CN100406290C - Movable robot-driven wheel with hidden electric motor - Google Patents
Movable robot-driven wheel with hidden electric motor Download PDFInfo
- Publication number
- CN100406290C CN100406290C CNB2004100842909A CN200410084290A CN100406290C CN 100406290 C CN100406290 C CN 100406290C CN B2004100842909 A CNB2004100842909 A CN B2004100842909A CN 200410084290 A CN200410084290 A CN 200410084290A CN 100406290 C CN100406290 C CN 100406290C
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- CN
- China
- Prior art keywords
- wheel
- motor
- wheel hub
- electric motor
- movable robot
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
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Abstract
The present invention relates to a driving wheel with a built-in motor for a movable robot, which belongs to robot industry. The technical problem to be solved is to provide a mounting structure for a wheel with a built-in motor (speed reducer). The present invention realizes that the motor (speed reducer) is built in a wheel axle of the wheel for reducing the occupation of the inner space of a robot; a sleeve barrel axle with a large radial dimension supports the wheel for enhancing the bearing capacity of the wheel and improving the intensity and the rigidity of the wheel axle, and an axle of the speed reducer does not bear the action of the bending moment longer; a wheel hub and the wheel axle adopt a slide assembly and disassembly method, and the axial positioning of the wheel hub is ensured by screw nails for ensuring the connecting intensity and the connecting reliability of the wheel; simultaneously, the wheel and the wheel axle are conveniently assembled and disassembled. The figure is a figure for the structure of a wheel with a built-in motor.
Description
Technical field
The present invention relates to a kind of actuating device, but particularly a kind of power supply machine is partly hidden the drive wheels into wheel shaft.
Background technology
Each wheel of wheeled mobile robot generally adopts the mode of motion of each wheel by the fabricate block driving of a motor and retarder at present, and some wheel hub with wheel directly is fixed on the reducer shaft.Because motor is longer with the axial dimension after retarder is connected in series, and take bigger robot interior space.The mode of operation that directly wheel hub is fixed on the reducer shaft can make the suffered moment of flexure of retarder bigger again simultaneously, reduces the service life of retarder.Can only lean on when realizing with the stressed joint of retarder when the axial location of wheel hub in addition, the intensity of connection also reduces, and takes off wheel easily.
Summary of the invention
The object of the present invention is to provide a kind of movable robot-driven wheel with hidden electric motor, this device can realize that the combination body part of motor and retarder hides in the wheel shaft of wheel; Make reducer shaft no longer bear the moment of flexure effect by the bigger quill shaft support wheel of radial dimension; Adopt the mode of slidably installing and removing between wheel hub and the wheel shaft,, be convenient to the easy mounting or dismounting between wheel and the wheel shaft with the axial location of screw assurance wheel hub.
For achieving the above object, the built-in drive wheels of motor of the present invention comprises: a quill shaft, and the some of the fabricate block of motor and retarder can stretch into wherein; And an outer sleeve, but the wheel hub sliding sleeve thereon; With roller bearings, described antifriction-bearing box can be a deep groove ball bearing between quill shaft and the outer sleeve.The fabricate block of motor and retarder and quill shaft connect by fastener can realize axial location.Can adopt the conical surface to be connected between wheel hub and the outer sleeve, can guarantee the accurate location of wheel hub, the load of wheel passes to axletree than transmitting safety and reliability by screw by the conical surface simultaneously.The built-in drive wheels of motor of the present invention also comprises a front end cover, and it is connection reducer axle and wheel hub respectively.By spiral marking connection, the torque of motor is delivered on the wheel hub by front end cover successively for front end cover, wheel hub and outer sleeve.
Technique effect of the present invention is, partly hides by motor in the wheel shaft of wheel, reduces the space hold of robot interior; With the bigger quill shaft support wheel of radial dimension, improved the load-carrying capacity of wheel, improved the strength and stiffness of axletree greatly, and made reducer shaft no longer bear the moment of flexure effect; Adopt the mode of slidably installing and removing between wheel hub and the wheel shaft, guarantee that with screw the axial location of wheel hub guarantees wheel bonded assembly intensity and reliability, be convenient to the easy mounting or dismounting between wheel and the wheel shaft simultaneously.
Description of drawings
Fig. 1 is the built-in car wheel structure figure of motor.
The specific embodiment
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment of the present invention is described in detail below in conjunction with accompanying drawing.
As shown in Figure 1, this device is made of quill shaft 1, bearing inner ring end cap 2, bearing outside tube 4, inner ring abutment sleeve 6, male end wheel hub 7, deep groove ball bearing 8, outside race end cap 10, front shroud 14 and female end wheel hub 16.Fabricate block 12 parts of motor and retarder are hidden in the quill shaft 1, and fixing by the screw 11 of quill shaft 1 end face.Two deep groove ball bearings 8 are installed on the quill shaft 1, and bearing cone is by the positioning step and end cap 2 location, inner ring location of inner ring abutment sleeve 6, quill shaft 1.The outer ring of bearing is by bearing outside tube 4 and outside race end cap 10 location.Male end wheel hub 7 can be used as an integral body and slides on the bearing outside tube 4 with after female end wheel hub 16 is connected by screw 15, compresses and fixing with screw 9 with front shroud 14.Reducer shaft is connected with wheel hub by front end cover, transmits motion on the wheel.Retarder extend into the inside of axletree like this, hangs and installs, and the load on the wheel is born by quill shaft, and the torque of motor shaft is delivered on the wheel hub by front shroud 14, and wheel is connected safely and reliably.
Below preferred embodiment of the present invention is specified, but the present invention is not limited to described embodiment, those of ordinary skill in the art also can make all modification that is equal to or replacement under the prerequisite of spirit of the present invention, modification that these are equal to or replacement all are included in the application's claim institute restricted portion.
Claims (5)
1. a movable robot-driven wheel with hidden electric motor comprises motor, retarder, wheel hub, it is characterized in that, also comprises:
One quill shaft, the some of the fabricate block of motor and retarder can stretch into wherein; And
One outer sleeve, but the wheel hub sliding sleeve thereon, and between described quill shaft and the described outer sleeve with roller bearings; And
One front end cover, it is connection reducer axle and wheel hub respectively.
2. movable robot-driven wheel with hidden electric motor as claimed in claim 1 is characterized in that, the fabricate block of motor and retarder and quill shaft connect by fastener realizes axial location.
3. movable robot-driven wheel with hidden electric motor as claimed in claim 1 is characterized in that, described antifriction-bearing box can be a deep groove ball bearing.
4. movable robot-driven wheel with hidden electric motor as claimed in claim 1 is characterized in that, can adopt the conical surface to be connected between wheel hub and the outer sleeve.
5. movable robot-driven wheel with hidden electric motor as claimed in claim 1 is characterized in that described front end cover, wheel hub and outer sleeve pass through spiral marking connection successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100842909A CN100406290C (en) | 2004-11-18 | 2004-11-18 | Movable robot-driven wheel with hidden electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100842909A CN100406290C (en) | 2004-11-18 | 2004-11-18 | Movable robot-driven wheel with hidden electric motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1778589A CN1778589A (en) | 2006-05-31 |
| CN100406290C true CN100406290C (en) | 2008-07-30 |
Family
ID=36769095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100842909A Expired - Fee Related CN100406290C (en) | 2004-11-18 | 2004-11-18 | Movable robot-driven wheel with hidden electric motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100406290C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101628527B (en) * | 2009-08-05 | 2011-11-30 | 哈尔滨工程大学 | Wheels of mobile robot with non-contact transverse sensory ability |
| CN105584293A (en) * | 2016-02-28 | 2016-05-18 | 张广山 | Automobile hub drive device |
| CN108099583A (en) * | 2018-01-17 | 2018-06-01 | 贵州苏佳乐电动车有限公司 | A kind of built-in motor driving wheel of electric car |
| CN111376706A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Wheel hub switching structure |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5236055A (en) * | 1991-03-13 | 1993-08-17 | Canadian Aging & Rehabilitation Product Development Corporation | Wheel with coaxial drive system mounted in the wheelhub field of the invention |
| EP0563857A1 (en) * | 1992-04-02 | 1993-10-06 | Linde Aktiengesellschaft | Vehicle with drive unit and cables fixed thereon |
| US5509497A (en) * | 1994-04-07 | 1996-04-23 | Fluidrive, Inc. | Steerable wheel drive assembly |
| WO1997023363A1 (en) * | 1995-12-22 | 1997-07-03 | Orion-Yhtymä Oy | Drive system of a drive wheel |
| JPH10949A (en) * | 1996-06-18 | 1998-01-06 | Aqueous Res:Kk | Hybrid type vehicle |
| CN1242641A (en) * | 1998-07-22 | 2000-01-26 | 中国科学技术大学 | Asynchronous wheel electric motor for driving electric vehicle |
-
2004
- 2004-11-18 CN CNB2004100842909A patent/CN100406290C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5236055A (en) * | 1991-03-13 | 1993-08-17 | Canadian Aging & Rehabilitation Product Development Corporation | Wheel with coaxial drive system mounted in the wheelhub field of the invention |
| EP0563857A1 (en) * | 1992-04-02 | 1993-10-06 | Linde Aktiengesellschaft | Vehicle with drive unit and cables fixed thereon |
| US5509497A (en) * | 1994-04-07 | 1996-04-23 | Fluidrive, Inc. | Steerable wheel drive assembly |
| WO1997023363A1 (en) * | 1995-12-22 | 1997-07-03 | Orion-Yhtymä Oy | Drive system of a drive wheel |
| JPH10949A (en) * | 1996-06-18 | 1998-01-06 | Aqueous Res:Kk | Hybrid type vehicle |
| CN1242641A (en) * | 1998-07-22 | 2000-01-26 | 中国科学技术大学 | Asynchronous wheel electric motor for driving electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1778589A (en) | 2006-05-31 |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Xu Yurong Document name: Notice of first review |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SHANGHA LUOBOYOU INFORMATION TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SHANGHAI YINGLUO INTELLIGENT ROBOTS CO., LTD. Effective date: 20080627 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20080627 Address after: Songtao Shanghai Road, Zhangjiang High Tech Park of Pudong New Area No. 563 block A Room 308 Patentee after: Luoboyou Information Science & Technology Co., Ltd., Shanghai Address before: The 8 floor of Building No. 5 Keyuan Bibo Road, Shanghai city Pudong New Area Zhangjiang hi tech Park Patentee before: Yingluo Intellectual Robot Co., Ltd., Shanghai |
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| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Li Laixi Document name: Notification to Pay the Fees |
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| DD01 | Delivery of document by public notice |
Addressee: Li Laixi Document name: Notification of Termination of Patent Right |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080730 Termination date: 20091218 |