CN215245186U

CN215245186U - Wheel set mechanism

Info

Publication number: CN215245186U
Application number: CN202120152638.2U
Authority: CN
Inventors: 赵小祥; 段玉军; 万云松; 胡永生
Original assignee: Shenzhen Keyhole Technology Co ltd
Current assignee: Shenzhen Keyhole Technology Co ltd
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-12-21
Anticipated expiration: 2031-01-20

Abstract

The utility model provides a wheel set mechanism, which comprises a wheel set device and a connecting device arranged on a rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and a main body electric body; the wheel set device includes: the motor comprises a hub motor, a rotor, a circuit board and a rotating shaft, wherein the rotor is arranged on the rotating shaft, the hub motor is arranged in the rotor, and the circuit board is arranged on the inner side surface of the rotor. The beneficial effects of the utility model reside in that: compared with the existing wheel set, the size of the robot is smaller, and the size of the whole robot is reduced. The modularized design is easier to install and maintain.

Description

Wheel set mechanism

Technical Field

The utility model belongs to the robot field of sweeping the floor especially relates to a wheelset mechanism.

Background

The existing sweeping robot wheel set is relatively large in size and specification, a brush motor or a brushless motor is adopted, and the speed is reduced to 80-150 revolutions through a gear box for working. The defects are as follows: the gearbox has a relatively short life and loud noise. Structurally, adopt the tension spring shock attenuation, draw the wheelset to the fixed shell through tension spring's flexible vibrations that reduce the wheelset operation, drive and wheel are relatively independent for whole volume is too big. A brush motor wheel set is adopted on the structure of rotating speed feedback, two modes are usually adopted, one mode adopts optical coding, and the other mode adopts an HALL unit and magnetic ring mode. No matter which mode is adopted, the mode that wheel hub and motor are separated makes whole volume too big, and the dismouting is very loaded down with trivial details moreover. In addition, the wheel set shell needs to be locked on the sweeping machine shell firstly, so that the wheel set shell is inconvenient to disassemble and assemble.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects pointed out by the prior art, the sweeper tends to be lighter and thinner and brushless at present, and the size of parts is required to be miniaturized more and more. The utility model provides a wheelset mechanism has miniaturized, modular characteristics, is realized through following scheme.

A wheel set mechanism comprises a wheel set device and a connecting device arranged on a rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and a main body electric connector; the wheel set device comprises an in-wheel motor, a circuit board and a rotating shaft, wherein the in-wheel motor is installed on the rotating shaft, and the circuit board is arranged on the side face of a rotor of the in-wheel motor.

Furthermore, the connecting device comprises a hollow connecting support, the end part of the connecting support is provided with a mounting seat of the connector, the mounting seat is provided with an electrical connector, and a terminal of the electrical connector extends into the wheel set device from the hollow part of the connecting support through a connecting wire or a flat cable and is connected with the circuit board.

Furthermore, the connecting support is internally provided with a damping spring, and the damping spring is arranged on a lug at the bottom end of the mounting seat, so that the wheel set mechanism can cross obstacles under the buffering action of the damping spring.

Furthermore, the rotating shaft is a hollow rotating shaft, one end of the hollow rotating shaft is connected with the connecting device, and a connecting wire or a flat cable in the connecting device extends into the wheel set device from the hollow cavity of the connecting device to be connected with the circuit board.

Further, the wheelset device is still including setting up the rubber tyer on the rotor, rotor and rubber tyer all adopt concave-convex structure, and the difficult pine of rubber tyer takes off after the installation.

Further, the rotating shaft is connected with the ball bearing and fixed through the clamp spring, and the ball bearing rotates around the rotating shaft.

Furthermore, a damping elastic sheet is arranged between the ball bearing and the rotating shaft and used for reducing friction between the side face of the ball bearing and the rotating shaft.

Further, the rotor includes rotor shell and back lid, and the rotor shell is uncovered ring cylinder, and the interior cavity that is, back lid setting on the rotor shell seals the rotor shell, forms closed cavity, installation hoop in the cavity in the rotor, installation multipole magnet in the hoop, the setting of rotor shell inner wall is hugged closely to the hoop, and the hoop inner wall is hugged closely to magnet, and the hoop effect is the intensity of strengthening the rotor.

Furthermore, a shaft cover is further arranged on the rotor shell and is buckled on the rotor shell to protect the hollow shaft and the ball bearing.

Furthermore, the hub motor comprises a hub and a multi-pair-pole iron core, and the hub motor is sleeved on the rotating shaft.

The beneficial effects of the utility model reside in that: compared with the existing wheel set, the size of the robot is smaller, and the size of the whole robot is reduced. The modularized design is easier to install, maintain and save energy.

Drawings

Fig. 1 is a schematic structural diagram of a wheel set mechanism in an embodiment of the present invention.

Fig. 2 is a schematic side view of the wheel set mechanism according to the embodiment of the present invention.

Fig. 3 is a schematic longitudinal sectional structure of fig. 2.

Fig. 4 is an exploded view of the wheel set assembly according to the embodiment of the present invention.

Fig. 5 is the explosion structure diagram of the hub motor in the embodiment of the present invention.

Fig. 6 is an exploded view of the connecting device according to the embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the following examples, which are only part of the present invention, and these examples are only used to explain the present invention, and do not constitute any limitation to the scope of the present invention.

As shown in fig. 1-2, a wheel set mechanism includes a wheel set device 10 and a connecting device 20 installed on a rotating shaft, the wheel set device 10 includes an in-wheel motor 11, a circuit board 12 and a rotating shaft 15, the in-wheel motor 11 is installed on the rotating shaft, and the circuit board is disposed on an inner side surface of a rotor 14 of the in-wheel motor 11. The wheel set device 10 is used for driving; the connecting device 20 can connect the robot body and the body electric quickly.

As shown in fig. 3 to 6, the connecting device 20 is connected to the rotating shaft 15 of the wheel assembly device through a nut 26, wherein the nut 26 is installed by first placing a washer 152 and then screwing and fixing.

The connecting device 20 includes a hollow connecting bracket 21, the connecting bracket is formed by assembling a bracket body and a cover 22 through screws, a mounting seat 23 of the connector is arranged at the end part of the connecting bracket 21, and a terminal of an electrical connector 24 arranged on the mounting seat extends into the wheel set device 10 from the hollow part of the connecting bracket through a connecting wire or a flat cable and is connected with the circuit board 12.

In the embodiment of the present invention, the electrical connector 24 is a pin type electrical connector.

The connecting support also comprises a damping spring 25 which is arranged on a lug 231 at the bottom end of the mounting seat 23, so that the wheel set mechanism can achieve the buffering effect of the damping spring when crossing obstacles.

The rotating shaft 15 is a hollow rotating shaft, one end of the hollow rotating shaft is connected with the connecting device 20, and a connecting wire or a flat cable in the connecting device extends into the hollow rotating shaft from the hollow cavity of the connecting device and is connected with the circuit board 12 through a connecting hole.

The circuit board 12 is connected with the hub motor in a serial port connection mode.

The circuit board 12 is used for driving the motor, directly controlling the driving of the motor, and adopting serial communication command control and feedback, the working mode (motor running direction and motor running speed) of the motor and various state feedback of the motor can be simply and quickly set.

The wheel set device comprises a rubber wheel 13, the rubber wheel is annular rubber and is arranged on a rotor 14 of the hub motor, the rotor and the rubber wheel 13 are of concave-convex structures, and the rubber wheel is not easy to loosen after installation.

The rotating shaft 15 is connected with the ball bearing 19, the ball bearing 19 is sleeved on the rotating shaft 15 and fixed through the clamp spring 151, and the ball bearing rotates around the rotating shaft.

The in-wheel motor 11 includes a rotor 14, a hub magnet, and a multi-pole core 112. The hub motor is sleeved on the rotating shaft and is arranged in the rotor 14.

The rotor 14 includes a rotor case 141 and a rear cover 142, the rotor case 141 is an uncovered circular cylinder with a hollow cavity inside, and the rear cover 142 is disposed on the rotor case to close the rotor case to form a closed cavity.

In the embodiment of the present invention, the rotor case 141 and the rear cover 142 may be made of high-strength engineering plastic or alloy material.

The iron rings 18 are sequentially arranged in the cavity in the rotor 14, the multipole magnets are arranged in the iron rings, the iron rings are arranged in a manner of clinging to the inner wall of the rotor shell, and the iron rings are used for enhancing the strength of the rotor. Set up wheel hub in the hoop, set up the multipolar pair of motor on the wheel hub, the wheel hub side is annular circuit board.

In the embodiment of the present invention, the rotor further includes a shaft cover 17 fastened to the rotor case 141 for protecting the hollow shaft and the ball bearing.

The embodiment of the utility model provides an in, still be provided with shock attenuation shell fragment 16 between ball bearing and the pivot, when making ball bearing 19 install, shell fragment 16 is located ball bearing 19's side for reduce the friction between ball bearing side and pivot 15.

The utility model discloses a wheelset mechanism adopts direct brushless drive, can be directly according to running state adjustment output, the operating voltage scope: DC8-16.8V, wide walking speed range of 0-300rpm, more energy saving, longer service life and lower enterprise maintenance cost.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent changes without departing from the technical scope of the present invention.

Claims

1. A wheel set mechanism is characterized by comprising a wheel set device and a connecting device arranged on a rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and a main body electric connector; the wheel set device comprises an in-wheel motor, a circuit board and a rotating shaft, wherein the in-wheel motor is installed on the rotating shaft, and the circuit board is arranged on the inner side face of a rotor of the in-wheel motor.

2. The wheelset mechanism as claimed in claim 1, wherein the connecting means comprises a hollow connecting bracket, the end of the connecting bracket is provided with a mounting seat for the connector, the mounting seat is provided with the connector, and the terminal of the connector extends into the wheelset device from the hollow portion of the connecting bracket through a connecting wire or a flat cable to be connected with the circuit board.

3. The wheel set mechanism as claimed in claim 2, further comprising a damping spring mounted on the protrusion at the bottom end of the mounting seat, so that the wheel set mechanism is buffered by the damping spring when the wheel set mechanism is out of the way.

4. The wheel set mechanism as claimed in claim 1, wherein the axle is a hollow axle, one end of the hollow axle is connected to the connecting device, and the connecting wire or cable in the connecting device extends from the hollow cavity of the connecting device into the wheel set device to connect with the circuit board.

5. The wheel assembly mechanism as claimed in claim 1, wherein the wheel assembly device further comprises a rubber wheel disposed on the rotor, the rotor and the rubber wheel both adopt a concave-convex structure, and the rubber wheel is not easy to get loose after being mounted.

6. The wheelset mechanism as defined in claim 1 wherein the axle is connected to a ball bearing, secured by a snap spring, the ball bearing rotating about the axle.

7. The wheel assembly mechanism as claimed in claim 6, wherein a shock absorbing spring is further disposed between the ball bearing and the shaft for reducing friction between the side of the ball bearing and the shaft.

8. The wheel assembly mechanism as claimed in claim 1, wherein the rotor includes a rotor housing and a rear cover, the rotor housing is a circular cylinder without a cover, the inner portion is a hollow cavity, the rear cover is disposed on the rotor housing to close the rotor housing to form a closed cavity, an iron ring is mounted in the cavity in the rotor, the iron ring is disposed against an inner wall of the rotor housing, the multi-pole magnet is disposed against an inner wall of the iron ring, and the iron ring functions to make the inner magnet form a squirrel cage effect and strengthen the strength of the rotor.

9. The wheelset mechanism as defined in claim 8 wherein the rotor housing is further provided with a shaft cover that snaps over the rotor housing for protecting the hollow shaft and the ball bearing.

10. The wheel set mechanism as claimed in claim 1, wherein the in-wheel motor includes a wheel hub and a multi-pole iron core, and the in-wheel motor is sleeved on the rotating shaft.