CN1778589A - Movable robot-driven wheel with hidden electric motor - Google Patents
Movable robot-driven wheel with hidden electric motor Download PDFInfo
- Publication number
- CN1778589A CN1778589A CN 200410084290 CN200410084290A CN1778589A CN 1778589 A CN1778589 A CN 1778589A CN 200410084290 CN200410084290 CN 200410084290 CN 200410084290 A CN200410084290 A CN 200410084290A CN 1778589 A CN1778589 A CN 1778589A
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- China
- Prior art keywords
- wheel
- motor
- wheel hub
- quill shaft
- retarder
- 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.)
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- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Rolling Contact Bearings (AREA)
Abstract
A robot driven wheel with built-in motor features that motor and its speed reducer are installed in the hollow axle of wheel, and the wheel is supported by large-diameter sleeve-pipe axle for higher load bearing power, strength and rigidity of wheel.
Description
Technical field
Patent of the present invention relates to the intelligent mobile robot of education sector and scientific research field.
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 reducer shaft bigger again simultaneously, reduces the service life of retarder.Can only lean on when realizing with the stressed joint of reducer shaft when the axial location of wheel hub in addition, the intensity of connection is also lower, takes off wheel easily.
Summary of the invention
Patent of the present invention provides a kind of motor (retarder) built-in wheel mounting structure, and realization motor (retarder) part hides 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, the axial location with screw assurance wheel hub has guaranteed wheel bonded assembly intensity and reliability, is convenient to the easy mounting or dismounting between wheel and the wheel shaft simultaneously.
Patent of the present invention 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 end face.Two deep groove ball bearings 8 are installed on the quill shaft, and inner ring is by the positioning step and end cap 2 location, inner ring location of inner ring abutment sleeve 6, quill shaft.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.
Description of drawings
Fig. 1 is the built-in car wheel structure figure of motor.
The specific embodiment
1. the version of the built-in wheel of motor.It is characterized in that, with the quill shaft supporting wheel hub, and the part of motor and retarder is extend in the quill shaft, between quill shaft and the outer sleeve with roller bearings, wheel hub can slide on the outer sleeve, by the axial location of screw realization wheel, the torque of motor is delivered on the wheel hub by front end cover.
2. the quill shaft of built-in electric motor type plays the double action that motor is gone in axletree and Tibetan, realizes that under the prerequisite that guarantees the wheel installation strength minimizing motor and retarder take in the car body volume inside.
3. adopt the conical surface to be connected between slip boss and the bearing outside tube, can guarantee the accurate location of wheel hub, the load of wheel passes to axletree than by screw transmission safety and reliability by the conical surface simultaneously.
Claims (3)
1. the version of the built-in wheel of motor.It is characterized in that, with the quill shaft supporting wheel hub, and the part of motor and retarder is extend in the quill shaft, between quill shaft and the outer sleeve with roller bearings, wheel hub can slide on the outer sleeve, by the axial location of screw realization wheel, the torque of motor is delivered on the wheel hub by front end cover.
2. the quill shaft of built-in electric motor type plays the double action that motor is gone in axletree and Tibetan, realizes that under the prerequisite that guarantees the wheel installation strength minimizing motor and retarder take in the car body volume inside.
3. adopt the conical surface to be connected between slip boss and the bearing outside tube, can guarantee the accurate location of wheel hub, the load of wheel passes to axletree than by screw transmission safety and reliability by the conical surface simultaneously.
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 true CN1778589A (en) | 2006-05-31 |
| CN100406290C 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) |
Cited By (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 |
| 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 |
| 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 |
Family Cites Families (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 |
| DE4211028A1 (en) * | 1992-04-02 | 1993-10-07 | Linde Ag | Vehicle with a drive unit and cables connected to it |
| US5509497A (en) * | 1994-04-07 | 1996-04-23 | Fluidrive, Inc. | Steerable wheel drive assembly |
| US5906249A (en) * | 1995-12-22 | 1999-05-25 | Orion-yhtyma Oy | Drive system of a drive wheel |
| JPH10949A (en) * | 1996-06-18 | 1998-01-06 | Aqueous Res:Kk | Hybrid type vehicle |
| CN1127192C (en) * | 1998-07-22 | 2003-11-05 | 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
Cited By (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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100406290C (en) | 2008-07-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 |
|
| 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 |
|
| 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 |
|
| 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 |