CN111376706A

CN111376706A - Wheel hub switching structure

Info

Publication number: CN111376706A
Application number: CN201811621624.XA
Authority: CN
Inventors: 徐方; 尹红光; 何元一; 李刚; 李加平; 武桐
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2020-07-07

Abstract

The invention provides a hub adapter structure, which comprises a tire connecting piece, a rotating flange, a bearing assembly, a flange supporting shaft and a driving unit, wherein the rotating flange is arranged on the tire connecting piece; an accommodating space is formed in the flange supporting shaft, and the driving unit is installed in the accommodating space; an output shaft of the driving unit is fixedly connected with the rotating flange so as to drive the rotating flange to rotate around the flange supporting shaft; the tire connecting piece is fixedly connected with the rotating flange. According to the hub switching structure provided by the invention, the driving unit can directly drive the wheels to rotate and can adapt to wheels with different diameters.

Description

Wheel hub switching structure

Technical Field

The invention relates to the field of mobile robots, in particular to a hub switching structure used in the field of mobile robots.

Background

The hub adapter structure at present has a plurality of types, and the basic form is as follows: the axle housing 10 is connected with the frame through the suspension, is connected with wheel 13 through wheel hub 12 at the both ends of axle housing 10, as shown in figure 1, bearing assembly 11 is established to the tip cover of axle housing 10, and wheel hub 12 is connected in the bearing assembly 11 outside, and wheel hub 12 passes through bearing assembly 11 is rotatory around the tip of axle housing 10, and wheel 13 or tire are installed on wheel hub 12. Meanwhile, an electric motor inside the vehicle is fixedly connected to the hub 12 through the axle 14 for driving the hub 12 to rotate around the end of the axle housing 10.

This type of connection has limitations in that the drive unit must be connected through a long axle (drive shaft) to transmit power to the wheels, and the drive unit cannot be directly connected to the wheels. And a plurality of positions need to be sealed, and the structural sealing can be realized by adopting a plurality of sealing rings. The structure not only increases the power loss and the weight of the vehicle body, but also makes the structure more complex and occupies more space.

In addition, this kind of mode single structure because wheel hub direct cover is established at the tip of axle housing, and wheel hub is as tire connecting piece and rotating flange simultaneously, and a mechanism can only be suitable for a wheel hub size, can not adapt to multiple tire. The existing mobile robot can be applied to various occasions, needs to be small in size, light in weight and compact in structure, and needs to adapt to various road surfaces, such as gravel road surfaces, cement road surfaces, ice and snow road surfaces, muddy road surfaces and the like. The robot is required to be as compact and reasonable as possible in structure and occupy less space, and meanwhile, the same mobile robot is required to be capable of mounting tires of different types and sizes. The current structural form cannot well meet the requirements of modern mobile robots.

Disclosure of Invention

The present invention is directed to solve at least one of the above problems and to provide a hub adapter structure with a driving unit capable of directly driving a wheel to rotate and being adapted to wheels with different diameters.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a hub switching structure which comprises a tire connecting piece, a rotating flange, a bearing assembly, a flange supporting shaft and a driving unit, wherein an outer ring of the bearing assembly is arranged on the inner wall of the rotating flange; an accommodating space is formed in the flange supporting shaft, and the driving unit is installed in the accommodating space; an output shaft of the driving unit is fixedly connected with the rotating flange so as to drive the rotating flange to rotate around the flange supporting shaft; the tire connecting piece is fixedly connected with the rotating flange; the tire connecting piece, the rotating flange, the flange supporting shaft and the output shaft of the driving unit are coaxially arranged.

In some embodiments, the vehicle further comprises a frame connecting plate, the flange supporting shaft is fixed on the frame connecting plate, and the frame connecting plate is fixedly connected with the frame.

In some embodiments, the tire connector is secured to an end of the rotating flange.

In some embodiments, the bearing assembly comprises two deep groove ball bearings arranged side by side, the two deep groove ball bearings are mounted on the inner wall of the rotating flange, and the inner rings of the two deep groove ball bearings are mounted outside the flange support shaft.

In some embodiments, a spacer is arranged between the two deep groove ball bearings.

In some embodiments, the spacer comprises an inner ring spacer and an outer ring spacer disposed radially of the flange support shaft.

In some embodiments, the end of the flange support shaft is provided with a retaining ring that positions the bearing assembly outside of the flange support shaft.

In some embodiments, a seal ring is disposed on the flange support shaft, the seal ring enclosing the bearing assembly between the flange support shaft and the rotating flange.

In some embodiments, a seal gland is disposed on an outer side of the seal ring, and the seal gland is mounted on the rotating flange for axially positioning the bearing assembly.

In some embodiments, the flange support shaft is provided with a through hole at an end facing the tire connector, and the output shaft of the driving unit passes through the through hole to be fixedly connected with the rotating flange.

The invention has the beneficial effects that: the flange back shaft is inside to be provided with accommodation space, and for hollow structure, drive unit installs in accommodation space, can realize drive unit and rotary flange's direct drive, no longer uses the transmission shaft, has saved the exterior space, and the drive is more sensitive simultaneously, has also reduced the number of sealing washer. In addition, the tire connecting piece and the rotating flange are arranged separately, and the size of the tire connecting piece can be adjusted to adapt to tires or wheels with different diameters.

Drawings

Fig. 1 is a schematic connection diagram of a hub adapter structure in the prior art.

Fig. 2 is a schematic view of a hub adapter structure according to an embodiment of the present invention.

Fig. 3 is a schematic view of the connection of the hub adapter structure to the wheel according to an embodiment of the present invention.

Reference numerals:

an axle housing 10; a bearing assembly 11; a hub 12; a wheel 13; an axle 14; a tire attachment member 20; a rotating flange 30; a flange support shaft 40; a drive unit 50; a frame connecting plate 60; a spacer 70; inner ring spacer 71; an outer ring spacer 72; a bearing retainer 80; a seal ring 90; the seal ring gland 91.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The hub adapter structure provided by the present invention will be described in detail with reference to fig. 2 and 3.

As shown in fig. 1 and 2, in an embodiment of the present invention, a hub adapter structure is disclosed, which includes a tire connector 20, a rotating flange 30, a bearing assembly 11, a flange support shaft 40 and a driving unit 50, wherein an outer ring of the bearing assembly 11 is mounted on an inner wall of the rotating flange 30, the bearing assembly 11 is sleeved on the flange support shaft 40, the rotating flange 30 is rotatably mounted on the flange support shaft 40 through the bearing assembly 11, and the flange support shaft 40 is fixedly connected to a frame; an accommodating space is formed inside the flange supporting shaft 40, and the driving unit 50 is installed in the accommodating space; an output shaft of the driving unit 50 is fixedly connected with the rotating flange 30 to drive the rotating flange 30 to rotate around the flange supporting shaft 40; the tire connecting piece 20 is fixedly connected with the rotating flange 30; the tire coupling member 20, the rotating flange 30, the flange support shaft 40, and the output shaft of the driving unit 50 are coaxially disposed.

In this embodiment, the bearing assembly 11 is disposed between the rotating flange 30 and the flange support shaft 40, and in particular, may be fixed to the rotating flange 30 and the flange support shaft 40, respectively. So that the rotating flange 30 can rotate around the flange supporting shaft 40, thereby rotating the wheel 13.

The flange support shaft 40 is used as a support component of the whole hub adapter structure and is fixedly arranged on the frame, so that the hub adapter structure is fixed on the frame, and the wheel 13 is installed. The flange support shaft 40 is a hollow structure having an accommodating space therein, the driving unit 50 is located in the hollow structure (accommodating space), and the driving unit 50 is fixed to the flange support shaft 40, ensuring stable output of the driving unit 50. The driving unit 50 is generally a motor, and an output shaft thereof is an output shaft of the motor; the motor drives the rotating flange 30 to rotate through the output shaft. When the rotating flange 30 rotates, the tire connecting member 20 fixedly connected with the rotating flange 30 is driven to rotate, and the wheel 13 is driven to rotate.

In this embodiment, the tire coupling member 20, the rotary flange 30, the flange support shaft 40, and the output shaft of the driving unit 50 are coaxially disposed, so that stable and smooth transmission of torque can be performed, and the driving sensitivity and driving force can be improved.

In this embodiment, the driving unit 50 is installed in the accommodating space of the flange supporting shaft 40, and the rotating flange 30 is directly driven to rotate by the output shaft of the driving unit 50; the flange support shaft 40 is provided with an accommodating space inside, and is of a hollow structure, the driving unit 50 is installed in the accommodating space, so that the driving unit 50 and the rotary flange 30 can be directly driven, a transmission shaft is not used, the external space is saved, the driving is more sensitive, and the number of the sealing rings 90 is reduced. In addition, the tire connector 20 is provided separately from the rotating flange 30, and the size of the tire connector 20 can be adjusted to accommodate tires or wheels 13 of different diameters.

As shown in fig. 3, a frame connecting plate 60 is provided at a side close to the frame, the flange support shaft 40 is fixed to the frame connecting plate 60, and the frame connecting plate 60 is fixedly connected to the frame, so that the entire hub adapter structure is mounted on the frame. The frame connecting plate 60 is one of the ways in one embodiment of the present invention, and in addition to the frame connecting plate 60, the flange support shaft 40 may also be directly mounted on the axle housing 10, and more specifically, may be sleeved and fixed on the axle housing 10 by screws, for example. Of course, the contact area can be increased by adopting the mode of the frame connecting plate 60, and screw holes can be arranged at proper positions according to requirements to finish the fixed installation of the frame connecting plate 60 and the frame; in addition, the larger contact area can increase the stability of the connection of the hub switching structure and the frame.

In this embodiment, the tire coupling member 20 is fixedly coupled to the rotating flange 30 by screws.

As shown in fig. 2 or 3, the tire connector 20 is fixed at the end of the rotating flange 30, so as to facilitate the coaxial arrangement of the tire connector 20 and the rotating flange 30; meanwhile, the size of the tire attachment member 20 can be adjusted as needed to accommodate different sized wheels 13 or tires.

In order to further reduce the weight while ensuring the stability of the rotation process, in one embodiment of the present invention, as shown in fig. 2 or 3, the bearing assembly 11 includes two deep groove ball bearings arranged side by side, two of which are mounted on the inner wall of the rotating flange 30, and the inner rings of two of which are mounted outside the flange support shaft 40.

The two deep groove ball bearings are both circular rings and are sleeved outside the flange support shaft 40.

And a spacer sleeve 70 is arranged between the two deep groove ball bearings to prevent the two deep groove ball bearings from contacting and rubbing to influence the stability and the fluency of rotation.

By analogy, 3 or more deep groove ball bearings arranged side by side can be arranged and can be determined according to the size and the length of the flange supporting shaft 40; for example, if the axial length of the flange support shaft 40 is long and two deep groove ball bearings may not bear the weight of the wheel 13, then 3 or more deep groove ball bearings may be selected side by side. At this time, a spacer 70 is arranged between every two deep groove ball bearings to isolate the deep groove ball bearings, so that the two adjacent deep groove ball bearings are prevented from contacting and rubbing.

In one embodiment of the present invention, the spacer 70 includes an inner ring spacer 71 and an outer ring spacer 72 disposed radially of the flange support shaft 40. As shown in fig. 2 or 3, the spacer 70 includes two spacers arranged in the up-down direction.

In this embodiment, the spacer 70 may also be configured in a ring shape and fit around the outside of the flange support shaft 40.

As shown in fig. 2, the end of the flange support shaft 40 is provided with a bearing collar 80, and the bearing collar 80 positions the bearing assembly 11 outside of the flange support shaft 40. The bearing retainer ring 80 presses against the inner race of the deep groove ball bearing to secure and mount it.

In order to prevent foreign substances from entering the inside of the bearing assembly 11 and affecting the operation of the bearing assembly 11, a sealing ring 90 is provided on the flange support shaft 40, and the sealing ring 90 seals the bearing assembly 11 between the flange support shaft 40 and the rotary flange 30, thereby isolating the bearing assembly 11 from the outside space.

The outer side of the sealing ring 90 is provided with a sealing ring gland 91, and the sealing ring gland 91 is installed on the rotating flange 30 and used for axially positioning the bearing assembly 11. The seal ring cover 91 presses the seal ring 90 and the outer ring of the bearing assembly 11, and can prevent the seal ring 90 from falling off and the bearing assembly 11 from moving left and right in the axial direction of the flange support shaft 40. The driving unit 50 operates to rotate the rotary flange 30 about the flange supporting shaft 40.

As shown in fig. 2, an end of the flange support shaft 40 facing the tire attachment member 20 is provided with a through hole, i.e., a left end in fig. 2, through which an output shaft of the driving unit 50 is fixedly coupled to the rotary flange 30.

The hub switching structure provided by the invention has the advantages of compact structure and small occupied volume. The flange supporting shaft 40 is hollow, the driving unit 50 is directly installed in the hollow portion, a transmission shaft is not needed, the rotating flange 30 is directly driven to move through an output shaft of the driving unit 50, only one sealing ring 90 is adopted, multiple sealing is not needed, and a large amount of space can be saved.

Meanwhile, the tire connecting piece 20 and the rotating flange 30 are separated, and under the condition that the connecting size of the tire connecting piece 20 and the rotating flange 30 is not changed, the size of the tire connecting piece 20 can be adjusted according to needs, and the size of the tire connecting piece 20 is customized, so that the wheel hub switching structure can adapt to tires or wheels 13 with different sizes, the application range of the wheel hub switching structure to the tires or wheels 13 is enriched, and the use requirement of a mobile robot in different field environments is met.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. A hub switching structure is characterized by comprising a tire connecting piece, a rotating flange, a bearing assembly, a flange supporting shaft and a driving unit, wherein an outer ring of the bearing assembly is installed on the inner wall of the rotating flange; an accommodating space is formed in the flange supporting shaft, and the driving unit is installed in the accommodating space; an output shaft of the driving unit is fixedly connected with the rotating flange so as to drive the rotating flange to rotate around the flange supporting shaft; the tire connecting piece is fixedly connected with the rotating flange; the tire connecting piece, the rotating flange, the flange supporting shaft and the output shaft of the driving unit are coaxially arranged.

2. The hub transition structure of claim 1, further comprising a frame connection plate, wherein the flange support shaft is fixed to the frame connection plate, and the frame connection plate is fixedly connected to the frame.

3. The hub adapter structure of claim 1, wherein the tire connector is secured to an end of the rotating flange.

4. The hub adapter structure of claim 1, wherein the bearing assembly comprises two deep groove ball bearings arranged side by side, the two deep groove ball bearings being mounted on the inner wall of the rotating flange, the inner rings of the two deep groove ball bearings being mounted outside the flange support shaft.

5. The hub transition structure of claim 4, wherein a spacer is disposed between the two deep groove ball bearings.

6. The hub transition structure of claim 5, wherein the spacers comprise inner and outer spacers disposed radially of the flange support shaft.

7. The hub adapter structure of claim 1, wherein the end of the flange support shaft is provided with a retaining ring that positions the bearing assembly outside of the flange support shaft.

8. The hub adapter structure of claim 1, wherein a seal ring is disposed on the flange support shaft, the seal ring enclosing the bearing assembly between the flange support shaft and the rotating flange.

9. The hub adapter structure of claim 8, wherein a seal gland is disposed on an outer side of the seal ring, the seal gland being mounted on the rotating flange for axially positioning the bearing assembly.

10. The hub adapter structure according to claim 1, wherein the flange support shaft is provided with a through hole at an end thereof facing the tire coupling member, and the output shaft of the driving unit is fixedly connected to the rotary flange through the through hole.