WO2024012175A1 - Driving wheel assembly, movable base, and transport robot - Google Patents

Driving wheel assembly, movable base, and transport robot Download PDF

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Publication number
WO2024012175A1
WO2024012175A1 PCT/CN2023/101968 CN2023101968W WO2024012175A1 WO 2024012175 A1 WO2024012175 A1 WO 2024012175A1 CN 2023101968 W CN2023101968 W CN 2023101968W WO 2024012175 A1 WO2024012175 A1 WO 2024012175A1
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WO
WIPO (PCT)
Prior art keywords
section
wheel assembly
driving wheel
bearing
motor shaft
Prior art date
Application number
PCT/CN2023/101968
Other languages
French (fr)
Chinese (zh)
Inventor
孔哲
李晓宇
王化杰
周小红
徐聪
李响钟
游辉
袁海平
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024012175A1 publication Critical patent/WO2024012175A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M3/00—Portable or wheeled frames or beds, e.g. for emergency power-supply aggregates, compressor sets

Definitions

  • Embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a driving wheel assembly, a mobile base and a handling robot.
  • Handling robots are one of the main equipment for realizing intelligent logistics. Handling robots can reduce the heavy physical labor of humans. , and improve handling efficiency.
  • a handling robot usually includes a mobile base and a body disposed on the mobile base.
  • the mobile base includes a chassis and a driving wheel assembly arranged on the chassis.
  • the driving wheel assembly drives the main body to move in the warehouse to realize the function of the handling robot to transfer goods.
  • the structure of the above-mentioned driving wheel assembly is relatively complex, which is not conducive to the assembly and disassembly of the handling robot.
  • embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot to facilitate the assembly and disassembly of the handling robot.
  • a first aspect of an embodiment of the present disclosure provides a driving wheel assembly, which includes: a motor shaft, a planetary transmission mechanism and a wheel hub;
  • the motor shaft has a gear end, and the gear end is integrated with the motor shaft;
  • the hub has an installation cavity, and the planetary transmission mechanism is arranged in the installation cavity and connected with the inner part of the hub. surface connection;
  • the planetary transmission mechanism includes a planet carrier and a plurality of planet wheels arranged on the planet carrier, and each of the planet wheels is meshed with the gear end;
  • the motor shaft is configured to drive the wheel hub to rotate through the planetary transmission mechanism.
  • the motor shaft includes a first section, a second section and a third section connected in sequence, and the gear end is provided at an end of the third section away from the second section, so
  • the diameter of the second section is larger than the diameter of the first section and the diameter of the third section, so that a first step surface is formed between the first section and the second section, and the third section and A second step surface is formed between the second sections;
  • a first bearing is provided on the first section and/or the third section.
  • it also includes a motor housing and a rotor arranged in the motor housing; the first section, the second section and part of the third section of the motor shaft are located in the motor Inside the casing, the first section is connected to the rotor; the gear end of the motor shaft is located outside the motor casing.
  • the first bearing is a tapered roller bearing.
  • the driving wheel assembly further includes a braking mechanism, which is sleeved on the first section and located between the first bearing and the first step surface. .
  • the driving wheel assembly further includes a bearing mounting bracket and a second bearing having an meshing portion, the meshing portion meshes with the at least two planetary gears;
  • the second bearing is sleeved on the bearing mounting bracket and abuts against the planet carrier.
  • the number of the second bearings is two, and the two second bearings are spaced apart and sleeved on the bearing mounting bracket.
  • the planet carrier includes a body and a first annular mounting plate, the first annular mounting plate is provided on a side of the body facing the motor shaft, and the first annular mounting plate The plate is connected to the bearing mounting bracket;
  • the bearing mounting bracket includes a ring gear meshed with the planet gear and a second annular mounting plate.
  • the second annular mounting plate is disposed on a side of the ring gear away from the planet carrier.
  • the second annular mounting plate The board and the first annular mounting plate form an accommodation space;
  • the second bearing is located in the accommodation space, and the outer surface of the second bearing is in contact with the outer surface of the ring gear and the inner surface of the first annular mounting plate respectively.
  • first annular mounting plate and the second annular mounting plate are fixedly connected by screws.
  • the hub further includes an elastic member covering the outer peripheral surface of the hub.
  • the driving wheel assembly provided by the embodiment of the present disclosure has the following advantages:
  • the driving wheel assembly provided by the embodiment of the present disclosure integrates the motor shaft, planetary transmission mechanism and hub into one component, thereby avoiding the need to reassemble the driving wheel assembly when assembling with other components of the mobile base, and has the advantage of a high degree of integration. .
  • the end of the motor shaft is processed into a gear shape, which acts as the sun gear in the planetary gear system, simplifying the structure of the drive wheel assembly and further improving the integration of the drive wheel assembly.
  • a second aspect of the embodiment of the present disclosure provides a mobile base, which includes: a chassis and the driving wheel assembly described in the first aspect, and the driving wheel assembly is disposed on the chassis.
  • a third aspect of the embodiment of the present disclosure provides a handling robot, including the mobile base provided in the second aspect.
  • Figure 1 is a perspective view of a driving wheel assembly provided by an embodiment of the present disclosure
  • Figure 2 is a cross-sectional view of a driving wheel assembly provided by an embodiment of the present disclosure
  • Figure 3 is a schematic diagram of a motor shaft provided by an embodiment of the present disclosure.
  • Figure 4 is a second cross-sectional view of the driving wheel assembly provided by an embodiment of the present disclosure.
  • Figure 5 is a third cross-sectional view of the driving wheel assembly provided by the embodiment of the present disclosure.
  • Figure 6 is a schematic diagram of a handling robot provided by an embodiment of the present disclosure.
  • 100 mobile base; 110: rack; 120: fork; 130: partition.
  • the driving wheel assembly in the related art is usually a separate structure.
  • a drive wheel assembly typically includes a drive wheel and a drive system connected to the drive wheel.
  • this driving wheel assembly has the disadvantage of low integration level.
  • the drive system usually includes a drive motor, a braking mechanism and a reducer mechanism. These components exist separately, and users also purchase such components separately.
  • the driving wheel, driving motor, braking mechanism and reducer mechanism need to be assembled together one by one. In this way, it has the disadvantages of high assembly difficulty and low integration level.
  • embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot.
  • a driving wheel assembly By integrating the motor shaft, planetary transmission mechanism and hub into one component, it avoids the need for assembly with other components of the mobile base.
  • Assembling the various components of the drive wheel assembly again has the advantage of a high degree of integration.
  • the end of the motor shaft is processed into a gear shape, which acts as the sun gear in the planetary gear system, simplifying the structure of the drive wheel assembly and further improving the integration of the drive wheel assembly.
  • Embodiments of the present disclosure provide a driving wheel assembly.
  • the driving assembly can be applied to the mobile base of a handling robot to drive the handling robot to move to a designated area to carry goods.
  • the driving wheel assembly includes a motor shaft 10, a planetary transmission mechanism 20 and a hub 30; the motor shaft 10 has a gear end 14, and the gear end 14 and the motor shaft 10 are integrated.
  • the motor shaft 10 has a first end and a second end that are oppositely arranged. The first end is used to connect with other power components, and uses the power output of the power components to drive the motor shaft to rotate, and then drive the wheel hub 30 to rotate.
  • the outer circumferential surface of the second end is machined into a gear structure to form the gear end 14 .
  • the hub 30 has an installation cavity, and the planetary transmission mechanism 20 is disposed in the installation cavity and connected with the inner surface of the hub 30 .
  • the shape of the installation cavity may be a regular shape or an irregular shape.
  • the planetary transmission mechanism 20 includes a planetary carrier 21 and a plurality of planetary gears 22 arranged on the planetary carrier 21 .
  • Each planetary gear 22 is meshed with the gear end 14 ; the motor shaft 10 is configured to drive the hub 30 to rotate through the planetary transmission mechanism 20 .
  • the gear end 14 of the motor shaft 10 meshes with each planet wheel 22, so that the driving load is transmitted to the planet carrier 21 through the planet wheel 22, and then drives the hub 30 to rotate through the planet carrier 21 to realize the driving wheel assembly.
  • mobile functionality the end of the motor shaft is processed into a gear shape, which serves as the sun gear in the planetary gear system. It is not necessary to configure the sun gear in the planetary gear system as in the related art, thereby simplifying the structure of the driving wheel assembly, and further Improve the integration of the drive wheel assembly.
  • the hub 30 has an installation cavity, so that parts of the planetary transmission mechanism and the motor shaft can be integrated into the installation cavity of the hub 30 .
  • it can avoid re-assembly of various parts of the driving wheel assembly, which has the advantage of a high degree of integration.
  • the motor shaft 10 includes a first section 11 , a second section 12 , and a third section 13 connected in sequence. Taking the orientation shown in Figure 3 as an example, the first section 11, the second section Section 12 and the third section 13 are arranged in sequence from left to right. In order to facilitate the description of the positions of the first section 11, the second section 12 and the third section 13, it may be useful to mark the area between the left end of the motor shaft 10 and the first dotted line in Figure 3 as the first section. Section 11, the area between the first dotted line and the second dotted line is marked as the second section 12, and the area between the second dotted line and the right end of the motor shaft 10 is marked as the third section 13.
  • the gear end 14 is provided at the end of the third section 13 facing away from the second section 12 . That is, the gear end 14 is provided at the right end of the third section 13 .
  • the diameter of the second section 12 is larger than the diameter of the first section 11 and the diameter of the third section 13, so that a first step surface 15 is formed between the first section 11 and the second section 12, and the third section 13 and the second section 12 A second step surface 16 is formed therebetween.
  • a first bearing 40 is provided on the first section 11 and/or the third section 13 . That is to say, the first bearing 40 is provided on one of the first section 11 and the third section 13 . Or first bearings 40 are provided on both the first section 11 and the third section 13 .
  • the first bearing 40 can be used as a support bearing of the planet carrier 21 to ensure the smooth operation of the planetary transmission mechanism 20 .
  • the first bearing 40 may be a tapered roller bearing. In this way, the motor shaft 10 can be prevented from sliding in a direction perpendicular to its axis, thereby improving the safety of the driving wheel assembly.
  • the number of the first bearing 40 may be one or multiple.
  • the number of the first bearings 40 can be selected according to the actual stress situation of the driving wheel assembly during use. In this way, the normal operation of the driving wheel assembly can be ensured, and the cost of the driving wheel assembly can also be reduced.
  • the diameter of the first section 11 can be equal everywhere, or can be unequal.
  • the first section 11 at least includes a first sub-section 111, a second sub-section 112 and a third sub-section 113 connected in sequence, wherein the first sub-section 111, the second sub-section 112 and the third sub-section 113
  • the diameters increase sequentially, so that a third step surface 17 is formed between the first sub-section 111 and the second sub-section 112, and a fourth step surface 18 is formed between the second sub-section 112 and the third sub-section 113.
  • the first section 11 also has a third step surface 17 .
  • the third step surface 17 can be used as a stop surface for the first bearing 40 set on the first section 11 .
  • the first bearing 40 is limited to facilitate the installation of the first bearing 40 .
  • the fourth step surface 18 can facilitate the installation of other components.
  • the fourth step surface 18 can facilitate the installation of the braking mechanism.
  • the driving wheel assembly also includes a braking mechanism 60, the braking mechanism 60 is sleeved on the first section 11 and located between the first bearing 40 and the first step surface 15 .
  • the fourth step surface 18 can be used as a stop surface of the braking mechanism 60 to limit the position of the braking mechanism 60 provided on the first section 11 to facilitate the installation of the braking mechanism 60 .
  • the braking mechanism 60 may have a brake-type structure.
  • the braking mechanism 60 may include a first braking part, a second braking part, and a driving part respectively connected to the first braking part and the second braking part.
  • the first braking part and the second braking part are respectively located on both sides of the motor shaft, and the driving part can drive the first braking part and the second braking part to move toward or away from the motor shaft.
  • the driving part drives the first braking part and the second braking part to move toward the motor shaft 10 and come into contact with the motor shaft 10 , the motor shaft 10 can be braked.
  • the braking mechanism 60 is integrated into the driving wheel assembly, thereby maximizing the integration level of the driving wheel assembly.
  • the drive wheel assembly also includes a motor housing 50 and a rotor 51 disposed within the motor housing 50 .
  • the motor housing 50 is used to provide installation space for the rotor 51 and part of the motor shaft 10 .
  • the first section 11 , the second section 12 and part of the third section 13 of the motor shaft 10 are located in the motor housing 50 , and the first section 11 is connected to the rotor 51 .
  • the gear end 14 of the motor shaft 10 is located outside the motor housing 50 .
  • the drive wheel assembly also includes a bearing mounting bracket 70 and a second bearing 80 .
  • the bearing mounting bracket 70 includes an meshing portion (not shown in the figure), and the meshing portion meshes with at least two planetary gears 22 .
  • the second bearing 80 is sleeved on the bearing mounting bracket 70 , and the outer peripheral surface of the second bearing 80 is in contact with the planet carrier 21 .
  • the second bearing 80 can not only serve as a supporting component of the planet carrier 21, but also support the rotation of the hub 30 and the planet carrier 21, making the structure of the driving wheel assembly simpler and further reducing the volume and size of the driving wheel assembly. weight.
  • the second bearing 80 can also ensure the force balance of the planetary transmission mechanism 20 and increase the stability of the planet carrier 21 and the hub 30 during rotation.
  • the number of the second bearing 80 may be one or two. When the second bearing 80 When the number is two, the two second bearings 80 are sleeved on the bearing mounting bracket 70 at intervals. In this way, the stability of the planet carrier 21 and the hub 30 during rotation can be increased to the greatest extent.
  • the second bearing 80 can be a deep groove ball bearing.
  • the deep groove ball bearing can not only bear radial load, but also bear A certain axial load, and this type of bearing also has the advantages of small friction coefficient and high limit speed.
  • the type of the second bearing 80 can be a cylindrical roller bearing. This type of bearing has the advantage of being more convenient to install and disassemble.
  • the planet carrier 21 includes a body 211 and a first annular mounting plate 212 .
  • the body 211 may include a cover plate, and one end of the motor shaft 10 extending outside the motor housing 50 is fixedly connected to the cover plate.
  • the first annular mounting plate 212 is provided on the side of the body 211 facing the motor shaft 10 and is fixedly connected to the bearing mounting bracket 70 . Since the bearing mounting bracket 70 engages with the planet gear 22 for transmission, and the motor shaft 10 engages with the planet gear 22 for transmission, the motor shaft 10 can drive the planet carrier 21 to rotate through the planet gear 22 and the bearing mounting bracket 70 , thereby driving the hub 30 to rotate.
  • the body 211 can protect the planet wheel 22, the first bearing 40 and the second bearing 80, prevent impurities or pollutants from the external environment from damaging the above components, and improve the service life of the driving wheel assembly.
  • the bearing mounting bracket 70 includes a ring gear 71 meshing with the planet gear 22 and a second annular mounting plate 72.
  • the ring gear 71 constitutes the meshing portion.
  • the second annular mounting plate 72 is disposed on the side of the ring gear 71 away from the planet carrier 21 .
  • the second annular mounting plate 72 and the first annular mounting plate 212 form an accommodating space; the second bearing 80 is located in the accommodating space.
  • the outer surface of the bearing 80 is in contact with the outer surface of the ring gear 71 and the inner surface of the first annular mounting plate 212 respectively.
  • the arrangement of the accommodation space can, on the one hand, protect the second bearing 80 from pollution of the external environment, and on the other hand, it can occupy a smaller space and improve the integration of the driving wheel assembly.
  • first annular mounting plate 212 and the second annular mounting plate 72 are fixedly connected by screws.
  • first annular mounting plate 212 is provided with threaded holes
  • second annular mounting plate 72 is provided with connecting holes corresponding to the threaded holes
  • the threaded segments of the screws are sequentially passed through the connecting holes and then threaded into the threaded holes. This has the advantage of high connection strength.
  • the screws may be countersunk head screws, and the heads of the screws are located in the connection holes. In this way, the screws can be prevented from scratching other components, thereby improving the safety of the drive wheel assembly.
  • connection method of the first annular installation plate 212 and the second annular installation plate 72 is not limited to this.
  • the first annular installation plate 212 and the second annular installation plate 72 can also be connected by keying, interference fitting or bonding. Fixed connection.
  • the driving wheel assembly further includes an elastic member 90 , and the elastic member 90 covers the outer peripheral surface of the hub 30 .
  • the material of the elastic member 90 may include polyurethane or rubber, and is covered on the outer surface of the wheel hub 30 using a rubber coating process to provide wear resistance and impact resistance.
  • An embodiment of the present disclosure also provides a mobile base, which includes a chassis and the driving wheel assembly in the above embodiment, and the driving wheel assembly is disposed on the chassis.
  • the number of driving wheel assemblies is at least two.
  • the driving wheel assembly drives the chassis and other components located on the chassis to move in a warehouse or other space.
  • the driving wheel assembly integrates the motor shaft 10, the planetary transmission mechanism 20, the braking mechanism 60 and the wheel hub 30.
  • the motor shaft 10 rotates, the planet gear 22 and the planet carrier 21 of the planetary transmission mechanism 20 are driven to rotate, and then the hub 30 is driven to rotate.
  • the driving wheel assembly can be sold as an integral component, so that the user can directly install the driving wheel assembly on the chassis.
  • the driving wheel assembly can simplify the user's assembly operation of the mobile base and improve the assembly efficiency. efficiency.
  • an embodiment of the present disclosure also provides a handling robot.
  • the handling robot includes a mobile base 100 , a frame 110 and a fork 120 .
  • the mobile base 100 is used to carry the frame 110 and the forks 120, and drive the frame 110 and the forks 120 to move to the working position.
  • the structure and working principle of the mobile base 100 have been described in detail in the above embodiments, and will not be described again in this embodiment.
  • the bottom end of the frame 110 is installed on the mobile base 100.
  • the bottom end of the frame 110 is welded to the upper surface of the mobile base 100.
  • the frame 110 may include two spaced apart columns, and the bottom ends of the columns are fixed. On a mobile base.
  • Multiple partitions 130 are provided between the columns.
  • the multiple partitions divide the rack into multiple layers to form a multi-layer storage shelf. Any layer of the multi-layer storage shelf can be used for temporary storage of goods. In this way, the handling robot can Handle multiple goods at one time, thereby improving the handling efficiency of the handling robot.
  • the fork 120 is slidably mounted on the frame 110.
  • the fork 120 can be slidably mounted on the column, and the fork 120 can move in a direction perpendicular to the mobile base 110 to adjust the height of the fork 120 from the ground, which is convenient.
  • the forks pick up and place goods at different heights.
  • references in the specification to "one embodiment,” “an embodiment,” “exemplary embodiments,” “some embodiments,” etc. mean that the described embodiments may include specific features, structures or characteristics, but not necessarily Each embodiment includes this particular feature, structure, or characteristic. Furthermore, such phrases are not necessarily referring to the same embodiment. Furthermore, where a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, explicitly or not explicitly described.

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  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Engineering & Computer Science (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

A driving wheel assembly, comprising a motor shaft (10), a planetary transmission mechanism (20), and a hub (30). The motor shaft (10) has a gear end (14), and the gear end (14) and the motor shaft (10) are integrated; the hub (30) is provided with a mounting cavity, and the planetary transmission mechanism (20) is disposed in the mounting cavity and is connected to the inner surface of the hub (30); the planetary transmission mechanism (20) comprises a planet carrier (21) and a plurality of planet gears (22) provided on the planet carrier (21), and each planet gear (22) is engaged with the gear end (14); and the motor shaft (10) is configured to drive, by means of the planetary transmission mechanism (20), the hub (30) to rotate. The driving wheel assembly is high in integration level, and facilitates the disassembly and mounting of a transport robot. The present disclosure further relates to a movable base (100) and a transport robot.

Description

驱动轮组件、移动底座及搬运机器人Driving wheel assembly, mobile base and handling robot
本申请要求于2022年07月15日提交中国专利局、申请号为202221820252.5、申请名称为“驱动轮组件、移动底座及搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on July 15, 2022, with the application number 202221820252.5 and the application name "Driving wheel assembly, mobile base and handling robot", the entire content of which is incorporated herein by reference. Applying.
技术领域Technical field
本公开实施例涉及智能仓储技术领域，尤其涉及一种驱动轮组件、移动底座及搬运机器人。Embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a driving wheel assembly, a mobile base and a handling robot.
背景技术Background technique
随着人工智能技术、自动化技术、信息技术的飞速发展，物流的智能化程度也随之不断提高，而搬运机器人是实现物流智能化的主要设备之一，通过搬运机器人能够减轻人类繁重的体力劳动，并提高搬运效率。With the rapid development of artificial intelligence technology, automation technology, and information technology, the degree of intelligence of logistics has also continued to increase. Handling robots are one of the main equipment for realizing intelligent logistics. Handling robots can reduce the heavy physical labor of humans. , and improve handling efficiency.
相关技术中，搬运机器人通常包括移动底座以及设置在移动底座上的本体。其中，移动底座包括底盘以及设置在底盘上的驱动轮组件，通过驱动轮组件带动本体在仓库中移动，以实现搬运机器人转运货物的功能。In the related art, a handling robot usually includes a mobile base and a body disposed on the mobile base. Among them, the mobile base includes a chassis and a driving wheel assembly arranged on the chassis. The driving wheel assembly drives the main body to move in the warehouse to realize the function of the handling robot to transfer goods.
但是，上述的驱动轮组件的结构比较复杂，不利于搬运机器人的组装和拆卸。However, the structure of the above-mentioned driving wheel assembly is relatively complex, which is not conducive to the assembly and disassembly of the handling robot.
申请内容Application content
鉴于上述问题，本公开实施例提供一种驱动轮组件、移动底座及搬运机器人，便于搬运机器人的组装和拆卸。In view of the above problems, embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot to facilitate the assembly and disassembly of the handling robot.
为了实现上述目的，本公开实施例提供如下技术方案：In order to achieve the above objectives, embodiments of the present disclosure provide the following technical solutions:
本公开实施例的第一方面提供一种驱动轮组件，其包括：电机轴、行星传动机构和轮毂；A first aspect of an embodiment of the present disclosure provides a driving wheel assembly, which includes: a motor shaft, a planetary transmission mechanism and a wheel hub;
所述电机轴具有齿轮端，所述齿轮端与所述电机轴一体件；所述轮毂具有安装腔，所述行星传动机构设置在所述安装腔内，并与所述轮毂的内 表面连接；The motor shaft has a gear end, and the gear end is integrated with the motor shaft; the hub has an installation cavity, and the planetary transmission mechanism is arranged in the installation cavity and connected with the inner part of the hub. surface connection;
所述行星传动机构包括行星架以及设置在所述行星架上的多个行星轮，各个所述行星轮均与所述齿轮端啮合；The planetary transmission mechanism includes a planet carrier and a plurality of planet wheels arranged on the planet carrier, and each of the planet wheels is meshed with the gear end;
所述电机轴被配置为：通过所述行星传动机构带动所述轮毂转动。The motor shaft is configured to drive the wheel hub to rotate through the planetary transmission mechanism.
在一种可能的实现方式中，电机轴包括顺次连接的第一段、第二段和第三段，所述齿轮端设置在所述第三段背离所述第二段的端部，所述第二段的直径大于所述第一段的直径和所述第三段的直径，以使所述第一段与所述第二段之间形成第一台阶面，所述第三段与所述第二段之间形成第二台阶面；In a possible implementation, the motor shaft includes a first section, a second section and a third section connected in sequence, and the gear end is provided at an end of the third section away from the second section, so The diameter of the second section is larger than the diameter of the first section and the diameter of the third section, so that a first step surface is formed between the first section and the second section, and the third section and A second step surface is formed between the second sections;
所述第一段和/或所述第三段上设置有第一轴承。A first bearing is provided on the first section and/or the third section.
在一种可能的实现方式中，还包括电机壳以及设置在所述电机壳内的转子；所述电机轴的第一段、第二段以及部分所述第三段位于所述电机壳内，且所述第一段与所述转子连接；所述电机轴的齿轮端位于所述电机壳外。In a possible implementation, it also includes a motor housing and a rotor arranged in the motor housing; the first section, the second section and part of the third section of the motor shaft are located in the motor Inside the casing, the first section is connected to the rotor; the gear end of the motor shaft is located outside the motor casing.
在一种可能的实现方式中，所述第一轴承为圆锥滚子轴承。In a possible implementation, the first bearing is a tapered roller bearing.
在一种可能的实现方式中，所述驱动轮组件还包括制动机构，所述制动机构套设所述第一段上，并位于所述第一轴承与所述第一台阶面之间。In a possible implementation, the driving wheel assembly further includes a braking mechanism, which is sleeved on the first section and located between the first bearing and the first step surface. .
在一种可能的实现方式中，所述驱动轮组件还包括具有啮合部的轴承安装支架和第二轴承，所述啮合部与所述至少两个行星轮啮合；In a possible implementation, the driving wheel assembly further includes a bearing mounting bracket and a second bearing having an meshing portion, the meshing portion meshes with the at least two planetary gears;
所述第二轴承套设在所述轴承安装支架上，并与所述行星架抵接。The second bearing is sleeved on the bearing mounting bracket and abuts against the planet carrier.
在一种可能的实现方式中，所述第二轴承的个数为两个，两个所述第二轴承间隔套设在所述轴承安装支架上。In a possible implementation manner, the number of the second bearings is two, and the two second bearings are spaced apart and sleeved on the bearing mounting bracket.
在一种可能的实现方式中，所述行星架包括本体和第一环形安装板，所述第一环形安装板设置在所述本体朝向所述电机轴的一侧，且所述第一环形安装板与所述轴承安装支架连接；In a possible implementation, the planet carrier includes a body and a first annular mounting plate, the first annular mounting plate is provided on a side of the body facing the motor shaft, and the first annular mounting plate The plate is connected to the bearing mounting bracket;
所述轴承安装支架包括与所述行星轮啮合的齿圈和第二环形安装板，所述第二环形安装板设置在所述齿圈远离所述行星架的一侧，所述第二环形安装板与所述第一环形安装板围成容置空间；The bearing mounting bracket includes a ring gear meshed with the planet gear and a second annular mounting plate. The second annular mounting plate is disposed on a side of the ring gear away from the planet carrier. The second annular mounting plate The board and the first annular mounting plate form an accommodation space;
所述第二轴承位于所述容置空间内，且所述第二轴承的外表面分别与所述齿圈的外表面和所述第一环形安装板的内表面抵接。 The second bearing is located in the accommodation space, and the outer surface of the second bearing is in contact with the outer surface of the ring gear and the inner surface of the first annular mounting plate respectively.
在一种可能的实现方式中，所述第一环形安装板与所述第二环形安装板通过螺钉固定连接。In a possible implementation, the first annular mounting plate and the second annular mounting plate are fixedly connected by screws.
在一种可能的实现方式中，还包括弹性件，所述弹性件包覆在所述轮毂的外周面上。In a possible implementation, the hub further includes an elastic member covering the outer peripheral surface of the hub.
与相关技术相比，本公开实施例提供的驱动轮组件具有如下的优点：Compared with related technologies, the driving wheel assembly provided by the embodiment of the present disclosure has the following advantages:
本公开实施例提供的驱动轮组件，通过将电机轴、行星传动机构和轮毂集成在一个部件中，避免了再与移动底座的其他部件装配时再次装配驱动轮组件，具有集成化程度高的优势。The driving wheel assembly provided by the embodiment of the present disclosure integrates the motor shaft, planetary transmission mechanism and hub into one component, thereby avoiding the need to reassemble the driving wheel assembly when assembling with other components of the mobile base, and has the advantage of a high degree of integration. .
此外，将电机轴的末端加工成齿轮状，充当了行星齿轮系中的太阳轮，起到简化驱动轮组件的结构，进一步地提高驱动轮组件的集成度。In addition, the end of the motor shaft is processed into a gear shape, which acts as the sun gear in the planetary gear system, simplifying the structure of the drive wheel assembly and further improving the integration of the drive wheel assembly.
本公开实施例的第二方面提供一种移动底座，其包括：包括底盘和第一方面所述的驱动轮组件，所述驱动轮组件设置在所述底盘上。A second aspect of the embodiment of the present disclosure provides a mobile base, which includes: a chassis and the driving wheel assembly described in the first aspect, and the driving wheel assembly is disposed on the chassis.
本公开实施例的第三方面提供一种搬运机器人，包括第二方面提供的移动底座。A third aspect of the embodiment of the present disclosure provides a handling robot, including the mobile base provided in the second aspect.
除了上面所描述的本公开实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外，本公开实施例提供的驱动轮组件、移动底座及搬运机器人所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions and the beneficial effects brought by the technical features of these technical solutions described above, the driving wheel assembly, the mobile base and the transport provided by the embodiments of the present disclosure Other technical problems that robots can solve, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation methods.
附图说明Description of drawings
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.
图1为本公开实施例提供的驱动轮组件的立体图；Figure 1 is a perspective view of a driving wheel assembly provided by an embodiment of the present disclosure;
图2为本公开实施例提供的驱动轮组件的剖视图一；Figure 2 is a cross-sectional view of a driving wheel assembly provided by an embodiment of the present disclosure;
图3为本公开实施例提供的电机轴的示意图；Figure 3 is a schematic diagram of a motor shaft provided by an embodiment of the present disclosure;
图4为本公开实施例提供的驱动轮组件的剖视图二；Figure 4 is a second cross-sectional view of the driving wheel assembly provided by an embodiment of the present disclosure;
图5为本公开实施例提供的驱动轮组件的剖视图三； Figure 5 is a third cross-sectional view of the driving wheel assembly provided by the embodiment of the present disclosure;
图6为本公开实施例提供的搬运机器人的示意图。Figure 6 is a schematic diagram of a handling robot provided by an embodiment of the present disclosure.
附图标记说明：Explanation of reference symbols:
10：电机轴；11：第一段；111：第一子段；112：第二子段；113：第三子段；12：第二段；13：第三段；14：齿轮端；15：第一台阶面；16：第二台阶面；17：第三台阶面；18：第四台阶面；10: Motor shaft; 11: First section; 111: First sub-section; 112: Second sub-section; 113: Third sub-section; 12: Second section; 13: Third section; 14: Gear end; 15 : The first step surface; 16: The second step surface; 17: The third step surface; 18: The fourth step surface;
20：行星传动机构；21：行星架；211：本体；212：第一环形安装板；22：行星轮；20: Planetary transmission mechanism; 21: Planetary carrier; 211: Body; 212: First annular mounting plate; 22: Planetary wheel;
30：轮毂；30: hub;
40：第一轴承；40: First bearing;
50：电机壳；51：转子；60：制动机构；50: Motor housing; 51: Rotor; 60: Braking mechanism;
70：轴承安装支架；71：齿圈；72：第二环形安装板；70: Bearing mounting bracket; 71: Ring gear; 72: Second annular mounting plate;
80：第二轴承；80: Second bearing;
90：弹性件；90: Elastic parts;
100：移动底座；110：机架；120：货叉；130：隔板。100: mobile base; 110: rack; 120: fork; 130: partition.
具体实施方式Detailed ways
正如背景技术所述，相关技术中驱动轮组件通常为分体结构。例如，驱动轮组件通常包括驱动轮以及与驱动轮连接的驱动***。但是该驱动轮组件具有集成化程度低的缺陷。经发明人研究发现，出现这种问题的原因在于：驱动***通常包括驱动电机、制动机构和减速器机构，这些部件都是单独存在，使用者也是单独购买此类部件。当使用者组装驱动轮组件时，需要将驱动轮、驱动电机、制动机构和减速器机构一一装配组合到一起。如此，具有装配难度大和集成化程度低的缺陷。As mentioned in the background art, the driving wheel assembly in the related art is usually a separate structure. For example, a drive wheel assembly typically includes a drive wheel and a drive system connected to the drive wheel. However, this driving wheel assembly has the disadvantage of low integration level. The inventor's research found that the reason for this problem is that the drive system usually includes a drive motor, a braking mechanism and a reducer mechanism. These components exist separately, and users also purchase such components separately. When the user assembles the driving wheel assembly, the driving wheel, driving motor, braking mechanism and reducer mechanism need to be assembled together one by one. In this way, it has the disadvantages of high assembly difficulty and low integration level.
针对上述技术问题，本公开实施例提供了一种驱动轮组件、移动底座及搬运机器人，通过将电机轴、行星传动机构和轮毂集成在一个部件中，避免了再与移动底座的其他部件装配时再次装配驱动轮组件的各个部件，具有集成化程度高的优势。In response to the above technical problems, embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot. By integrating the motor shaft, planetary transmission mechanism and hub into one component, it avoids the need for assembly with other components of the mobile base. Assembling the various components of the drive wheel assembly again has the advantage of a high degree of integration.
此外，将电机轴的末端加工成齿轮状，充当了行星齿轮系中的太阳轮，起到简化驱动轮组件的结构，进一步地提高驱动轮组件的集成度。In addition, the end of the motor shaft is processed into a gear shape, which acts as the sun gear in the planetary gear system, simplifying the structure of the drive wheel assembly and further improving the integration of the drive wheel assembly.
为了使本公开实施例的上述目的、特征和优点能够更加明显易懂，下 面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其它实施例，均属于本公开保护的范围。In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and understandable, the following The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.
请参考附图1至附图5，本公开实施例提供了一种驱动轮组件，该驱动组件可以应用到搬运机器人的移动底座上，以带动搬运机器人移动到指定区域内，进行货物的搬运。Please refer to accompanying drawings 1 to 5. Embodiments of the present disclosure provide a driving wheel assembly. The driving assembly can be applied to the mobile base of a handling robot to drive the handling robot to move to a designated area to carry goods.
驱动轮组件包括电机轴10、行星传动机构20和轮毂30；电机轴10具有齿轮端14，齿轮端14与电机轴10为一体件。例如，请参考附图3，沿电机轴10的长度方向，电机轴10具有相对设置的第一端和第二端。其中，第一端用于与其他的动力部件连接，利用动力部件的动力输出，带动电机轴进行转动，进而带动轮毂30转动。第二端的外周面用于加工成齿轮结构，以形成齿轮端14。The driving wheel assembly includes a motor shaft 10, a planetary transmission mechanism 20 and a hub 30; the motor shaft 10 has a gear end 14, and the gear end 14 and the motor shaft 10 are integrated. For example, please refer to FIG. 3 . Along the length direction of the motor shaft 10 , the motor shaft 10 has a first end and a second end that are oppositely arranged. The first end is used to connect with other power components, and uses the power output of the power components to drive the motor shaft to rotate, and then drive the wheel hub 30 to rotate. The outer circumferential surface of the second end is machined into a gear structure to form the gear end 14 .
轮毂30具有安装腔，行星传动机构20设置在安装腔内，并与轮毂30的内表面连接。安装腔的形状可以为规则形状，也可以为不规则的形状。The hub 30 has an installation cavity, and the planetary transmission mechanism 20 is disposed in the installation cavity and connected with the inner surface of the hub 30 . The shape of the installation cavity may be a regular shape or an irregular shape.
行星传动机构20包括行星架21以及设置在行星架21上的多个行星轮22，各个行星轮22均与齿轮端14啮合；电机轴10被配置为：通过行星传动机构20带动轮毂30转动。The planetary transmission mechanism 20 includes a planetary carrier 21 and a plurality of planetary gears 22 arranged on the planetary carrier 21 . Each planetary gear 22 is meshed with the gear end 14 ; the motor shaft 10 is configured to drive the hub 30 to rotate through the planetary transmission mechanism 20 .
当电机轴10工作时，电机轴10的齿轮端14与各个行星轮22啮合，以使得驱动载荷通过行星轮22传递至行星架21，进而通过行星架21带动轮毂30转动，以实现驱动轮组件的移动功能。本实施例通过将电机轴的末端加工成齿轮状，充当了行星齿轮系中的太阳轮，不必像相关技术中再去配置行星齿轮系中的太阳轮，起到简化驱动轮组件的结构，进一步地提高驱动轮组件的集成度。When the motor shaft 10 is working, the gear end 14 of the motor shaft 10 meshes with each planet wheel 22, so that the driving load is transmitted to the planet carrier 21 through the planet wheel 22, and then drives the hub 30 to rotate through the planet carrier 21 to realize the driving wheel assembly. mobile functionality. In this embodiment, the end of the motor shaft is processed into a gear shape, which serves as the sun gear in the planetary gear system. It is not necessary to configure the sun gear in the planetary gear system as in the related art, thereby simplifying the structure of the driving wheel assembly, and further Improve the integration of the drive wheel assembly.
此外，轮毂30内具有安装腔，如此，可以将行星传动机构和电机轴的部分集成在轮毂30的安装腔内。当需要与移动底座的其他部件装配时，可以避免再次装配驱动轮组件中各个部件，具有集成化程度高的优势。In addition, the hub 30 has an installation cavity, so that parts of the planetary transmission mechanism and the motor shaft can be integrated into the installation cavity of the hub 30 . When it is necessary to assemble with other parts of the mobile base, it can avoid re-assembly of various parts of the driving wheel assembly, which has the advantage of a high degree of integration.
请参考附图3，在一些实施例中，电机轴10包括顺次连接的第一段11、第二段12和第三段13。以附图3所示的方位为例，第一段11、第二 段12和第三段13从左往右依次排布。为了方便对第一段11、第二段12以及第三段13的位置的描述，不妨将附图3中，将电机轴10的左端部到第一条虚线之间的区域为记为第一段11，第一条虚线与第二条虚线之间的区域记为第二段12，第二条虚线与电机轴10的右端部之间的区域记为第三段13。Please refer to FIG. 3 . In some embodiments, the motor shaft 10 includes a first section 11 , a second section 12 , and a third section 13 connected in sequence. Taking the orientation shown in Figure 3 as an example, the first section 11, the second section Section 12 and the third section 13 are arranged in sequence from left to right. In order to facilitate the description of the positions of the first section 11, the second section 12 and the third section 13, it may be useful to mark the area between the left end of the motor shaft 10 and the first dotted line in Figure 3 as the first section. Section 11, the area between the first dotted line and the second dotted line is marked as the second section 12, and the area between the second dotted line and the right end of the motor shaft 10 is marked as the third section 13.
齿轮端14设置在第三段13背离第二段12的端部。也就是说，齿轮端14设置在第三段13的右端部。The gear end 14 is provided at the end of the third section 13 facing away from the second section 12 . That is, the gear end 14 is provided at the right end of the third section 13 .
第二段12的直径大于第一段11的直径和第三段13的直径，以使第一段11与第二段12之间形成第一台阶面15，第三段13与第二段12之间形成第二台阶面16。第一段11和/或第三段13上设置有第一轴承40。也就是说，第一段11和第三段13中之一上设置有第一轴承40。或者第一段11和第三段13上均设置有第一轴承40。The diameter of the second section 12 is larger than the diameter of the first section 11 and the diameter of the third section 13, so that a first step surface 15 is formed between the first section 11 and the second section 12, and the third section 13 and the second section 12 A second step surface 16 is formed therebetween. A first bearing 40 is provided on the first section 11 and/or the third section 13 . That is to say, the first bearing 40 is provided on one of the first section 11 and the third section 13 . Or first bearings 40 are provided on both the first section 11 and the third section 13 .
第一轴承40可以用作行星架21的支撑轴承，用于保证行星传动机构20的平稳运行。其中，第一轴承40可以为圆锥滚子轴承。如此，可以防止电机轴10沿垂直于其轴线的方向发生滑动，提高了驱动轮组件的安全性。The first bearing 40 can be used as a support bearing of the planet carrier 21 to ensure the smooth operation of the planetary transmission mechanism 20 . Wherein, the first bearing 40 may be a tapered roller bearing. In this way, the motor shaft 10 can be prevented from sliding in a direction perpendicular to its axis, thereby improving the safety of the driving wheel assembly.
第一轴承40的个数可以为一个，也可以为多个。可以根据驱动轮组件在使用过程中的实际受力情况选择第一轴承40的个数。如此，既可以保证驱动轮组件的正常运行，也可以降低驱动轮组件的成本。The number of the first bearing 40 may be one or multiple. The number of the first bearings 40 can be selected according to the actual stress situation of the driving wheel assembly during use. In this way, the normal operation of the driving wheel assembly can be ensured, and the cost of the driving wheel assembly can also be reduced.
从第一段11指向第三段13的方向上，第一段11的直径可以处处相等，也可以不等。示例性地，第一段11至少包括依次连接的第一子段111、第二子段112和第三子段113，其中，第一子段111、第二子段112和第三子段113的直径依次增加，以使得第一子段111与第二子段112之间形成第三台阶面17，第二子段112与第三子段113之间形成第四台阶面18。In the direction from the first section 11 to the third section 13, the diameter of the first section 11 can be equal everywhere, or can be unequal. Exemplarily, the first section 11 at least includes a first sub-section 111, a second sub-section 112 and a third sub-section 113 connected in sequence, wherein the first sub-section 111, the second sub-section 112 and the third sub-section 113 The diameters increase sequentially, so that a third step surface 17 is formed between the first sub-section 111 and the second sub-section 112, and a fourth step surface 18 is formed between the second sub-section 112 and the third sub-section 113.
第一段11中也具有第三台阶面17，第三台阶面17可以用作套设在第一段11上的第一轴承40的止挡面，用于给设置在第一段11上的第一轴承40进行限位，方便第一轴承40的安装。The first section 11 also has a third step surface 17 . The third step surface 17 can be used as a stop surface for the first bearing 40 set on the first section 11 . The first bearing 40 is limited to facilitate the installation of the first bearing 40 .
第四台阶面18可以方便其他部件的安装。比如，第四台阶面18可以方便制动机构的安装。The fourth step surface 18 can facilitate the installation of other components. For example, the fourth step surface 18 can facilitate the installation of the braking mechanism.
示例性地，驱动轮组件还包括制动机构60，制动机构60套设第一段 11上，并位于第一轴承40与第一台阶面15之间。其中，第四台阶面18可以作为制动机构60的止挡面，用于给设置在第一段11上的制动机构60进行限位，方便制动机构60的安装。Exemplarily, the driving wheel assembly also includes a braking mechanism 60, the braking mechanism 60 is sleeved on the first section 11 and located between the first bearing 40 and the first step surface 15 . Among them, the fourth step surface 18 can be used as a stop surface of the braking mechanism 60 to limit the position of the braking mechanism 60 provided on the first section 11 to facilitate the installation of the braking mechanism 60 .
制动机构60可以为抱闸式结构，例如，制动机构60可以包括第一制动部、第二制动部以及分别与第一制动部和第二制动部连接的驱动部。第一制动部和第二制动部分别位于电机轴的两侧，驱动部能够带动第一制动部和第二制动部朝向或者背离电机轴运动。The braking mechanism 60 may have a brake-type structure. For example, the braking mechanism 60 may include a first braking part, a second braking part, and a driving part respectively connected to the first braking part and the second braking part. The first braking part and the second braking part are respectively located on both sides of the motor shaft, and the driving part can drive the first braking part and the second braking part to move toward or away from the motor shaft.
当驱动部带动第一制动部和第二制动部朝向电机轴10运动，并与电机轴10抵接时，可以对电机轴10的刹车制动。When the driving part drives the first braking part and the second braking part to move toward the motor shaft 10 and come into contact with the motor shaft 10 , the motor shaft 10 can be braked.
当驱动部带动第一制动部和第二制动部沿背离电机轴10的一侧运动时，与电机轴10解除接触，以保证电机轴10正常工作。When the driving part drives the first braking part and the second braking part to move along the side away from the motor shaft 10 , contact with the motor shaft 10 is released to ensure the normal operation of the motor shaft 10 .
本实施例通过将制动机构60集成在驱动轮组件中，如此，可以最大程度地提高驱动轮组件的集成度。In this embodiment, the braking mechanism 60 is integrated into the driving wheel assembly, thereby maximizing the integration level of the driving wheel assembly.
在一些实施例中，驱动轮组件还包括电机壳50以及设置在电机壳50内的转子51。电机壳50用于给转子51和部分的电机轴10提供安装空间。In some embodiments, the drive wheel assembly also includes a motor housing 50 and a rotor 51 disposed within the motor housing 50 . The motor housing 50 is used to provide installation space for the rotor 51 and part of the motor shaft 10 .
电机轴10的第一段11、第二段12以及部分第三段13位于电机壳50内，且第一段11与转子51连接。电机轴10的齿轮端14位于电机壳50外。The first section 11 , the second section 12 and part of the third section 13 of the motor shaft 10 are located in the motor housing 50 , and the first section 11 is connected to the rotor 51 . The gear end 14 of the motor shaft 10 is located outside the motor housing 50 .
当转子51的转动时，带动电机轴10和行星架21转动，进而带动轮毂30转动，实现驱动轮组件的移动功能。When the rotor 51 rotates, the motor shaft 10 and the planet carrier 21 are driven to rotate, and then the hub 30 is driven to rotate, thereby realizing the moving function of the driving wheel assembly.
在一些实施例中，驱动轮组件还包括轴承安装支架70和第二轴承80。其中，轴承安装支架70包括啮合部(图中未示出)，啮合部与至少两个行星轮22啮合。In some embodiments, the drive wheel assembly also includes a bearing mounting bracket 70 and a second bearing 80 . The bearing mounting bracket 70 includes an meshing portion (not shown in the figure), and the meshing portion meshes with at least two planetary gears 22 .
第二轴承80套设在轴承安装支架70上，第二轴承80的外周面与行星架21抵接。本实施例中，第二轴承80既可以作为行星架21的支撑部件，也可以支撑轮毂30和行星架21转动，使得驱动轮组件的结构更加简单，进一步地减小了驱动轮组件的体积和重量。此外，第二轴承80还可以保证行星传动机构20的受力平衡，增加行星架21和轮毂30在转动过程中的稳定性。The second bearing 80 is sleeved on the bearing mounting bracket 70 , and the outer peripheral surface of the second bearing 80 is in contact with the planet carrier 21 . In this embodiment, the second bearing 80 can not only serve as a supporting component of the planet carrier 21, but also support the rotation of the hub 30 and the planet carrier 21, making the structure of the driving wheel assembly simpler and further reducing the volume and size of the driving wheel assembly. weight. In addition, the second bearing 80 can also ensure the force balance of the planetary transmission mechanism 20 and increase the stability of the planet carrier 21 and the hub 30 during rotation.
第二轴承80的个数可以为一个，也可以为两个。当第二轴承80的个 数为两个时，两个第二轴承80间隔套设在轴承安装支架70上。如此，可以最大程度地增加行星架21和轮毂30在转动过程中的平稳性。The number of the second bearing 80 may be one or two. When the second bearing 80 When the number is two, the two second bearings 80 are sleeved on the bearing mounting bracket 70 at intervals. In this way, the stability of the planet carrier 21 and the hub 30 during rotation can be increased to the greatest extent.
第二轴承80的类型可以有多种选择，例如，请参考附图2和附图4，第二轴承80可以为深沟球轴承，深沟球轴承在承受径向载荷的同时，也能承受一定的轴向载荷，且该类轴承还具有摩擦系数小和极限转速高的优势。There are many types of second bearing 80 to choose from. For example, please refer to Figure 2 and Figure 4. The second bearing 80 can be a deep groove ball bearing. The deep groove ball bearing can not only bear radial load, but also bear A certain axial load, and this type of bearing also has the advantages of small friction coefficient and high limit speed.
又例如，请参考附图5，第二轴承80的类型可以为圆柱滚子轴承，此类轴承具有安装和拆卸比较方便的优势。For another example, please refer to FIG. 5 . The type of the second bearing 80 can be a cylindrical roller bearing. This type of bearing has the advantage of being more convenient to install and disassemble.
在一些实施例中，请继续参考附图2，行星架21包括本体211和第一环形安装板212。In some embodiments, please continue to refer to FIG. 2 , the planet carrier 21 includes a body 211 and a first annular mounting plate 212 .
本体211可以包括盖板，电机轴10延伸至电机壳50外的一端与盖板固定连接。第一环形安装板212设置在本体211朝向电机轴10的一侧，并与轴承安装支架70固定连接。鉴于轴承安装支架70与行星轮22啮合传动，电机轴10与行星轮22啮合传动，如此，电机轴10可以通过行星轮22和轴承安装支架70带动行星架21转动，进而带动轮毂30转动。The body 211 may include a cover plate, and one end of the motor shaft 10 extending outside the motor housing 50 is fixedly connected to the cover plate. The first annular mounting plate 212 is provided on the side of the body 211 facing the motor shaft 10 and is fixedly connected to the bearing mounting bracket 70 . Since the bearing mounting bracket 70 engages with the planet gear 22 for transmission, and the motor shaft 10 engages with the planet gear 22 for transmission, the motor shaft 10 can drive the planet carrier 21 to rotate through the planet gear 22 and the bearing mounting bracket 70 , thereby driving the hub 30 to rotate.
在本实施例中，本体211可以对行星轮22、第一轴承40和第二轴承80进行保护，防止外部环境的杂质或者污染物对上述的部件造成损坏，提高了驱动轮组件的使用寿命。In this embodiment, the body 211 can protect the planet wheel 22, the first bearing 40 and the second bearing 80, prevent impurities or pollutants from the external environment from damaging the above components, and improve the service life of the driving wheel assembly.
轴承安装支架70包括与行星轮22啮合的齿圈71和第二环形安装板72，齿圈71构成啮合部。The bearing mounting bracket 70 includes a ring gear 71 meshing with the planet gear 22 and a second annular mounting plate 72. The ring gear 71 constitutes the meshing portion.
第二环形安装板72设置在齿圈71远离行星架21的一侧，第二环形安装板72与第一环形安装板212围成容置空间；第二轴承80位于容置空间内，第二轴承80的外表面分别与齿圈71的外表面和第一环形安装板212的内表面抵接。如此，容置空间的设置一方面可以对第二轴承80进行防护，防止外部环境的污染，另一方面又可以占用更小的空间，提高了驱动轮组件的集成度。The second annular mounting plate 72 is disposed on the side of the ring gear 71 away from the planet carrier 21 . The second annular mounting plate 72 and the first annular mounting plate 212 form an accommodating space; the second bearing 80 is located in the accommodating space. The outer surface of the bearing 80 is in contact with the outer surface of the ring gear 71 and the inner surface of the first annular mounting plate 212 respectively. In this way, the arrangement of the accommodation space can, on the one hand, protect the second bearing 80 from pollution of the external environment, and on the other hand, it can occupy a smaller space and improve the integration of the driving wheel assembly.
在一些实施例中，第一环形安装板212与第二环形安装板72通过螺钉固定连接。例如，第一环形安装板212上设置有螺纹孔，第二环形安装板72上具有与螺纹孔相对应的连接孔，螺钉的螺纹段依次穿过连接孔后螺纹连接的螺纹孔内。如此，具有连接强度高的优势。 In some embodiments, the first annular mounting plate 212 and the second annular mounting plate 72 are fixedly connected by screws. For example, the first annular mounting plate 212 is provided with threaded holes, the second annular mounting plate 72 is provided with connecting holes corresponding to the threaded holes, and the threaded segments of the screws are sequentially passed through the connecting holes and then threaded into the threaded holes. This has the advantage of high connection strength.
需要说明的是，螺钉可以为沉头螺钉，螺钉的头部位于连接孔内。如此，可以避免螺钉剐蹭其他的部件，提高了驱动轮组件的安全性。It should be noted that the screws may be countersunk head screws, and the heads of the screws are located in the connection holes. In this way, the screws can be prevented from scratching other components, thereby improving the safety of the drive wheel assembly.
第一环形安装板212与第二环形安装板72的连接方式并不仅限于此，例如，第一环形安装板212和第二环形安装板72还可以通过键连接、过盈配合或者粘结的方式固定连接。The connection method of the first annular installation plate 212 and the second annular installation plate 72 is not limited to this. For example, the first annular installation plate 212 and the second annular installation plate 72 can also be connected by keying, interference fitting or bonding. Fixed connection.
在一些实施例中，驱动轮组件还包括弹性件90，弹性件90包覆在轮毂30的外周面上。弹性件90的材质可以包括聚氨酯或者橡胶，采用包胶工艺包覆于轮毂30的外表面上，起到耐磨和抗冲击的功能。In some embodiments, the driving wheel assembly further includes an elastic member 90 , and the elastic member 90 covers the outer peripheral surface of the hub 30 . The material of the elastic member 90 may include polyurethane or rubber, and is covered on the outer surface of the wheel hub 30 using a rubber coating process to provide wear resistance and impact resistance.
本公开实施例还提供一种移动底座，包括底盘和上述实施例中的驱动轮组件，驱动轮组件设置在底盘上。其中，驱动轮组件的个数至少为两个。驱动轮组件带动底盘以及位于底盘上的其他部件在仓库或者其他空间内移动。An embodiment of the present disclosure also provides a mobile base, which includes a chassis and the driving wheel assembly in the above embodiment, and the driving wheel assembly is disposed on the chassis. Among them, the number of driving wheel assemblies is at least two. The driving wheel assembly drives the chassis and other components located on the chassis to move in a warehouse or other space.
驱动轮组件集电机轴10、行星传动机构20、制动机构60以及轮毂30于一体。当电机轴10旋转时，带动行星传动机构20的行星轮22和行星架21旋转，进而带动轮毂30转动。The driving wheel assembly integrates the motor shaft 10, the planetary transmission mechanism 20, the braking mechanism 60 and the wheel hub 30. When the motor shaft 10 rotates, the planet gear 22 and the planet carrier 21 of the planetary transmission mechanism 20 are driven to rotate, and then the hub 30 is driven to rotate.
在实际使用过程中，可以将驱动轮组件作为整体部件进行售卖，如此，使用者可以直接将驱动轮组件与底盘进行安装即可。与相关技术中，使用者需要对驱动轮、驱动将、行星传动机构20以及制动机构60均与底盘进行单独装配的技术方案相比，可以简化使用者对移动底座的装配操作，提高了装配效率。In actual use, the driving wheel assembly can be sold as an integral component, so that the user can directly install the driving wheel assembly on the chassis. Compared with the technical solution in the related art where the user needs to assemble the driving wheel, the driving shaft, the planetary transmission mechanism 20 and the braking mechanism 60 separately from the chassis, it can simplify the user's assembly operation of the mobile base and improve the assembly efficiency. efficiency.
请参考附图6，本公开实施例还提供了一种搬运机器人，该搬运机器人包括移动底座100、机架110和货叉120。移动底座100用于承载机架110和货叉120，并带动机架110和货叉120移动至作业位置。其中，移动底座100的结构和工作原理已在上述实施例中进行了详细的阐述，在此，本实施例不再多加赘述。Please refer to FIG. 6 , an embodiment of the present disclosure also provides a handling robot. The handling robot includes a mobile base 100 , a frame 110 and a fork 120 . The mobile base 100 is used to carry the frame 110 and the forks 120, and drive the frame 110 and the forks 120 to move to the working position. The structure and working principle of the mobile base 100 have been described in detail in the above embodiments, and will not be described again in this embodiment.
机架110的底端安装在移动底座100上，例如，机架110的底端焊接在移动底座100的上表面上，其中，机架110可以包括两个间隔设置的立柱，立柱的底端固定在移动底座上。 The bottom end of the frame 110 is installed on the mobile base 100. For example, the bottom end of the frame 110 is welded to the upper surface of the mobile base 100. The frame 110 may include two spaced apart columns, and the bottom ends of the columns are fixed. On a mobile base.
立柱之间设置多个隔板130，多个隔板将机架分隔成多层，以形成多层存储货架，多层存储货架的任意一层均可以用于暂存货物，这样，搬运机器人可以一次搬运多个货物，从而提高搬运机器人的搬运效率。Multiple partitions 130 are provided between the columns. The multiple partitions divide the rack into multiple layers to form a multi-layer storage shelf. Any layer of the multi-layer storage shelf can be used for temporary storage of goods. In this way, the handling robot can Handle multiple goods at one time, thereby improving the handling efficiency of the handling robot.
货叉120滑动安装在机架110上，例如，货叉120可以滑动安装在立柱上，且货叉120能够沿垂直于移动底座110的方向移动，以调整货叉120距离地面的高度，进而方便货叉取放位于不同高度处的货物。The fork 120 is slidably mounted on the frame 110. For example, the fork 120 can be slidably mounted on the column, and the fork 120 can move in a direction perpendicular to the mobile base 110 to adjust the height of the fork 120 from the ground, which is convenient. The forks pick up and place goods at different heights.
本说明书中各实施例或实施方式采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分相互参见即可。Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.
应当指出，在说明书中提到的“一个实施例”、“实施例”、“示例性实施例”、“一些实施例”等表示所述的实施例可以包括特定特征、结构或特性，但未必每个实施例都包括该特定特征、结构或特性。此外，这样的短语未必是指同一实施例。此外，在结合实施例描述特定特征、结构或特性时，结合明确或未明确描述的其他实施例实现这样的特征、结构或特性处于本领域技术人员的知识范围之内。It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. mean that the described embodiments may include specific features, structures or characteristics, but not necessarily Each embodiment includes this particular feature, structure, or characteristic. Furthermore, such phrases are not necessarily referring to the same embodiment. Furthermore, where a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, explicitly or not explicitly described.
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims (12)

  1. 一种驱动轮组件，其特征在于，包括电机轴、行星传动机构和轮毂；A driving wheel assembly, characterized by including a motor shaft, a planetary transmission mechanism and a wheel hub;
    所述电机轴具有齿轮端，所述齿轮端与所述电机轴一体件；所述轮毂具有安装腔，所述行星传动机构设置在所述安装腔内，并与所述轮毂的内表面连接；The motor shaft has a gear end, and the gear end is integrated with the motor shaft; the hub has an installation cavity, and the planetary transmission mechanism is arranged in the installation cavity and connected to the inner surface of the hub;
    所述行星传动机构包括行星架以及设置在所述行星架上的多个行星轮，各个所述行星轮均与所述齿轮端啮合；The planetary transmission mechanism includes a planet carrier and a plurality of planet wheels arranged on the planet carrier, and each of the planet wheels is meshed with the gear end;
    所述电机轴被配置为：通过所述行星传动机构带动所述轮毂转动。The motor shaft is configured to drive the wheel hub to rotate through the planetary transmission mechanism.
  2. 根据权利要求1所述的驱动轮组件，其特征在于，所述电机轴包括顺次连接的第一段、第二段和第三段，所述齿轮端设置在所述第三段背离所述第二段的端部，所述第二段的直径大于所述第一段的直径和所述第三段的直径，以使所述第一段与所述第二段之间形成第一台阶面，所述第三段与所述第二段之间形成第二台阶面；The drive wheel assembly according to claim 1, wherein the motor shaft includes a first section, a second section and a third section connected in sequence, and the gear end is disposed on the third section away from the The end of the second section, the diameter of the second section is larger than the diameter of the first section and the diameter of the third section, so that a first step is formed between the first section and the second section surface, a second step surface is formed between the third section and the second section;
    所述第一段和/或所述第三段上设置有第一轴承。A first bearing is provided on the first section and/or the third section.
  3. 根据权利要求2所述的驱动轮组件，其特征在于，还包括电机壳以及设置在所述电机壳内的转子；所述电机轴的第一段、第二段以及部分所述第三段位于所述电机壳内，且所述第一段与所述转子连接；所述电机轴的齿轮端位于所述电机壳外。The driving wheel assembly according to claim 2, further comprising a motor housing and a rotor disposed in the motor housing; the first section, the second section and part of the third section of the motor shaft. The first section is located in the motor housing, and the first section is connected to the rotor; the gear end of the motor shaft is located outside the motor housing.
  4. 根据权利要求2或3所述的驱动轮组件，其特征在于，所述第一轴承为圆锥滚子轴承。The drive wheel assembly according to claim 2 or 3, characterized in that the first bearing is a tapered roller bearing.
  5. 根据权利要求2或3所述的驱动轮组件，其特征在于，所述驱动轮组件还包括制动机构，所述制动机构套设所述第一段上，并位于所述第一轴承与所述第一台阶面之间。The driving wheel assembly according to claim 2 or 3, characterized in that the driving wheel assembly further includes a braking mechanism, the braking mechanism is sleeved on the first section and is located between the first bearing and between the first step surfaces.
  6. 根据权利要求1-3任一项所述的驱动轮组件，其特征在于，所述驱动轮组件还包括具有啮合部的轴承安装支架和第二轴承，所述啮合部与至少两个所述行星轮啮合；The driving wheel assembly according to any one of claims 1 to 3, characterized in that the driving wheel assembly further includes a bearing mounting bracket with an engaging portion and a second bearing, the engaging portion is connected to at least two of the planets wheel mesh;
    所述第二轴承套设在所述轴承安装支架上，并与所述行星架抵接。The second bearing is sleeved on the bearing mounting bracket and abuts against the planet carrier.
  7. 根据权利要求6所述的驱动轮组件，其特征在于，所述第二轴承的个数为两个，两个所述第二轴承间隔套设在所述轴承安装支架上。The driving wheel assembly according to claim 6, characterized in that the number of the second bearings is two, and the two second bearings are sleeved on the bearing mounting bracket at intervals.
  8. 根据权利要求7所述的驱动轮组件，其特征在于，所述行星架包括 本体和第一环形安装板，所述第一环形安装板设置在所述本体朝向所述电机轴的一侧，且所述第一环形安装板与所述轴承安装支架连接；The drive wheel assembly of claim 7, wherein the planet carrier includes The body and a first annular mounting plate, the first annular mounting plate is provided on the side of the body facing the motor shaft, and the first annular mounting plate is connected to the bearing mounting bracket;
    所述轴承安装支架包括与所述行星轮啮合的齿圈和第二环形安装板，所述第二环形安装板设置在所述齿圈远离所述行星架的一侧，所述第二环形安装板与所述第一环形安装板围成容置空间；The bearing mounting bracket includes a ring gear meshed with the planet gear and a second annular mounting plate. The second annular mounting plate is disposed on a side of the ring gear away from the planet carrier. The second annular mounting plate The board and the first annular mounting plate form an accommodation space;
    所述第二轴承位于所述容置空间内，且所述第二轴承的外表面分别与所述齿圈的外表面和所述第一环形安装板的内表面抵接。The second bearing is located in the accommodation space, and the outer surface of the second bearing is in contact with the outer surface of the ring gear and the inner surface of the first annular mounting plate respectively.
  9. 根据权利要求8所述的驱动轮组件，其特征在于，所述第一环形安装板与所述第二环形安装板通过螺钉固定连接。The driving wheel assembly according to claim 8, wherein the first annular mounting plate and the second annular mounting plate are fixedly connected by screws.
  10. 根据权利要求1-3任一项所述的驱动轮组件，其特征在于，还包括弹性件，所述弹性件包覆在所述轮毂的外周面上。The driving wheel assembly according to any one of claims 1 to 3, further comprising an elastic member covering the outer peripheral surface of the hub.
  11. 一种移动底座，其特征在于，包括底盘和权利要求1-10任一项所述的驱动轮组件，所述驱动轮组件设置在所述底盘上。A mobile base, characterized in that it includes a chassis and the driving wheel assembly according to any one of claims 1 to 10, and the driving wheel assembly is arranged on the chassis.
  12. 一种搬运机器人，其特征在于，包括权利要求11所述的移动底座。 A handling robot, characterized by comprising the mobile base according to claim 11.
PCT/CN2023/101968 2022-07-15 2023-06-21 Driving wheel assembly, movable base, and transport robot WO2024012175A1 (en)

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CN217927828U (en) * 2022-07-15 2022-11-29 深圳市海柔创新科技有限公司 Driving wheel assembly, mobile base and transfer robot

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CN114211951A (en) * 2021-12-21 2022-03-22 吉林大学 Take electronic round of structure of reduction gear
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US20210339624A1 (en) * 2018-09-06 2021-11-04 Volvo Construction Equipment Ab Wheel hub arrangement for a driving wheel of a vehicle
CN110154737A (en) * 2019-05-31 2019-08-23 吉林大学 A kind of electronic wheel apparatus of low-speed big and electric car
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CN114211951A (en) * 2021-12-21 2022-03-22 吉林大学 Take electronic round of structure of reduction gear
CN217927828U (en) * 2022-07-15 2022-11-29 深圳市海柔创新科技有限公司 Driving wheel assembly, mobile base and transfer robot

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