CN113183749A

CN113183749A - Power fortune comes wheel

Info

Publication number: CN113183749A
Application number: CN202110425148.XA
Authority: CN
Inventors: 和杰; 贺怡
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-07-30
Anticipated expiration: 2041-04-20
Also published as: CN113183749B

Abstract

The invention discloses a power Foley wheel, which comprises a wheel body and a main motor, wherein a first side plate fixing frame is arranged on one side of the wheel body, the wheel body comprises a plurality of side shifting wheels, the side shifting wheels are arranged on the first side plate fixing frame, the wheel body is synchronously and rotatably connected with a rotating shaft of the main motor through the first side plate fixing frame, and the rotating direction of the side shifting wheels is tangential to the axial direction of the wheel body; the side shift wheels are at least provided with two and are uniformly distributed by taking a rotating shaft of the wheel body as a center, and the side shift driving mechanism is used for simultaneously driving all the side shift wheels to rotate in the same direction. The wheel body is formed by the side shifting wheels, the main motor is used for controlling the wheel body to rotate to realize advancing and retreating in the normal running process, the side shifting wheels are driven to rotate by the side shifting driving mechanism to realize transverse left-and-right movement, meanwhile, the main motor and the side shifting driving mechanism are controlled to work simultaneously to enable the wheel body to realize oblique movement, and the smooth movement of the wheel body on the ground in all directions is realized by the combination of the front-and-back movement and the left-and-right movement.

Description

Power fortune comes wheel

Technical Field

The invention relates to the technical field of traveling wheels, in particular to a power Foley wheel.

Background

With the rise of the balance car, the walking tools with the two wheels enter thousands of households, and a plurality of robots enter the era of the balance car, and the two wheels support the whole robot to move around. In order to cope with various complex situations, the degree of freedom of the balance car is obviously insufficient. The freedom degree of the two wheels is limited, and the design with higher freedom degree can adapt to complex road conditions. Therefore, a new tire is needed to replace the conventional two wheels.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a power Foley wheel.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a power Foley wheel comprises a wheel body and a main motor, wherein a first side plate fixing frame is arranged on one side of the wheel body, the wheel body comprises a plurality of side shifting wheels, the side shifting wheels are installed on the first side plate fixing frame, the wheel body is synchronously and rotatably connected with a rotating shaft of the main motor through the first side plate fixing frame, and the rotating direction of the side shifting wheels is tangential to the axial direction of the wheel body;

the side shift wheels are at least provided with two side shift driving mechanisms which are uniformly arranged by taking a rotating shaft of the wheel body as a center and simultaneously drive all the side shift wheels to rotate in the same direction.

Furthermore, a side shifting wheel fixing frame is arranged on the side shifting wheel and arranged on the first side plate fixing frame so as to install the side shifting wheel on the first side plate fixing frame.

Furthermore, the side shifting driving mechanism comprises a side shifting driving motor, a transmission assembly is connected between a rotating shaft of the side shifting driving motor and the side shifting wheel, and the transmission assembly is arranged in the wheel body.

Furthermore, the side-shifting driving motor and the wheel body are coaxially arranged, a second side plate fixing frame is further arranged on the other side of the wheel body, the side-shifting driving motor is arranged on the second side plate fixing frame, the side-shifting driving motor further comprises a whole wheel fixing frame used for being connected with other equipment, the main motor is arranged on the whole wheel fixing frame, a rotating shaft of the main motor is rotatably connected with the whole wheel fixing frame, and the side-shifting driving motor is rotatably connected with the whole wheel fixing frame.

Furthermore, the lateral movement driving motor is connected with a conductive sliding ring, and a conductive sliding ring fixing frame is arranged on the whole wheel fixing frame.

Furthermore, the transmission assembly comprises a driving transmission module and a driven transmission module, the driving transmission module and the driven transmission module synchronously rotate with the side shifting driving motor, the driving transmission module and the driven transmission module are connected through a reversing transmission module, and the side shifting driving motor is arranged on one side of the wheel body.

Further, the side shift driving motor and the wheel body are coaxially arranged, the side shift wheel comprises two small wheels which are symmetrically arranged, the two small wheels are coaxially and rotatably connected, the driving transmission module comprises a first fluted disc, a first shaft gear is coaxially and rotatably connected with a rotating shaft of the side shift driving motor, the driven transmission module comprises a second fluted disc, the second fluted disc is coaxially and rotatably connected with the small wheels, the reversing transmission module comprises a gear shaft, and the first fluted disc and the second fluted disc are meshed and driven through the gear shaft to realize reversing.

Further, a gear shaft fixing frame is arranged on the first side plate fixing frame, the gear shaft is rotatably connected with the gear shaft fixing frame, and the gear shaft is installed on the first side plate fixing frame through the gear shaft fixing frame.

Furthermore, still be equipped with central mount on the gear shaft, the gear shaft with central mount rotates to be connected, be equipped with lug and draw-in groove on the central mount, it is adjacent central mount pass through the lug with the draw-in groove links to each other, encloses and covers out the enclosure space that uses first fluted disc as the center.

Furthermore, the wheel surface of the side shifting wheel is an arc line taking the rotating shaft of the wheel body as the center of a circle.

Compared with the prior art, the invention has the following advantages:

the lateral shifting wheel is combined into the large wheel body, the main motor is used for controlling the wheel body to rotate in the normal running process so as to realize advancing and retreating, the lateral shifting driving mechanism is used for driving the lateral shifting wheel to rotate so as to realize transverse left-and-right movement when needed, the main motor and the lateral shifting driving mechanism are simultaneously controlled to work so as to realize oblique movement of the wheel body, and the wheel body can smoothly move on the ground in all directions by combining the front-and-back movement and the left-and-right movement.

Drawings

FIG. 1 is a schematic view of the overall structure of a power Foley wheel;

FIG. 2 is a schematic view of the internal structure of the power Foley wheel;

FIG. 3 is a schematic view of a wheel body portion of the power Foley wheel;

FIG. 4 is a schematic view of a portion of a side shift wheel of the powered Foley wheel;

FIG. 5 is a schematic view of an external fixing frame of the power Foley wheel;

FIG. 6 is a schematic view of a portion of a large bearing mount for a powered Foley wheel;

FIG. 7 is a schematic view of a portion of a central mounting frame of a powered Foley wheel;

description of reference numerals: 1. a whole wheel fixing frame; 2. a ball bearing; 3. a large bearing seat; 4. a large bearing mount; 5. a hexagon socket head cap screw; 6. a central fixing frame; 7. a second fluted disc; 8. a small wheel axle; 9. a flange bearing; 10. a lateral shifting wheel; 101. a small wheel; 11. a side shift wheel fixing frame; 12. a first side plate fixing frame; 121. a second side plate fixing frame; 13. a large bearing retainer; 14. a main motor; 141. a lateral movement drive motor; 15. a conductive slip ring fixing frame; 16. a conductive slip ring; 17. a first fluted disc; 18. a gear shaft; 19. a gear shaft fixing frame; 20. a coupling is provided.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" 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 otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

As shown in fig. 1, a power Foley wheel comprises a wheel body and a main motor 14, wherein a first side plate fixing frame 12 is arranged on one side of the wheel body, the wheel body comprises a plurality of side shifting wheels 10, the side shifting wheels 10 are installed on the first side plate fixing frame 12, the wheel body is synchronously and rotatably connected with a rotating shaft of the main motor 14 through the first side plate fixing frame 12, and the rotating direction of the side shifting wheels 10 is tangential to the axial direction of the wheel body; the side shift wheels 10 are at least provided with two and are uniformly distributed by taking a rotating shaft of the wheel body as a center, and the side shift driving mechanism is also arranged for driving all the side shift wheels 10 to rotate in the same direction.

Specifically, the wheel body is formed by a plurality of side shift wheels 10 arranged circumferentially to form a wheel body for advancing and retreating, the side shift wheels 10 rotate to drive the wheel body to move laterally, and when the side shift wheels 10 do not rotate, the wheel surfaces of the side shift wheels 10 form the wheel surface of the wheel body, so that advancing and retreating can be realized when the wheel body rotates. The rotation direction of the side shift wheel 10 is tangent to the axial direction of the wheel body, so that when the wheel body does not rotate, only starting the side shift wheel 10 can enable the wheel body to transversely translate, and therefore the side shift function is achieved. The side shift wheels 10 are uniformly distributed and at least two are arranged by taking the rotating shaft of the wheel body as the center, so that the side shift wheels 10 can be uniformly distributed on the wheel body and used for advancing and retreating. Specifically, in this embodiment, the number of the side shift wheels 10 is four, so that the spacing between the side shift wheels 10 can be effectively reduced, and the wheel body can move more smoothly when rotating and walking, and the number of the side shift wheels 10 can be three, five or the like, and can be set according to actual requirements, and theoretically, the number of the side shift wheels 10 is increased, the spacing between the adjacent side shift wheels 10 can be set to be decreased, and the walking influence on the wheel body is decreased.

In one embodiment, the side shift driving mechanism includes a side shift driving motor 141, and a transmission assembly is connected between a rotating shaft of the side shift driving motor 141 and the side shift wheel 10, and is embedded in the wheel body.

Specifically, the side shift driving motor 141 serves as a power source of the side shift driving mechanism, the transmission assembly is used for driving the side shift wheel 10 to rotate, so that the side shift of the wheel body is achieved, the specific setting position of the side shift driving motor 141 is different according to the specific setting of the transmission assembly, the side shift driving motor can be set at different positions, and the transmission assembly is specifically arranged inside the wheel body without influencing the normal operation of the wheel body.

In one embodiment, the transmission assembly includes a driving transmission module rotating synchronously with the rotation shaft of the side shift driving motor 141 and a driven transmission module rotating synchronously with the side shift wheel 10, a reversing transmission module is connected between the driving transmission module and the driven transmission module, and the side shift driving motor 141 is disposed at one side of the wheel body.

As shown in fig. 2 and 3, in particular, since the transmission assembly needs to transmit the power provided by the side-shift driving motor 141 to the side-shift wheel 10 to realize the rotation of the driving side-shift wheel 10. The reversing transmission module is arranged between the driving transmission module and the driven transmission module, so that more choices of the setting position of the side-shifting driving motor 141 connected with the driving transmission module in a synchronous rotating mode can be made, the side-shifting driving motor 141 can be arranged on one side of the wheel body, and the interference of the side-shifting driving motor 141 to the normal operation of the wheel body is effectively reduced. The driving transmission module and the side shift driving motor 141 are connected in a synchronous rotation manner, the driven transmission module and the side shift wheel 10 are also connected in a synchronous rotation manner, and the connection manner can be coaxial connection, or can realize dislocation synchronous transmission through belt transmission, gear transmission and the like.

In one embodiment, the side-shifting driving motor 141 is coaxially arranged with the wheel body, the side-shifting wheel 10 comprises two symmetrically arranged small wheels 101, the two small wheels 101 are coaxially and rotatably connected, the driving transmission module comprises a first fluted disc 17, the first shaft gear is coaxially and rotatably connected with a rotating shaft of the side-shifting driving motor 141, the driven transmission module comprises a second fluted disc 7, the second fluted disc 7 is coaxially and rotatably connected with the small wheels 101, the reversing transmission module comprises a gear shaft 18, and the first fluted disc 17 and the second fluted disc 7 are in meshing transmission through the gear shaft 18 to realize reversing.

Particularly, the driving transmission module and the driven transmission module are arranged in a coaxial rotating connection mode, so that the complexity of the transmission assembly can be effectively reduced. The first fluted disc 17 and the side-shifting driving motor 141 rotate coaxially, the second fluted disc 7 and the side-shifting wheel 10 rotate coaxially, the side-shifting wheel 10 is divided into two small wheels 101 which are symmetrically arranged, the symmetric center is the radius of the wheel body, the two small wheels 101 are connected through a small wheel axle 8, and the second fluted disc 7 is arranged on the small wheel axle 8, so that the interference of the arrangement of the driven transmission module on the operation of the side-shifting wheel 10 can be reduced as much as possible. The first toothed disc 17 and the second toothed disc 7 are connected and meshed through a gear shaft 18, so that reversing is achieved. The fluted disc and the gear shaft can be replaced by bevel gears, and the stability of the bevel gears is higher.

In fact, the transmission mode of the fluted disc and the gear shaft 18 is only one of the modes adopted in the embodiment, and the modes such as rubber band transmission and the like can also be adopted in the setting, for example, the transmission of the rubber band can be realized by connecting different transmission parts through the flexibility of the rubber band, so that the reversing effect is realized. The transmission mode of fluted disc, gear shaft 18 that adopts in this embodiment compares with other transmission modes, has simple structure, advantage that stability is high, and this kind of transmission mode simultaneously can concentrate the main part of drive assembly to set up in the same department of wheel body inside to be favorable to the maintenance and the renovation to transmission module.

In one embodiment, the side shift wheel 10 is provided with a side shift wheel fixing frame 11, and the side shift wheel fixing frame 11 is arranged on the first side plate fixing frame 12, so that the side shift wheel 10 is mounted on the first side plate fixing frame 12.

As shown in fig. 4, specifically, the side shift wheel 10 is fixed on the first side plate fixing frame 12 by the side shift wheel fixing frame 11, so as to fix the position of the side shift wheel 10, the side shift wheels 10 uniformly distributed around the rotating shaft of the wheel are arranged to form a wheel body, so as to improve the stability of the wheel body during operation, and meanwhile, the side shift wheel 10 can also be fixed on the second side plate fixing frame 121 by the side shift wheel fixing frame 11, and the installation stability can be greatly improved by the common installation and fixation of both sides.

In one embodiment, the side-shifting driving motor 141 is coaxially arranged with the wheel body, the second side plate fixing frame 121 is further arranged on the other side of the wheel body, the side-shifting driving motor 141 is arranged on the second side plate fixing frame 121, the whole wheel fixing frame 1 is further used for being connected with other equipment, the main motor 14 is arranged on the whole wheel fixing frame 1, a rotating shaft of the main motor 14 is rotatably connected with the whole wheel fixing frame 1, and the side-shifting driving motor 141 is rotatably connected with the whole wheel fixing frame 1.

As shown in fig. 5 and 6, specifically, the second side plate fixing frame 121 and the first side plate fixing frame 12 are respectively disposed on two sides of the wheel body, so as to stabilize the wheel body, the wheel body is further provided with a whole wheel fixing frame 1 for being connected with other devices, and the rotating shaft of the main motor 14 and the wheel body can be coaxially and rotatably connected by using a coupling 20, so that the main motor 14 needs to be mounted and fixed on the whole wheel fixing frame 1 and connected with other devices to provide power for rotation of the wheel body, and the rotating shaft of the main motor 14 and the whole wheel fixing frame 1 can be connected by a bearing. When the wheel body rotates, the side shift driving motor 141 needs to rotate together with the wheel body because the side shift wheel 10 does not rotate in the running state that the wheel body normally moves forward and backward, or the rotation of the side shift driving motor 141 and the rotation of the wheel body are mutually offset, but the latter has a very high requirement on the control accuracy of the two motors, so the former is adopted in the embodiment, and the body of the side shift driving motor 141 needs to be rotationally connected with the whole wheel fixing frame 1.

The rotational connection can be realized by arranging a related structure on the whole wheel fixing frame 1, and specifically can include a large bearing holder 13 arranged on the second side plate fixing frame 121, the large bearing holder 13 can be fixed on the second side plate fixing frame 121 through an inner hexagon bolt 5, a large bearing fixing frame 4 and a large bearing seat 3 are arranged on the large bearing holder 13, the large bearing seat 3 is arranged on the large bearing fixing frame 4 to limit the movement of the large bearing fixing frame along the axial direction of the wheel body, a ball bearing 2 is arranged on the large bearing seat 3, the lateral movement driving motor 141 is connected with an inner ring of the ball bearing 2, the large bearing seat 3 is connected with an outer ring of the ball bearing 2, and the rotational connection between the lateral movement driving motor 141 and the whole wheel fixing frame 1 is realized.

In one embodiment, the side shift driving motor 141 is connected with a conductive slip ring 16, and the whole wheel fixing frame 1 is provided with a conductive slip ring fixing frame 15.

As shown in fig. 1, specifically, since the body of the side shift driving motor 141 needs to continuously rotate synchronously with the wheel body, the conductive slip ring 16 is provided to avoid connecting with the side shift driving motor 141 by using an electric wire, and the conductive slip ring fixing frame 15 for mounting the conductive slip ring 16 extends from the whole wheel fixing frame 1.

In one embodiment, a gear shaft fixing bracket 19 is disposed on the first side plate fixing bracket 12, the gear shaft 18 is rotatably connected to the gear shaft fixing bracket 19, and the gear shaft 18 is mounted on the first side plate fixing bracket 12 through the gear shaft fixing bracket 19.

As shown in fig. 4, specifically, the gear shaft fixing bracket 19 is mainly used for fixing the position of the gear shaft 18, the gear shaft fixing bracket 19 is installed and fixed on the first side plate fixing bracket 12, and the flange bearing 9 is arranged on the gear shaft fixing bracket 19 to realize the rotational connection with the gear shaft 18, so as to realize the installation of the gear shaft 18.

In one embodiment, the gear shaft 18 is further provided with a central fixing frame 6, the gear shaft 18 is rotatably connected with the central fixing frame 6, the central fixing frame 6 is provided with a bump and a slot, and adjacent central fixing frames 6 are connected through the bump and the slot to enclose a closed space centered on the first fluted disc 17.

As shown in fig. 7, in particular, both ends of the gear shaft 18 may be respectively provided with a center mount 6 and a gear shaft mount 19, and the center mount 6 is provided with a flange bearing 9, similar to the gear shaft mount 19, so that the position of the gear shaft 18 can be stably set by connecting both ends of the gear shaft 18. The central fixing frame 6 is arranged around the first fluted disc 17 in a surrounding manner, and meanwhile, the central fixing frame 6 is also provided with a convex block and a clamping groove, so that the first fluted disc 17 is enclosed and shielded by the central fixing frame 6 arranged on the plurality of side shifting wheels 10 to form a closed space. The central fixing frame 6 is combined with the first side plate fixing frame 12 and the second side plate fixing frame 121 to form a relatively closed space, so as to completely enclose the first fluted disc 17, thereby effectively reducing the possibility of the transmission assembly being interfered by the outside.

The enclosed space enclosed by the center fixing frame 6 may be polygonal or circular, and is specifically configured according to the shape of the center fixing frame 6, and if the number of the side shift wheels 10 is only two, the center fixing frame 6 needs to be configured into a semicircular arc shape to form the enclosure, so that a certain space is formed between the two center fixing frames 6. If the number of the side shift wheels 10 is three or more, the closed space formed by the enclosure may be polygonal in the form of a straight plate. In the present embodiment, since the number of the side shift wheels 10 is specifically set to four, the enclosed space formed by the enclosure thereof is square.

In one embodiment, the surface of side-shifting wheel 10 is an arc centered on the axis of rotation of the wheel.

As shown in fig. 3, specifically, since the wheel body is formed by uniformly arranging the side shift wheels 10 circumferentially, the side shift wheels 10 may actually adopt a general straight wheel surface, that is, a cylindrical wheel, but when the wheel body is arranged in such a way, when the wheel body runs in operation, an unstable condition may occur, and therefore, the wheel surface adopts an arc arrangement in which the rotating shaft of the wheel body is circular, so that the wheel surface of the wheel body is as smooth as possible, and the stability of the wheel body during running is improved.

The lateral shifting wheel 10 forms a large wheel body, the wheel body is controlled to rotate by the main motor 14 in the normal running process to advance and retreat, the lateral shifting wheel 10 is driven to rotate by the lateral shifting driving mechanism to realize transverse left-and-right movement when needed, the main motor 14 and the lateral shifting driving mechanism are controlled to work simultaneously to enable the wheel body to realize oblique movement, and the wheel body can smoothly move on the ground in all directions by combining the front-and-back movement and the left-and-right movement.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.

Claims

1. A power Foley wheel is characterized in that: the wheel comprises a wheel body and a main motor (14), wherein a first side plate fixing frame (12) is arranged on one side of the wheel body, the wheel body comprises a plurality of side shifting wheels (10), the side shifting wheels (10) are arranged on the first side plate fixing frame (12), the wheel body is synchronously and rotatably connected with a rotating shaft of the main motor (14) through the first side plate fixing frame (12), and the rotating direction of the side shifting wheels (10) is tangential to the axial direction of the wheel body;

the side shift wheels (10) are at least two and are uniformly distributed by taking a rotating shaft of the wheel body as a center, and the side shift driving mechanism is also arranged for simultaneously driving all the side shift wheels (10) to rotate in the same direction.

2. The powered Foley wheel of claim 1, wherein: the side shifting wheel (10) is provided with a side shifting wheel fixing frame (11), and the side shifting wheel fixing frame (11) is arranged on the first side plate fixing frame (12) so as to install the side shifting wheel (10) on the first side plate fixing frame (12).

3. The powered Foley wheel of claim 1, wherein: the side shift driving mechanism comprises a side shift driving motor (141), a transmission assembly is connected between a rotating shaft of the side shift driving motor (141) and the side shift wheel (10), and the transmission assembly is arranged in the wheel body.

4. The powered Foley wheel of claim 3, wherein: the lateral movement driving motor (141) and the wheel body are coaxially arranged, a second side plate fixing frame (121) is further arranged on the other side of the wheel body, the lateral movement driving motor (141) is arranged on the second side plate fixing frame (121), the lateral movement driving motor further comprises a whole wheel fixing frame (1) used for being connected with other equipment, the main motor (14) is arranged on the whole wheel fixing frame (1), a rotating shaft of the main motor (14) is rotatably connected with the whole wheel fixing frame (1), and the lateral movement driving motor (141) is rotatably connected with the whole wheel fixing frame (1).

5. The powered Foley wheel of claim 4, wherein: the lateral movement driving motor (141) is connected with a conductive slip ring (16), and a conductive slip ring fixing frame (15) is arranged on the whole wheel fixing frame (1).

6. The powered Foley wheel of claim 3, wherein: the transmission assembly comprises a driving transmission module and a driven transmission module, the driving transmission module synchronously rotates with a rotating shaft of the side-shifting driving motor (141), the driven transmission module is synchronously connected with the side-shifting wheel (10), a reversing transmission module is connected between the driving transmission module and the driven transmission module, and the side-shifting driving motor (141) is arranged on one side of the wheel body.

7. The powered Foley wheel of claim 6, wherein: the side is moved driving motor (141) with the wheel body is coaxial to be set up, the side is moved wheel (10) and is included small wheel (101) that two symmetries set up, two coaxial rotation is connected between small wheel (101), the initiative transmission module includes first fluted disc (17), first shaft gear with the coaxial rotation of pivot of side movement driving motor (141) is connected, driven transmission module includes second fluted disc (7), second fluted disc (7) with small wheel (101) coaxial rotation is connected, the switching-over transmission module includes gear shaft (18), first fluted disc (17) with pass through between second fluted disc (7) gear shaft (18) meshing transmission realizes the switching-over.

8. The powered Foley wheel of claim 7, wherein: the first side plate fixing frame (12) is provided with a gear shaft fixing frame (19), the gear shaft (18) is rotatably connected with the gear shaft fixing frame (19), and the gear shaft (18) is installed on the first side plate fixing frame (12) through the gear shaft fixing frame (19).

9. The powered Foley wheel of claim 7, wherein: the gear shaft (18) is further provided with a central fixing frame (6), the gear shaft (18) is rotatably connected with the central fixing frame (6), the central fixing frame (6) is provided with a convex block and a clamping groove, and the adjacent central fixing frame (6) is connected with the clamping groove through the convex block to enclose and cover a closed space which takes the first fluted disc (17) as the center.

10. The powered Foley wheel of claim 1, wherein: the wheel surface of the side shifting wheel (10) is an arc line taking a rotating shaft of the wheel body as a circle center.