CN215871134U - Wheel set mechanism - Google Patents

Abstract

The utility model provides a wheel set mechanism, which comprises an outer rotor hybrid stepping motor and a connecting device arranged on a motor rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and a main body electric body; the outer rotor hybrid stepping motor comprises a stator, an outer rotor assembly, a motor and a rotating shaft, wherein the outer rotor assembly is positioned on the periphery of the stator, the motor is sleeved on the rotating shaft and is installed in the stator, the outer rotor assembly comprises an outer rotor body, the outer rotor body and the stator are respectively provided with a plurality of convex teeth, a tooth groove is formed between every two adjacent convex teeth, and the convex teeth and the tooth groove are matched to control the rotor body to rotate in a limiting mode. The utility model has the beneficial effects that: the integrated brushless outer rotor hybrid stepping motor is adopted for driving, a gear box is not needed, the service life is longer than that of a product with the gear box, and the integrated brushless outer rotor hybrid stepping motor is easy to install and maintain due to the adoption of a modular design.

Description

Wheel set mechanism

Technical Field

The utility model belongs to the field of sweeping robots, and particularly relates to a wheel set mechanism for walking of a sweeping robot.

Background

At present, the sweeping robot tends to be lighter, thinner and brushless, and the size of parts is required to be miniaturized. However, most of the wheel set mechanisms of the existing sweeping robots reduce the speed to 80-150 rpm through a gear box to work, and the defects are as follows: the wheel set with the gear box has the advantages of large volume, short service life, complex production and high input cost.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects pointed out by the prior art, the utility model provides a wheel set mechanism which has the characteristics of long service life and small modularization and is realized by the following scheme.

A wheel set mechanism comprises an outer rotor hybrid stepping motor and a connecting device arranged on a motor rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and main body electricity; the outer rotor hybrid stepping motor comprises a stator, an outer rotor assembly, a motor and a rotating shaft, wherein the outer rotor assembly is positioned on the periphery of the stator, the motor is sleeved on the rotating shaft and is installed in the stator, the outer rotor assembly comprises an outer rotor body, the outer rotor body and the stator are respectively provided with a plurality of convex teeth, a tooth groove is formed between every two adjacent convex teeth, and the convex teeth and the tooth groove are matched to control the rotor body to rotate in a limiting mode.

Further, the outer rotor assembly further comprises a rotor shell, a rubber wheel and a rotor end cover.

Further, the outer rotor body includes first rotor and second rotor, first rotor and second rotor symmetry set up the both ends at axial magnetization permanent magnet circle, stator outer wall is hugged closely to axial magnetization permanent magnet circle for prevent that axial magnetization permanent magnet circle from shifting or the landing phenomenon appearing in the rotation process.

Furthermore, one side of the first rotor and one side of the second rotor, which are close to the stator, are tooth grooves, a plurality of convex teeth are uniformly arranged on the tooth grooves, the central line of the convex teeth of the tooth grooves of the first rotor is superposed with the central line of the concave grooves of the tooth grooves of the second rotor, and the upper tooth grooves and the lower tooth grooves are crossed.

Furthermore, the rotor shell is an uncovered circular cylinder, the inside of the rotor shell is a hollow cavity, the rotor end cover is fixed on the rotor shell by adopting a screw or a fastener, and the rotor shell is sealed to form an outer rotor hybrid motor rotating structure of the sealed cavity.

Furthermore, the outer rotor body and the rubber wheel are of concave-convex structures, and the rubber wheel is not easy to loosen after installation.

Furthermore, the connecting device comprises a connecting support, a mounting seat is arranged at the end part of the connecting support and used for placing an electrical connector, and the circuit board penetrates through the electrical connector and is embedded into a positioning groove of the connecting support and is connected with the outer rotor hybrid stepping motor through a motor connecting wire.

Furthermore, the connecting device is also provided with a vertical damping spring, and the vertical damping spring is installed on a lug at the bottom end of the mounting seat and used for playing a role in buffering through the vertical damping spring when the wheel set mechanism gets across obstacles.

The utility model has the beneficial effects that: compared with the existing wheel set, the size of the robot is smaller, the size of the whole robot is reduced, the service life of the robot is prolonged, and the robot is easy to install and maintain due to the adoption of a modular design.

Drawings

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

Fig. 2 is an exploded view of the wheel assembly mechanism in an embodiment of the present invention.

Fig. 3 is a schematic diagram of a partial explosion structure of an outer rotor hybrid stepping motor in the embodiment of the utility model.

Fig. 4 is a schematic view of the installation of the outer rotor structure in the embodiment of the utility model.

Fig. 5 is an exploded view of a connection device in an embodiment of the utility model.

Detailed Description

The present invention is further illustrated by the following examples, which are only a part of the examples of the present invention, and these examples are only for explaining the present invention and do not limit the scope of the present invention.

As shown in fig. 1 to 5, a wheel set mechanism includes an outer rotor hybrid stepping motor 10 and a connecting device 20 installed on a rotating shaft, where the outer rotor hybrid stepping motor 10 includes a stator 11, an outer rotor body 12, a rotor shell 13, a rubber wheel 14, a rotor end cover 15, a rotating shaft 16, and a motor 17.

The motor 17 is sleeved on the rotating shaft 16 and installed in the stator 11, and then the outer rotor body 12, the rotor shell 13, the rubber wheel 14 and the rotor end cover 15 are sequentially installed on the periphery of the stator 11.

Specifically, the rotating shaft 16 is a hollow rotating shaft, one end of the hollow rotating shaft is connected with the connecting device 20, a connecting wire or a flat cable in the connecting device 20 extends into the hollow rotating shaft 16 from the hollow cavity of the connecting device 20, and is connected with the motor 17 through a connecting hole, and the rotating shaft 16 is further provided with two ball bearings 18, wherein the two ball bearings 18 are respectively sleeved on two sides of the rotating shaft 16 and rotate around the rotating shaft 16.

A shock absorbing elastic sheet 161 is further disposed between the ball bearing 18 and the rotating shaft 16, so that when the ball bearing 18 is installed, the shock absorbing elastic sheet 161 is located on the inner side surface of the ball bearing 18 for reducing friction between the ball bearing 18 and the rotating shaft 16, and a spring washer 160 is also disposed between the ball bearing and the nut for reducing friction between the ball bearing 18 and the connecting device 20.

In the embodiment of the present invention, the rotor shell 13 is an uncovered circular cylinder, the inside of the rotor shell is a hollow cavity, the rotor end cover 15 is fixed on the rotor shell 13 by using a screw or a fastener, the rotor shell 13 is sealed, and an outer rotor hybrid motor rotating structure of the closed cavity is formed, so as to protect the hollow shaft and the ball bearing 18, and the rotor shell 13 is further provided with a waterproof gasket 130, where the waterproof gasket 130 is used for protecting the motor rotating structure, so as to prevent water from leaking and affecting the operation.

In the embodiment of the utility model, the outer rotor body 12 and the rubber wheel 14 adopt a concave-convex structure, and the rubber wheel 14 is not easy to loosen after being installed.

In the embodiment of the present invention, the outer rotor body 12 includes a first rotor 121 and a second rotor 122, the first rotor 121 and the second rotor 122 are symmetrically disposed at two ends of an axial magnetizing permanent magnet ring 123, the axial magnetizing permanent magnet ring 123 is tightly attached to an outer wall of the stator 11, so as to prevent the axial magnetizing permanent magnet ring 123 from shifting or slipping off during the rotation process, and meanwhile, the axial magnetizing permanent magnet ring 123 is used for enhancing the relative effect between the stator 11 and the outer rotor body 12.

In the embodiment of the present invention, one side of the first rotor 121 and the second rotor 122 close to the stator 11 is a tooth slot, the tooth slot is uniformly provided with a plurality of protruding teeth 124, a tooth slot is formed between two adjacent protruding teeth, the protruding teeth and the tooth slot are matched to control the rotor body to be limited when rotating, the center line of the protruding teeth of the tooth slot of the first rotor 121 coincides with the center line of the groove of the tooth slot of the second rotor 122, and the upper tooth slot and the lower tooth slot are crossed.

Specifically, because one side that first rotor 121 and second rotor 122 are close to stator 11 is the tooth's socket to evenly be equipped with a plurality of dogtooths 124 on the tooth's socket, thereby play the rotational speed that slows down the motor, saved the installation of gear box, prolonged the life of this wheelset structure, and because the more dense and essence of dogtooth design, its precision of further control, the rotational speed is direct by circuit board control simultaneously, need not additionally to increase the encoder and just can realize high accuracy control.

The connecting device 20 is connected to the rotating shaft 16 in the wheel assembly device by a nut 19, wherein the nut 19 is first put into the spring washer 160 and then screwed into place when being installed. Specifically, the connection device 20 is not integrated with the outer rotor hybrid stepping motor, so that the production can be performed in a three-dimensional manner or in a nested manner.

In the embodiment of the present invention, the connection device 20 includes a connection bracket 21, a mounting seat 22 is disposed at an end of the connection bracket 21 for placing an electrical connector 23, and a circuit board 24 is inserted into a positioning groove of the connection bracket 21 through the electrical connector 23 and connected with the outer rotor hybrid stepper motor through a motor connection line. Specifically, the connecting bracket 21 and the electrical connector 23 are separated and independent and are installed when in use, so that the wheel set is more conveniently replaced and the contact is more stable by adopting the electrical connector 23.

In the embodiment of the present invention, the connecting device 20 is further provided with a vertical damping spring 25, the vertical damping spring 25 is mounted on the projection 220 at the bottom end of the mounting seat 22, and is used for the wheel set mechanism to play a role of buffering through the vertical damping spring 25 when the wheel set mechanism is obstacle-crossing, and the damping effect is simple and good compared with the damping effect of a pull spring.

Specifically, the connecting device 20 is further provided with a cover plate 26, which is covered with the connecting bracket 21 through screws to form the closed and integrated connecting device 20.

In the embodiment of the utility model, the circuit board is used for driving the motor, directly drives and controls the motor, adopts serial port communication instruction control and feedback, and can simply and quickly set the working mode (motor running direction and motor running speed) of the motor and the feedback of various states of the motor.

In the embodiment of the present invention, the electrical connector 23 is a pin type electrical connector.

In the embodiment of the utility model, the connecting bracket is a single-side vertical bracket or a double-side vertical bracket and is used for quick plugging.

The wheel set mechanism adopts an integrated brushless outer rotor hybrid stepping motor driving mode, does not need a gear box, and has longer service life than a product with the gear box; simultaneously the rotational speed is direct by motor drive control panel control, need not additionally to increase the encoder and just can realize high accuracy control, can accomplish below 1.8 degrees to adopt invariable rotational speed control mode, can directly adjust output power, the operating voltage scope according to running state: the DC10-16.8V has a wide walking speed range of 10-500rpm, can be suitable for different working scene requirements, such as modes of drawing construction, cleaning, recharging and the like, and has the advantages of energy conservation and low enterprise maintenance cost.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims (8)

1. A wheel set mechanism is characterized by comprising an outer rotor hybrid stepping motor and a connecting device arranged on a motor rotating shaft, wherein the connecting device is used for quickly connecting a robot main body and a main body electric body; the outer rotor hybrid stepping motor comprises a stator, an outer rotor assembly, a motor and a rotating shaft, wherein the outer rotor assembly is positioned on the periphery of the stator, the motor is sleeved on the rotating shaft and is installed in the stator, the outer rotor assembly comprises an outer rotor body, the outer rotor body and the stator are respectively provided with a plurality of convex teeth, a tooth groove is formed between every two adjacent convex teeth, and the convex teeth and the tooth groove are matched to control the rotor body to rotate in a limiting mode.

2. The wheel set mechanism as recited in claim 1, wherein the outer rotor assembly further comprises a rotor housing, a rubber wheel and a rotor end cap.

3. The wheel set mechanism according to claim 1, wherein the outer rotor body comprises a first rotor and a second rotor, the first rotor and the second rotor are symmetrically disposed at two ends of the axially magnetized permanent magnet ring, and the axially magnetized permanent magnet ring is tightly attached to the outer wall of the stator for preventing the axially magnetized permanent magnet ring from shifting or slipping during rotation.

4. The wheelset mechanism as claimed in claim 3, wherein the first rotor and the second rotor have tooth spaces on their sides close to the stator, the tooth spaces are uniformly provided with a plurality of teeth, the center line of the tooth space teeth of the first rotor is coincident with the center line of the tooth space grooves of the second rotor, and the upper and lower tooth spaces are crossed.

5. The wheel set mechanism as claimed in claim 2, wherein the rotor housing is a circular cylinder without a cover and has a hollow cavity therein, and the rotor cover is fixed to the rotor housing by screws or fasteners to close the rotor housing, thereby forming a rotating structure of the outer rotor hybrid motor with a closed cavity.

6. The wheel set mechanism as claimed in claim 2, wherein the outer rotor body and the rubber wheel are of a concave-convex structure, and the rubber wheel is not easy to loosen after installation.

7. The wheel set mechanism as claimed in claim 1, wherein the connecting means comprises a connecting bracket, the end of the connecting bracket is provided with a mounting seat for placing an electrical connector, and the circuit board is inserted into a positioning groove of the connecting bracket through the electrical connector and connected with the outer rotor hybrid stepper motor through a motor connecting wire.

8. The wheel set mechanism as claimed in claim 7, wherein the connecting device further comprises a vertical damping spring mounted on the protrusion at the bottom end of the mounting seat for damping the wheel set mechanism when the wheel set mechanism is out of the way.

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