CN113183749B

CN113183749B - Power Fulai wheel

Info

Publication number: CN113183749B
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: 2023-08-25
Anticipated expiration: 2041-04-20
Also published as: CN113183749A

Abstract

The invention discloses a power 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 moving wheels, the side moving 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 moving wheels is tangential to the axial direction of the wheel body; the side-shifting wheels are at least provided with two, are uniformly distributed by taking the rotating shaft of the wheel body as the center, and further comprise side-shifting driving mechanisms for simultaneously driving all the side-shifting wheels to rotate in the same direction. The wheel body is formed by the side-shifting wheel, the main motor is used for controlling the wheel body to rotate in the normal running process, the forward and backward movement is realized, the side-shifting wheel is driven to rotate by the side-shifting driving mechanism, the transverse left and right movement is realized, meanwhile, the main motor and the side-shifting driving mechanism are controlled to work simultaneously, the wheel body is enabled to realize oblique movement, and the smooth movement of the wheel body in all directions on the ground is realized by utilizing the combination of the front-back movement and the left-right movement.

Description

Power Fulai wheel

Technical Field

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

Background

With the rise of the balance car, the two-wheel walking tool is driven into thousands of households, and a plurality of robots enter the era of the balance car while the robot is still in motion, and the whole robot is supported by the two wheels to move around. The degree of freedom of the balance car is obviously not sufficient to cope with various complications. The common two-wheel has limited freedom degree, and the higher freedom degree can be designed to adapt to complex road conditions. There is a need for a new tire to replace the conventional common two-wheel tire.

Disclosure of Invention

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

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

the power 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 moving wheels, the side moving 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 moving wheels is tangential to the axial direction of the wheel body;

the side-shifting wheels are at least provided with two, are uniformly distributed by taking the rotating shaft of the wheel body as the center, and further comprise side-shifting driving mechanisms for simultaneously driving all the side-shifting wheels to rotate in the same direction.

Further, a side-shifting wheel fixing frame is arranged on the side-shifting wheel, and the side-shifting wheel fixing frame is arranged on the first side-board fixing frame so as to install the side-shifting wheel on the first side-board fixing frame.

Further, 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.

Further, the side-shifting driving motor is coaxially arranged with the wheel body, 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 and 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 rotationally connected with the whole wheel fixing frame, and the side-shifting driving motor is rotationally connected with the whole wheel fixing frame.

Further, the side-shifting driving motor is connected with a conductive slip ring, and the conductive slip ring fixing frame is arranged on the whole wheel fixing frame.

Further, the transmission assembly comprises a driving transmission module and a driven transmission module, wherein the driving transmission module synchronously rotates with the rotating shaft of the side-shifting driving motor, the driven transmission module is synchronously rotationally connected with the side-shifting wheel, a reversing transmission module is connected between the driving transmission module and the driven transmission module, and the side-shifting driving motor is arranged on one side of the wheel body.

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

Further, a gear shaft fixing frame is arranged on the first side plate fixing frame, the gear shaft is rotationally 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.

Further, a central fixing frame is further arranged on the gear shaft, the gear shaft is rotationally connected with the central fixing frame, a protruding block and a clamping groove are arranged on the central fixing frame, the adjacent central fixing frames are connected with the clamping groove through the protruding block, and a closed space taking the first fluted disc as the center is enclosed.

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

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

the invention forms a large wheel body through the side-shifting wheel, and in the normal running process, the main motor controls the wheel body to rotate so as to realize forward and backward movement, and when the side-shifting wheel is required, the side-shifting driving mechanism drives the side-shifting wheel to rotate so as to realize transverse left and right movement, and simultaneously, the main motor and the side-shifting driving mechanism are controlled to work so as to enable the wheel body to realize oblique movement, and the combination of forward and backward movement and left and right movement is utilized so as to realize smooth movement of the wheel body in all directions on the ground.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a powered Fulai wheel;

FIG. 2 is a schematic diagram of the internal structure of a powered Fulai wheel;

FIG. 3 is a schematic view of a wheel body part of the power Fulai wheel;

FIG. 4 is a schematic illustration of a side-shifting wheel portion of the powered Fulai wheel;

FIG. 5 is a schematic view of the external mounting bracket of the power coming wheel;

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

FIG. 7 is a schematic view of the central mounting bracket portion of the powered Fulai wheel;

reference numerals illustrate: 1. a whole wheel fixing frame; 2. a ball bearing; 3. a large bearing seat; 4. a large bearing fixing frame; 5. an inner hexagon bolt; 6. a central fixing frame; 7. a second toothed disc; 8. a small wheel axle; 9. a flange bearing; 10. a side 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 side-shifting driving motor; 15. conductive slip ring fixing frame; 16. a conductive slip ring; 17. a first toothed disc; 18. a gear shaft; 19. a gear shaft fixing frame; 20. a coupling.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

In the description of the present invention, it should be understood that the terms "upper," "lower," "left," "right," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and for simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, as well as a specific orientation configuration and operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, 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; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Examples

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

Specifically, the wheel body is formed by circumferentially arranging a plurality of side-moving wheels 10, so that a wheel body for advancing and retreating is formed, the side-moving wheels 10 rotate to drive the wheel body to move sideways, and when the side-moving wheels 10 do not rotate, the wheel surfaces of the plurality of side-moving wheels 10 form the wheel surface of the wheel body, so that the advancing and retreating can be realized when the wheel body rotates. The rotation direction of the side-shifting wheel 10 is tangential to the axial direction of the wheel body, so that when the wheel body does not rotate, only the side-shifting wheel 10 is started, and the wheel body transversely translates, so that the side-shifting function is realized. The side-shifting wheels 10 are uniformly distributed by taking the rotating shaft of the wheel body as the center, and at least two side-shifting wheels 10 can be uniformly distributed on the wheel body and used for advancing and retreating. In this embodiment, the side-moving wheels 10 are specifically provided with four side-moving wheels, so that the interval positions between the side-moving wheels 10 can be effectively reduced, the wheels are smoother when rotating and walking, the number of the side-moving wheels 10 can be three, five or more, the number of the side-moving wheels 10 can be theoretically set according to actual situation demands, the larger the number of the side-moving wheels 10 is, the smaller the interval positions between the adjacent side-moving wheels 10 can be set, and the influence on the walking of the wheels is smaller.

In one embodiment, the side-shifting driving mechanism comprises a side-shifting driving motor 141, a transmission assembly is connected between a rotating shaft of the side-shifting driving motor 141 and the side-shifting wheel 10, and the transmission assembly is arranged in the wheel body.

Specifically, the side-shifting driving motor 141 is used as a power source of the side-shifting driving mechanism, the transmission assembly is used for driving the side-shifting wheel 10 to rotate, the side shifting of the wheel body is realized, the specific setting positions of the side-shifting driving motor 141 can be set at different positions according to different specific settings of the transmission assembly, and the transmission assembly is specifically built in the wheel body without influencing the normal running of the wheel body.

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

As shown in fig. 2 and 3, in particular, since the transmission assembly is required to transmit power provided by the side shift drive motor 141 to the side shift wheel 10 to effect rotation of the drive side shift wheel 10. The reversing transmission module is arranged between the driving transmission module and the driven transmission module, so that the selection of the setting positions of the side-shifting driving motor 141 which is connected with the driving transmission module in a synchronous rotation mode is more, 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-shifting driving motor 141 are synchronously rotated and connected, the driven transmission module and the side-shifting wheel 10 are synchronously rotated and connected, and the connection mode can be coaxial connection or dislocation synchronous transmission can be realized through belt transmission, gear transmission and the like.

In an 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, a 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 reversing is realized between the first fluted disc 17 and the second fluted disc 7 through meshing transmission of the gear shaft 18.

Specifically, the driving transmission module and the driven transmission module are coaxially and rotatably connected, so that the complexity of the transmission assembly can be effectively reduced. The first fluted disc 17 and the side shift driving motor 141 coaxially rotate, the second fluted disc 7 and the side shift wheel 10 coaxially rotate, the side shift wheel 10 is divided into two symmetrical small wheels 101, the symmetrical center is the radius of the wheel body, the two small wheels 101 are connected through the small wheel axle 8, the second fluted disc 7 is arranged on the small wheel axle 8, and thus the interference of the arrangement of the driven transmission module on the operation of the side shift wheel 10 can be reduced as much as possible. The first fluted disc 17 and the second fluted disc 7 are connected and meshed through a gear shaft 18, so that reversing is realized. The fluted disc and the gear shaft can also be replaced by bevel gears, and the stability of the bevel gears is higher.

In practice, the transmission mode of the fluted disc and the gear shaft 18 is only one of the modes adopted in the embodiment, and in the setting, the mode of rubber band transmission and the like can also be adopted, for example, the rubber band transmission can be realized, and different transmission parts can be connected through the flexibility of the rubber band, so that the reversing effect is realized. Compared with other transmission modes, the transmission mode of the fluted disc and the gear shaft 18 adopted in the embodiment has the advantages of simple structure and high stability, and meanwhile, the transmission mode can centralize main parts of a transmission assembly at the same position inside the wheel body, so that the maintenance and the renovation of a transmission module are facilitated.

In one embodiment, the side shift wheel 10 is provided with a side shift wheel holder 11, and the side shift wheel holder 11 is disposed on the first side plate holder 12 to mount the side shift wheel 10 on the first side plate holder 12.

As shown in fig. 4, specifically, the side-shifting wheel 10 is mounted and fixed on the first side-plate fixing frame 12 by using the side-shifting wheel fixing frame 11, so that the position of the side-shifting wheel 10 is fixed, the side-shifting wheels 10 uniformly distributed and arranged with the rotating shaft of the wheel body as the center are arranged to form the wheel body, so as to improve the stability of the wheel body during operation, and meanwhile, the side-shifting wheel 10 can be mounted and fixed on the second side-plate fixing frame 121 by using the side-shifting wheel fixing frame 11 at the same time, and the mounting stability can be greatly improved by jointly mounting and fixing the two 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 side-shifting 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 rotationally connected with the whole-wheel fixing frame 1, and the side-shifting driving motor 141 is rotationally 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 at two sides of the wheel body, so as to play a role in stabilizing the wheel body, the wheel body is further provided with a whole wheel fixing frame 1 for connecting with other devices, and the rotating shaft of the main motor 14 and the wheel body can be coaxially and rotatably connected by adopting the coupling 20, so that the main motor 14 needs to be installed 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 through bearings. The side-shift driving motor 141 is not rotated in the running state that the wheel body is generally moved forward and backward when the wheel body rotates, so that the body of the side-shift driving motor 141 is required to rotate together with the wheel body, or the body of the side-shift driving motor 141 is arranged in a mode that the rotation of the side-shift driving motor 141 and the rotation of the wheel body are mutually offset, but the control precision requirement of the side-shift driving motor 141 on the two motors is very high, so that the body of the side-shift driving motor 141 is required to be rotationally connected with the whole wheel fixing frame 1 in the embodiment.

The above-mentioned rotation connection can be realized through setting up relevant structure on whole wheel mount 1, concretely can include setting up big bearing holder 13 on second curb plate mount 121, big bearing holder 13 accessible hexagon socket head cap screw 5 is fixed on second curb plate mount 121, be equipped with big bearing mount 4 and big bearing frame 3 on the big bearing holder 13, big bearing frame 3 sets up on big bearing mount 4, with the motion of restriction its axial direction along the wheel body, be equipped with ball bearing 2 on the big bearing frame 3, side shift driving motor 141 links to each other with ball bearing 2's inner ring, big bearing frame 3 links to each other with ball bearing 2's outer loop, realize the rotation connection between side shift driving motor 141 and whole wheel mount 1.

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

As shown in fig. 1, in particular, since the body of the side-shift driving motor 141 needs to rotate continuously and synchronously with the wheel body, the conductive slip ring 16 is provided to avoid connection with the side-shift driving motor 141 by using electric wires, and thus the conductive slip ring fixing frame 15 for erecting the conductive slip ring 16 extends from the whole wheel fixing frame 1.

In one embodiment, 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 mounted on the first side plate fixing frame 12 through the gear shaft fixing frame 19.

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

In a certain 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 clamping groove, the adjacent central fixing frames 6 are connected through the bump and the clamping groove, and a closed space with the first fluted disc 17 as the center is enclosed.

As shown in fig. 7, specifically, the two ends of the gear shaft 18 may be provided with a center fixing frame 6 and a gear shaft fixing frame 19, respectively, and the center fixing frame 6 is provided with a flange bearing 9 similar to the gear shaft fixing frame 19, so that the setting position of the gear shaft 18 can be stably set by connecting the two ends of the gear shaft 18. The central fixing frame 6 is surrounded around the first fluted disc 17, and the central fixing frame 6 is also provided with a bump and a clamping groove, so that the central fixing frames 6 arranged on the lateral shifting wheels 10 are utilized to enclose the first fluted disc 17, and a closed space is formed. The central fixing frame 6 is combined with the first side plate fixing frame 12 and the second side plate fixing frame 121 to generate 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 formed by the enclosing of the central fixing frame 6 may be polygonal or circular, and specifically is set according to the shape of the central fixing frame 6, if the number of the side-moving wheels 10 is only two, the central fixing frame 6 needs to be set to be a semicircular arc shape to form a certain space between the two central fixing frames 6 in order to form the enclosing. If the number of the side shift wheels 10 is three or more, the side shift wheels may be in the form of straight plates, so that the enclosed space formed by the enclosing cover is polygonal. 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 tread of the sideshift 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 distributing the circumference of the side-moving wheel 10, the side-moving wheel 10 can be actually provided by adopting a common straight wheel surface, namely a cylindrical wheel, but the wheel body may be unstable when running, so that the wheel surface adopts an arc-shaped arrangement with the rotating shaft of the wheel body as a circle, the wheel surface of the wheel body is as smooth as possible, and the stability of the wheel body during running is improved.

The invention forms a large wheel body through the side-shifting wheel 10, and in the normal running process, the main motor 14 controls the wheel body to rotate so as to realize forward and backward movement, and when the requirement exists, the side-shifting wheel 10 is driven to rotate through the side-shifting driving mechanism so as to realize transverse left and right movement, and meanwhile, the main motor 14 and the side-shifting driving mechanism are controlled to work simultaneously so as to enable the wheel body to realize oblique movement, and the combination of forward and backward movement and left and right movement is utilized so as to realize smooth movement of the wheel body in all directions on the ground.

The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the essence of the present invention are intended to be included within the scope of the present invention.

Claims

1. A power coming wheel which is characterized in that: the novel side-shifting 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 connected with a rotating shaft of the main motor (14) in a rotating mode 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-shifting wheels (10) are at least provided with two, are uniformly distributed by taking the rotating shaft of the wheel body as the center, and further comprise side-shifting driving mechanisms for simultaneously driving all the side-shifting wheels (10) to rotate in the same direction; a side-shifting wheel fixing frame (11) is arranged on the side-shifting wheel (10), and the side-shifting wheel fixing frame (11) is arranged on the first side-board fixing frame (12) so as to install the side-shifting wheel (10) on the first side-board fixing frame (12); the side-shifting driving mechanism comprises a side-shifting driving motor (141), a transmission assembly is connected between a rotating shaft of the side-shifting driving motor (141) and the side-shifting wheel (10), and the transmission assembly is arranged in the wheel body; the transmission assembly comprises a driving transmission module and a driven transmission module, wherein the driving transmission module synchronously rotates with a rotating shaft of the side-shifting driving motor (141), the driven transmission module is synchronously rotationally 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; the side-shifting driving motor (141) and the wheel body are coaxially arranged, the side-shifting wheel (10) comprises two symmetrically arranged small wheels (101), the two small wheels (101) are coaxially connected in a rotating mode, the driving transmission module comprises a first fluted disc (17), a first shaft gear is coaxially connected with a rotating shaft of the side-shifting driving motor (141) in a rotating mode, the driven transmission module comprises a second fluted disc (7), the second fluted disc (7) is coaxially connected with the small wheels (101) in a rotating mode, the reversing transmission module comprises a gear shaft (18), and the first fluted disc (17) and the second fluted disc (7) are in meshed transmission through the gear shaft (18) to achieve reversing.

2. The powered coming wheel of claim 1, wherein: the side-shifting 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 side-shifting driving motor (141) is arranged on the second side-plate fixing frame (121) and 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 rotationally connected with the whole wheel fixing frame (1), and the side-shifting driving motor (141) is rotationally connected with the whole wheel fixing frame (1).

3. The powered coming wheel of claim 2, further comprising: the side-shifting driving motor (141) is connected with a conductive slip ring (16), and the conductive slip ring fixing frame (15) is arranged on the whole-wheel fixing frame (1).

4. The powered coming wheel of claim 1, wherein: the first side plate fixing frame (12) is provided with a gear shaft fixing frame (19), the gear shaft (18) is rotationally 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).

5. The powered coming wheel of claim 1, wherein: the gear shaft (18) is further provided with a central fixing frame (6), the gear shaft (18) is rotationally connected with the central fixing frame (6), the central fixing frame (6) is provided with a bump and a clamping groove, the adjacent central fixing frames (6) are connected with the clamping groove through the bump, and a closed space taking the first fluted disc (17) as the center is enclosed.

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