CN213072403U

CN213072403U - Motor driving wheel and mobile platform with same

Info

Publication number: CN213072403U
Application number: CN202022190277.9U
Authority: CN
Inventors: 叶梓龙; 韦琪
Original assignee: Guilin Zhishen Information Technology Co Ltd
Current assignee: Guilin Zhishen Information Technology Co Ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-04-27
Anticipated expiration: 2030-09-29

Abstract

The utility model relates to a motor drive wheel and have its moving platform. The motor drive wheel includes: the motor part comprises a motor base, a stator winding assembled on the periphery of the motor base and a rotor magnetic ring which is positioned outside the stator winding and can be driven by the stator winding to rotate. And a hub part rotatably assembled on an outer circumference of the motor base and having a rotor magnetic ring on an inner circumference thereof to be rotated by the rotor magnetic ring.

Description

Motor driving wheel and mobile platform with same

Technical Field

The utility model relates to a movable wheel technical field especially relates to motor drive wheel and have its moving platform.

Background

The motor drive wheel typically connects the movable wheel to the motor via a drive adapter structure to be driven to rotate by the motor. At least three parts of the movable wheel, the drive switching structure and the motor exist in the motor driving wheel, so that the formed integral size is larger. In addition, the motor driving wheel at least needs to combine the movable wheel with the driving switching structure and the driving switching structure with the motor, so that the requirements on the machining precision and the assembling precision of assembled parts are high.

Therefore, there is a need in the art for a motor driven wheel that is simple in construction and small in size.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a motor drive wheel that can solve above-mentioned partial technical problem at least.

The utility model also provides a use above-mentioned modified motor drive wheel's moving platform.

According to an aspect of the utility model, a motor drive wheel is provided, motor drive wheel includes: the motor part comprises a motor base, a stator winding assembled on the periphery of the motor base and a rotor magnetic ring which is positioned outside the stator winding and can be driven by the stator winding to rotate; a hub part rotatably assembled on an outer circumference of the motor mount and on an inner circumference of which the rotor magnetic ring is assembled to be rotated by the rotor magnetic ring.

Compared with the prior art, the utility model provides a wheel hub portion among the motor drive wheel directly installs on the rotor magnetic ring of motor, and need not to come wheel hub portion to be connected with motor portion via the drive switching structure among the prior art, has consequently greatly reduced motor drive wheel's overall dimension and has reduced the assembly degree of difficulty to motor drive wheel's in this embodiment integrated level has been improved. In addition, the hub part can be used as the shell of the motor part, so that external pollutants can be prevented from entering the motor when the normal work of the motor driving wheel is ensured.

Preferably, the hub portion is configured to include a hub body rotatably fitted on an outer periphery of the motor mount and on an inner periphery of which the rotor magnetic ring is fitted, and a driven roller rotatably fitted on an outer periphery of the hub body at an interval, an axial direction of the hub body being at an angle to an axial direction of the driven roller.

Preferably, the motor mount includes a hollow motor shaft extending axially to the hub portion and having an outer periphery connected with the hub portion via a first bearing, and the hub portion includes a hub shaft extending axially into an inside of the motor shaft and having an outer periphery connected with the motor shaft via a second bearing.

Preferably, an end of the hub shaft extending into the motor shaft is provided with an induction magnet capable of following the rotation of the hub shaft.

Preferably, a side of the motor base facing away from the hub axle is equipped with a control portion opposite to the induction magnet.

Preferably, a magnetic sheet is provided on a region of the control part opposite to the induction magnet.

Preferably, the hub body is provided at intervals on an outer periphery thereof with fitting teeth for fitting the driven roller.

Preferably, the connection between the rotor magnet ring and the hub portion is designed as gluing.

According to another aspect of the present invention, there is also provided a mobile platform, comprising at least one of the above-mentioned motor driving wheels.

Preferably, the mobile platform comprises three motor-driven wheels arranged in a triangle.

Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will become apparent to those having ordinary skill in the art upon examination of the following, or may be learned from the practice of the invention.

Drawings

Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein:

fig. 1 is an exploded schematic view of a motor drive wheel according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of a motor drive wheel according to an embodiment of the present invention;

fig. 3 is a schematic view of a mobile platform to which a motor driven wheel is applied according to an embodiment of the present invention.

List of reference numerals:

1-motor driving wheel; 11-a motor section; 111-a motor base; 112-stator windings; 113-a rotor magnetic ring; 114-motor shaft; 12-a hub portion; 121-hub body, 1211-outer hub; 1212-an intermediate hub; 1213-inner hub; 122-a driven roller; 123-a hub axle; 16-a first bearing; 17-a second bearing; 13-an induction magnet; 14-a control section; 18-a coupling nut; 2-moving the platform.

Detailed Description

Referring now to the drawings, exemplary embodiments of the disclosed motor drive wheel and the mobile platform to which it is applied will be described in detail. Although the drawings are provided to present some embodiments of the invention, the drawings are not necessarily to scale of particular embodiments, and certain features may be exaggerated, removed, or partially sectioned to better illustrate and explain the disclosure of the present invention. The position of some components in the drawings can be adjusted according to actual requirements on the premise of not influencing the technical effect. The appearances of the phrase "in the drawings" or similar language in the specification are not necessarily referring to all drawings or examples.

Certain directional terms used hereinafter to describe the drawings, such as "inner", "outer", "above", "below", and other directional terms, will be understood to have their normal meaning and refer to those directions as they normally relate to when viewing the drawings. Unless otherwise indicated, the directional terms described herein are generally in accordance with conventional directions as understood by those skilled in the art.

As used herein, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

Referring to fig. 1 and 2, the motor driving wheel 1 of the present invention may include a motor portion 11 and a wheel hub portion 12, the motor portion 11 and the wheel hub portion 12 are part of the structure of the motor driving wheel 1, the motor portion 11 may directly drive the wheel hub portion 12 to rotate when connecting a power supply, and the wheel hub portion 12 does not need to be indirectly driven to rotate via a driving transfer structure, so that the size of the motor driving wheel 1 may be reduced and the integration thereof may be increased.

Specifically, the motor part 11 may include a motor base 111, a stator winding 112 fitted on an outer circumference of the motor base 111, and a rotor magnetic ring 113 located outside the stator winding 112 and capable of rotating relative to the stator winding 112 under an induced magnetic field of the stator winding 112. The hub portion 12 is rotatably mounted on the outer circumference of the motor base 111 and the rotor magnet ring 113 is mounted on the inner circumference thereof to be rotated by the rotor magnet ring 113. In the case of the prior art motor, it usually includes at least a motor base 111, a stator winding 112, a rotor magnetic ring 113, and a casing covering the stator winding 112 and the rotor magnetic ring 113, and a driving adapter structure such as an output shaft is required between the casing of the motor and the movable wheel in the prior art. And in the utility model discloses in, wheel hub portion 12 is through directly installing on rotor magnetic ring 113, can act as the shell of motor when being directly driven by rotor magnetic ring 113, can see that this arranges that the shell that can omit at least among the current motor and the drive switching structure between connection motor and wheel hub portion 12 to the complicated cooperation between wheel hub portion 12 and the drive switching structure and between drive switching structure and the rotor magnetic ring 113 has been simplified. Alternatively, the connection between the rotor magnetic ring 113 and the hub portion 12 may be designed as gluing to reduce the difficulty of assembly.

Alternatively, the hub portion 12 may include a hub body 121 rotatably fitted on the outer periphery of the motor mount 111 and fitted with the rotor magnet ring 113 on the inner periphery, and a driven roller 122 rotatably coupled on the outer periphery of the hub body 121 at an interval, the axial direction of the hub body 121 being at an angle to the axial direction of the driven roller 122 so that the motor drive wheel 1 can rotate about the axis of the hub body 121 and the axis of the driven roller 122. Here, at least three driven rollers 122 are uniformly distributed on the outer periphery of the hub body 121, so that the hub portion 12 may be an omni wheel, and the axial directions of the driven rollers 122 may be perpendicular to the axial direction of the hub body 121, as shown in fig. 1. Alternatively, the hub portion 12 may be a mecanum wheel, and the axial direction of the driven roller 122 may be at an angle smaller than 90 degrees with respect to the axial direction of the hub body 121. Further, the driven roller 122 fitted on the outer periphery of the hub body 121 may be designed as a single row or a double row along the axis of the hub body 121 as necessary. Alternatively, fitting teeth for fitting the driven roller 122 are provided at intervals on the outer periphery of the hub body 121.

As shown in fig. 1 and 2, the hub body 121 may be configured to include an outer hub 1211, an intermediate hub 1212, and an inner hub 1213, the outer hub 1211 and the intermediate hub 1212 may be coupled together via a fastener such as a screw, the intermediate hub 1212 and the inner hub 1213 may also be coupled together via a fastener such as a screw, such that the outer hub 1211 and the intermediate hub 1212 cooperate to form outer-layer fitting teeth uniformly spaced along a circumferential direction of the outer hub 1211 and the inner hub 1213 cooperate to form inner-layer fitting teeth uniformly spaced along a circumferential direction of the inner hub, the adjacent outer-layer fitting teeth may be rotatably coupled to the outer-layer driven rollers via an axle, the adjacent inner-layer fitting teeth may also be rotatably coupled to the inner-layer driven rollers via an axle, and the outer-layer driven rollers and the inner-layer driven rollers may be.

Alternatively, the motor mount 111 may include a hollow motor shaft 114 extending axially to the hub portion 12 and having its outer periphery connected with the hub portion 12 via the first bearing 16, and the hub portion 12 includes a hub shaft 123 extending axially into the interior of the motor shaft 114 and having its outer periphery connected with the motor shaft 114 via the second bearing 17 to improve rotational stability of the hub portion 12 with respect to the motor mount 111. It is understood that the inner periphery of the motor shaft 114 is spaced from the outer periphery of the hub shaft 123.

Alternatively, the end of the hub axle 123 extending into the motor shaft 114 is threaded with the coupling nut 18, and the end side of the coupling nut 18 facing away from the hub axle 123 is fitted with the induction magnet 13, so that the induction magnet 13 also rotates with the hub axle 123 while the coupling nut 18 rotates with the hub axle 123. Alternatively, a control portion 14 corresponding to the induction magnet 13 is assembled on a side of the motor base 111 away from the hub axle 123, the control portion 14 cooperates with the motor base 111 to form a space for accommodating the induction magnet 13, and a magnetic sheet may be disposed on a region of the control portion 14 corresponding to the induction magnet 13, so that when the hub axle 123 rotates, a relative angular relationship between the rotating induction magnet 13 and the stationary magnetic sheet can be detected according to a magnetic field relationship therebetween, and thus a rotation condition of the hub portion 12 can be determined and the motor portion 11 can be controlled by the control portion 14.

For example, as shown in fig. 3, the motor driving wheel 1 of the present invention may be applied to a mobile platform 2 of a mobile robot. The motor driving wheels 1 may be omni-directional wheels, the number of which may be designed to be three and the mounting seats may be triangularly arranged to the mobile platform 2, so that the movement of the mobile robot in any direction may be achieved by individually controlling the motor parts 11 of the respective motor driving wheels 1. Or, the utility model provides a motor drive wheel 1 can be applied to moving platform 2 like fork truck, and motor drive wheel 1 can be mecanum wheel, and its quantity can be designed four and can be the rectangle and arrange installation to moving platform 2 to fork truck can realize the removal of arbitrary direction.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above description is only illustrative of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations that may be made by those skilled in the art without departing from the spirit and principles of the invention are to be considered within the scope of the invention.

Claims

1. A motor drive wheel (1), characterized in that the motor drive wheel (1) comprises:

the motor part (11) comprises a motor base (111), a stator winding (112) assembled on the outer periphery of the motor base (111) and a rotor magnetic ring (113) which is positioned outside the stator winding (112) and can be driven by the stator winding (112) to rotate;

and a hub part (12) rotatably mounted on an outer circumference of the motor base (111) and having the rotor magnetic ring (113) mounted on an inner circumference thereof to be rotated by the rotor magnetic ring (113).

2. The motor drive wheel (1) according to claim 1, wherein the hub portion (12) is configured to include a hub body (121) rotatably fitted on an outer periphery of the motor base (111) and on an inner periphery thereof fitted with the rotor magnet ring (113), and a driven roller (122) rotatably fitted on an outer periphery of the hub body (121) at an interval, an axial direction of the hub body (121) being at an angle to an axial direction of the driven roller (122).

3. Motor drive wheel (1) according to claim 1, characterized in that the motor base (111) comprises a hollow motor shaft (114) extending axially to the hub part (12) and having its outer circumference connected with the hub part (12) via a first bearing (16), and that the hub part (12) comprises a hub shaft (123) extending axially into the interior of the motor shaft (114) and having its outer circumference connected with the motor shaft (114) via a second bearing (17).

4. Motor drive wheel (1) according to claim 3, characterized in that the end of the hub axle (123) extending into the motor axle (114) is fitted with an induction magnet (13) that can follow the rotation of the hub axle (123).

5. Motor drive wheel (1) according to claim 4, characterized in that the side of the motor seat (111) facing away from the hub axle (123) is equipped with a control portion (14) in relation to the induction magnet (13).

6. Motor drive wheel (1) according to claim 5, characterized in that a magnetic sheet is provided on the area of the control part (14) opposite to the induction magnet (13).

7. Motor driven wheel (1) according to claim 2 characterized in that said hub body (121) is provided on its periphery at intervals with fitting teeth for fitting said driven roller (122).

8. The motor drive wheel (1) according to claim 1, characterised in that the connection between the rotor magnet ring (113) and the hub portion (12) is designed as a glue.

9. Mobile platform (2), characterized in that it comprises at least one motor-driven wheel (1) according to any one of claims 1 to 8.

10. The mobile platform (2) according to claim 9, characterized in that the mobile platform (2) comprises three of said motor-driven wheels (1) in a triangular arrangement.