main body front cover 18, and the opening of the second inner cavity can be sealed by a motor installation main body rear cover 11. Can provide installation space for the steering motor 13 of directional control unit 1 through motor casing to conveniently turn to arranging of motor 13, and can not occupy the inner space of mounting bracket 15, so that mounting bracket 15 has sufficient space and robot chassis fixed connection, simultaneously, can realize turning to motor 13's independent installation through motor casing, reduced the assembly degree of difficulty.

With continued reference to fig. 8 and 9, in some practical embodiments of the present invention, the transmission connection between the steering motor 13 and the speed reduction unit 16 may be implemented by a gear transmission manner, and one way of implementing the present invention is that the direction control unit 1 further includes a first transmission gear 19, a second transmission gear 110 and an end gear 114, the first transmission gear 19 is in transmission connection with the steering motor 13, the second transmission gear 110 is meshed between the first transmission gear 19 and the end gear 114, and the end gear 114 is connected with the input end of the speed reduction unit 16. The first transmission gear 19 transmits the output of the steering motor 13 to the second transmission gear 110, and the second transmission gear 110 further transmits the motion to the face gear 114, so as to drive the speed reduction unit 16 to rotate, the output torque of the steering motor 13 can be improved through the gear transmission mode, the speed reduction effect can be realized on the steering motor 13 by setting the diameter proportion of the first transmission gear 19 and the second transmission gear 110, so that the high rotating speed of the steering motor 13 is reduced and transmitted to the speed reduction unit 16, the purpose of primary speed reduction is achieved, and the rotating speed limit when the steering motor 13 is selected is reduced.

Meanwhile, the output of the steering motor 13 is transmitted in a crossed shaft mode through the face gear 114, the steering motor 13 can be conveniently arranged on the side of the mounting frame 15, so that enough space is reserved for the mounting frame 15 to be connected with other components, the steering motor 13 can be vertically arranged, namely, the central shaft of the steering motor 13 is parallel to the horizontal direction, and more space is occupied by the steering motor 13 in the vertical direction. Moreover, the steering motor 13 and the two transmission gears are arranged in parallel to the horizontal direction, and the face gear 114 and the reduction unit 16 are arranged in a direction perpendicular to the vertical direction, so that the direction control unit 1 is integrally in an L-shaped layout, the phenomenon that the size of the direction control unit 1 in the horizontal direction or the vertical direction is too large is avoided, and the size of the walking wheel of the whole robot is effectively controlled.

Further, in some embodiments of the present invention, the first transmission gear 19 and the second transmission gear 110 may be disposed in the motor housing, and the face gear 114 may be rotatably disposed on the mounting frame 15. In order to make the mounting frame 15 have enough space for fixing with the chassis of the robot, the motor housing mounted with the steering motor 13 may be fixed to the side of the mounting frame 15, and therefore, in some embodiments of the present invention, the mounting frame 15 is provided with a fixing surface in the vertical direction, and the motor housing is fixed to the fixing surface. The stationary plane is located the lateral wall of mounting bracket 15, through fixing motor casing on the stationary plane of mounting bracket 15, can leave sufficient space for the top of mounting bracket 15 fixed with the chassis of robot to the side of motor casing also can be fixed with the chassis of robot simultaneously, thereby has increased the stability when the chassis of robot walking wheel and robot is fixed.

Further, in order to facilitate fixing the motor housing on the fixing surface of the mounting bracket 15 and to share the load (such as the gravity of the steering motor 13) applied to the motor housing by the mounting bracket 15, the portion of the motor housing provided with the steering motor 13 may be fixed directly above the mounting bracket 15.

Referring to fig. 1 and 8, in some practical embodiments of the present invention, one way to realize the output flange 17 is that the output flange 17 includes a connecting portion and a main body portion, the connecting portion is fixedly connected to the output end of the speed reducing unit 16, the main body portion is provided with a first groove and a second groove which are opposite to each other, the first fixing member 21 is fixed in the first groove, and the second fixing member 29 is fixed in the second groove. The output flange 17 is a member fixedly connected to the output end of the speed reduction unit 16, and is configured to output the rotational kinetic energy reduced by the speed reduction unit 16 and drive the driving wheel unit 2 to rotate. The connecting portion of the output flange 17 is a portion fixedly connected with the output end of the speed reducing unit 16, the main body portion of the output flange 17 is a portion providing a fixing base for the first fixing member 21 and the second fixing member 29, and the first recess may play a role in positioning for fixing the first fixing member 21, and the second recess may play a role in positioning for fixing the second fixing member 29, so as to conveniently fix the first fixing member 21 and the second fixing member 29 to the output flange 17.

The output flange 17 can facilitate the fixed connection between the first fixing member 21 and the second fixing member 29 and the output end of the speed reduction unit 16, the connecting portion of the output flange 17 is connected to the output end of the speed reduction unit 16 and then rotates synchronously with the output end of the speed reduction unit 16, and because the first fixing member 21 and the second fixing member 29 are fixed to the main body portion of the output flange 17 at the same time, the first fixing member 21 and the second fixing member 29 can rotate synchronously with the main body portion of the output flange 17, so that the movement of the output end of the speed reduction unit 16 is transmitted to the first fixing member 21 and the second fixing member 29 through the output flange 17, and the driving wheel unit 2 is driven to realize steering. Meanwhile, the first and second grooves on the main body may serve as a positioning function for the first and second fixing members 21 and 29, and after the fixing of the first and second fixing members 21 and 29 is completed, a load in a vertical direction may be transmitted through the top walls of the first and second grooves.

Further, referring to fig. 1 and 6, one implementation manner of the first fixing element 21 and the second fixing element 29 is that the first fixing element 21 includes a first connection portion and a first extension portion protruding from the first connection portion to the direction control unit 1, the first connection portion is rotatably connected to one side of the hub 27 in the axial direction through a rotating bearing, and the first extension portion is fixed in the first groove of the main body portion of the output flange 17 through a fastening element. The first transfer portion is a portion of the first fixing member 21 rotatably connected to the hub 27, the first outward extending portion is a portion of the first fixing member 21 fixedly connected to the main body portion of the output flange 17, and the first transfer portion is approximately equal in size to the hub 27. Can realize through first switching portion that the rotation between first mounting 21 and the wheel hub 27 is connected, the cover is equipped with the swivel bearing spare on the first switching portion to rotate with wheel hub 27 through the swivel bearing spare and be connected, can realize the fixed connection between the main part of first mounting 21 and output flange 17 through first epitaxial portion, be provided with the via hole on the first epitaxial portion, can adopt fasteners such as screw to fix in the first recess of the main part of output flange 17.

The second fixing member 29 includes a second adapter portion and a second extending portion protruding from the second adapter portion toward the direction control unit 1, the second adapter portion is rotatably connected to one side of the hub 27 in the axial direction through a rotating bearing member, and the second extending portion is fixed in a second groove of the main body portion of the output flange 17 through a fastening member. The second adapter portion is a portion of the second fixing member 29 rotatably connected to the hub 27, the second extension portion is a portion of the second fixing member 29 fixedly connected to the main body portion of the output flange 17, and the second adapter portion is similar to the hub 27 in size. The second fixing piece 29 and the hub 27 can be rotatably connected through the second switching portion, the second switching portion is sleeved with a rotating bearing piece and rotatably connected with the hub 27 through the rotating bearing piece, the second fixing piece 29 and the main body portion of the output flange 17 can be fixedly connected through the second extending portion, a through hole is formed in the second extending portion, and fasteners such as screws can be fixed in a second groove of the main body portion of the output flange 17.

Referring to fig. 8 and 9 in conjunction with fig. 1, in some realizable embodiments of the present invention, a hollow shaft 117 is also included within the directional control unit 1. One end of the hollow shaft 117 is connected with the output flange 17 and communicated with the first wiring groove at the bottom of the output flange 17, and the other end of the hollow shaft 117 penetrates through the speed reduction unit 16 and the mounting rack 15 and is communicated with the second wiring groove arranged above the mounting rack 15. Through the hollow part of hollow shaft 117, can conveniently be with the connecting cable by the inside of drive wheel unit 2 tractive to direction control unit 1, can realize promptly realizing walking the line in the inside realization of direction control unit 1, the connecting cable can pass through hollow shaft 117 and enter the motor casing behind the speed reduction unit 16 and be connected with steering motor 13 and total control circuit board 12, can also wear out entering drive wheel unit 2 through output flange 17, with be connected with the internal component of drive wheel unit 2, thereby avoid walking the line and easily appear the cable in disorder and the winding condition because of the robot walks the outside.

In some practical embodiments of the present invention, in order to detect the angular velocity of the robot when the road wheel turns, the direction control unit 1 further includes a sensing component disposed on the mounting frame 15, and the sensing component includes the end detection gear 113. An end of the hollow shaft 117 remote from the output flange 17 is provided with an end drive gear 115 and is engaged with the end drive gear 115 via the end drive gear 115. One end and the output flange 17 fixed connection of hollow shaft 117, thereby hollow shaft 117 can rotate along with output flange 17 is synchronous, hollow shaft 117 wears to locate mounting bracket 15 and can rotate relative to mounting bracket 15, when hollow shaft 117 rotates along with output flange 17, drive terminal detection gear 113 through terminal drive gear 115 and rotate, when terminal detection gear 113 rotates, sensing element detectable terminal detection gear 113's angular velocity, thereby reachs the angular velocity of hollow shaft 117 according to the rotational speed ratio between terminal drive gear 115 and the terminal detection gear 113, the angular velocity of output flange 17 promptly, the acceleration of drive wheel unit 2 promptly, thereby the angular velocity information when the walking wheel of robot turns to can be collected.

Further, one implementation of the sensing assembly is that the sensing assembly includes an encoder, an intermediate rotating body 112, an end detection gear upper cover 111, and an end detection gear 113. The middle rotating body 112 is fixedly connected with the mounting frame 15, and the middle rotating body 112 is provided with a rotating cavity for rotatably connecting the end detection gear 113. The end detection gear upper cover 111 and the middle rotating body 112 cover the cavity. The encoder includes a detection chip that may be disposed on one of the intermediate rotating body 112 and the end detection gear upper cover 111, and a magnet that is fixedly disposed on the end detection gear 113.

The end transmission gear 115 is sleeved at one end of the hollow shaft 117, the end transmission gear 115 is rotatably connected with the mounting frame 15 through a gasket or a bearing, the end detection gear 113 is meshed with the end transmission gear 115 to transmit the movement of the end transmission gear 115, and the encoder can be used for detecting the angular velocity of the end detection gear 113, so that the angular velocity of the hollow shaft 117, namely the angular velocity of the output flange 17, can be obtained according to the rotation speed ratio between the end transmission gear 115 and the end detection gear 113, and the angular velocity information of the robot travelling wheel during steering can be collected. Further, in order to facilitate finding the angular velocity of the final gear 115, the rotation speed ratio of the final gear 115 to the final detection gear 113 may be set such that the angular velocity of the final detection gear 113 is equal to the angular velocity of the final gear 115 and is equal to the angular velocities of the hollow shaft 117, the output flange 17, and the driving wheel unit 2.

In summary, according to the technical solution provided by the embodiment of the present invention, the double-swing-disc transmission assembly is disposed in the driving wheel unit 2, so that the walking power transmission in the driving wheel unit 2 is more stable, and the rotation of the driving wheel unit 2 is more stable. Different from the condition that the reduction ratio of the planetary reducer is limited by the diameter proportion, the reduction ratio of the double-swing-disc transmission assembly is only influenced by the tooth number of the swing disc wheel, and the double-swing-disc wheel can also eliminate uneven stress in the transmission process of the single-swing-disc wheel. The number of teeth of the wobble plate is reduced by adding one-level straight tooth transmission, so that the vibration in the high-speed operation process can be effectively reduced. In addition, the robot traveling wheel provided by the embodiment of the invention is wide in application range, and can be used in various fields such as bionic robots, industrial robots, transfer robots, service robots, medical robots and the like.

Claims (10)

1. A robotic road wheel, comprising:

the direction control unit comprises a steering motor and a speed reduction unit in driving connection with the steering motor;

the driving wheel unit is in driving connection with the output end of the speed reducing unit;

the driving wheel unit comprises a driving motor and a double-swing-disc transmission assembly in driving connection with the driving motor, and the double-swing-disc transmission assembly comprises two swing disc wheels which are arranged at intervals relatively.

2. The robotic road wheel of claim 1, wherein the drive wheel unit includes a hub assembly and first and second mounts mounted to opposite sides of the hub assembly in an axial direction, the first mount having the drive motor thereon for driving the hub assembly to rotate about its axis;

the double-wobble-disc transmission assembly is in driving connection with the hub assembly.

3. The road wheel of a robot of claim 2, wherein the hub assembly is provided with an accommodating space, the double-wobble-disc transmission assembly is accommodated in the accommodating space, and the first fixing piece and the second fixing piece are mounted on two axial sides of the accommodating space in a closed manner.

4. The road wheel of a robot as claimed in claim 3, wherein a mounting groove is formed on one side of the first fixing piece facing away from the accommodating space, and the driving motor is fixedly connected in the mounting groove;

and the first fixing piece is connected with a cover plate for covering the mounting groove.

5. The robotic road wheel of claim 2 wherein the dual wobble plate drive assembly comprises a drive crankshaft and two wobble plate wheels;

the driving crankshaft is in driving connection with the output end of the driving motor, and the two wobble plate wheels are respectively fixed on two non-coaxial shaft sections of the driving crankshaft;

the hub assembly is internally provided with a pinwheel positioning part and a pinwheel which is positioned at the pinwheel positioning part and matched with the wobble plate wheel.

6. The robotic road wheel of any of claims 1 to 5, wherein the direction control unit further comprises:

the steering motor and the speed reduction unit are arranged on the mounting frame;

and the output flange is connected with the output end of the speed reduction unit and is connected with the driving wheel unit.

7. The road wheel of claim 6, wherein the mounting bracket is further provided with a fixed compression ring, and the mounting bracket and the fixed compression ring form a clamping structure so as to clamp and fix the speed reduction unit between the mounting bracket and the fixed compression ring.

8. The robotic road wheel of claim 6, wherein the direction control unit further comprises a first transmission gear, a second transmission gear and an end gear, the first transmission gear is in transmission connection with the drive motor, the second transmission gear is meshed between the first transmission gear and the end gear, and the end gear is connected with the input end of the reduction unit.

9. The robotic road wheel of claim 6, further comprising a hollow shaft within the directional control unit;

one end of the hollow shaft is connected with the output flange and communicated with the first wiring groove at the bottom of the output flange, and the other end of the hollow shaft penetrates through the speed reduction unit and the mounting rack and is communicated with the second wiring groove arranged above the mounting rack.

10. The robotic road wheel of claim 9 further comprising a sensing assembly disposed on the mounting bracket within the directional control unit, the sensing assembly including a tip detection gear;

and a tail end transmission gear is arranged at one end of the hollow shaft, which is far away from the output flange, and is meshed with the tail end transmission gear through the tail end transmission gear.

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