CN216231657U - Integrated driving wheel and vehicle - Google Patents
Integrated driving wheel and vehicle Download PDFInfo
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- CN216231657U CN216231657U CN202123028262.3U CN202123028262U CN216231657U CN 216231657 U CN216231657 U CN 216231657U CN 202123028262 U CN202123028262 U CN 202123028262U CN 216231657 U CN216231657 U CN 216231657U
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- rotating shaft
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- shaft
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Abstract
The application provides an integral type drive wheel and vehicle, this integral type drive wheel includes: the driving motor comprises a stator and a rotor, wherein the stator is used for driving the rotor to rotate around a first direction; the rotor comprises a first rotating shaft; the speed reducing structure is provided with an input shaft, the input shaft comprises a second rotating shaft, and the first rotating shaft and the second rotating shaft are of an integrally formed structure; and the wheels are in transmission connection with the speed reducing structure and are used for rotating around the first direction under the driving of the speed reducing structure. Because first pivot and second pivot are integrated into one piece structure, can reduce overall structure's volume and weight. Therefore, the vehicle using the integrated driving wheel has the characteristics of large internal space and light weight.
Description
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to an integrated driving wheel and a vehicle.
Background
At present, the AGV wheel usually comprises a speed reducing structure, a wheel and a motor, wherein the wheel and the motor are in transmission connection through the speed reducing structure, and the speed reducing structure is utilized to reduce the rotating speed and improve the torque. In the related art, a planetary reducer is generally adopted as a speed reduction structure, and due to the defects of large volume, heavy weight and the like of the planetary reducer, the requirements of vehicles on the inner space are higher and higher, and the requirements are difficult to meet today.
Disclosure of Invention
An object of the embodiment of this application is to provide an integral type drive wheel and vehicle to solve the big, the big technical problem of weight that exist of the reduction gears that AGV wheel that exists among the prior art exists.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
provided is an integrated drive wheel including: the driving motor comprises a stator and a rotor, wherein the stator is used for driving the rotor to rotate around a first direction; the rotor comprises a first rotating shaft; the speed reducing structure is provided with an input shaft, the input shaft comprises a second rotating shaft, and the first rotating shaft and the second rotating shaft are of an integrally formed structure; and the wheels are in transmission connection with the speed reducing structure and are used for rotating around the first direction under the driving of the speed reducing structure.
In one embodiment, further comprising: the outer ring of the first bearing is fixedly connected to the stator, and the inner ring of the first bearing is fixedly connected to the first rotating shaft.
In one embodiment, the speed reducing structure is a harmonic speed reducing structure, the harmonic speed reducing structure comprises a steel wheel, a flexible wheel and a harmonic generator, the steel wheel is sleeved and meshed with the flexible wheel, and the flexible wheel is sleeved and rotationally connected to the harmonic generator; the input shaft is positioned in the harmonic generator, and the wheel is in transmission connection with the flexible gear.
In one embodiment, the second rotating shaft forms an opening, the opening of the opening is located at one end of the second rotating shaft, which is far away from the first rotating shaft, the flexible wheel is provided with a third rotating shaft, and the third rotating shaft is partially located in the opening.
In one embodiment, further comprising: and the outer ring of the second bearing is fixedly connected to the second rotating shaft, and the inner ring of the second bearing is fixedly connected to the third rotating shaft.
In one embodiment, further comprising: and the outer ring of the third bearing is fixedly connected to the steel wheel, and the inner ring of the third bearing is fixedly connected to the third bearing.
In one embodiment, the driving motor further includes: the drive plate is electrically connected with the stator and is used for controlling the rotor to rotate.
In one embodiment, the driving motor further includes: and the encoder is connected with the stator and the rotor and is used for acquiring the rotation angle information of the rotor.
The wheel includes: the wheel body is sleeved on the wheel hub, and the wheel body and the wheel hub are glued and fixed.
A vehicle is also provided, comprising the integrated driving wheel.
The application provides an integral type drive wheel and vehicle's beneficial effect lies in: this integral type drive wheel includes: the device comprises a driving motor, a speed reducing structure and wheels; the driving motor comprises a stator and a rotor, wherein the stator is used for driving the rotor to rotate around a first direction; the rotor comprises a first rotating shaft; the speed reducing structure is provided with an input shaft, the input shaft comprises a second rotating shaft, and the first rotating shaft and the second rotating shaft are of an integrally formed structure; the wheel transmission is connected to the speed reduction structure, and the wheel is used for rotating around the first direction under the drive of speed reduction structure. This integral type drive wheel utilizes the transmission of reduction structure to connect driving motor and wheel, because first pivot and second pivot are integrated into one piece structure, can reduce overall structure's volume and weight. Therefore, the vehicle using the integrated driving wheel has the characteristics of large internal space and light weight.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an integrated driving wheel provided in an embodiment of the present application;
fig. 2 is a cross-sectional view of an integrated driving wheel provided in an embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
100. an integral drive wheel; 110. a drive motor; 111. a stator; 112. a rotor; 113. an electromagnet; 114. a housing; 115. a first rotating shaft; 116. a magnet; 120. a deceleration structure; 121. a steel wheel; 122. a flexible gear; 123. a harmonic generator; 124. a second rotating shaft; 125. a third rotating shaft; 130. a wheel; 131. a hub; 132. a wheel body; 140. a first bearing; 150. a second bearing; 160. and a third bearing.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The integrated driving wheel and the vehicle provided by the embodiment of the application are explained.
Referring to fig. 1 and 2, the present application provides an integrated driving wheel 100 including: drive motor 110, speed reduction structure, and wheels 130.
This integral type drive wheel includes: drive motor 110, speed reduction structure, and wheels 130; the driving motor 110 includes a stator 111 and a rotor 112. The speed reducing structure is provided with an input shaft, and the input shaft and the rotating shaft of the rotor 112 are of an integrally formed structure; the wheel 130 is drivingly connected to the speed reducing structure, and the wheel 130 is configured to rotate around the first direction under the driving of the speed reducing structure. The integrated driving wheel is in transmission connection with the driving motor 110 and the wheel 130 by using the speed reducing structure 1, and the volume and the weight of the whole structure can be reduced because the input shaft and the rotor 112 are in an integrated structure. Therefore, the vehicle using the integrated driving wheel has the characteristics of large internal space and light weight. So set up, can make driving motor 110 and reduction structure integrate, improve holistic integrated level to reduce holistic complexity, this reduction structure can be planetary gear reduction structure, also can be harmonic reduction structure 120. Of course, the speed reducing structure is also provided with an output shaft, and the output shaft is used for being in transmission connection with an external structure so as to drive the external structure to rotate.
Further, the stator 111 is used for driving the rotor 112 to rotate around a first direction, which may be a horizontal direction. Stator 111 can include casing 114, iron core and coil, and casing 114 forms and holds the chamber, and the coil is around locating on the iron core to form electro-magnet 113, coil and iron core all set up to a plurality ofly, coil and iron core one-to-one, and coil and iron core are fixed to be laminated in casing 114's internal surface, and coil and iron core enclose to close and form the electromagnetism space. The rotor 112 includes a rotating shaft and a first magnet 116, the first magnet 116 is fixedly mounted on the rotating shaft, an axis of the rotating shaft is along a first direction, the plurality of magnets 116 are arranged, and the plurality of magnets 116 are arranged around the rotating shaft in the first direction. When the coil is electrified, the rotor 112 can be pushed to rotate by electromagnetic force; the rotating shaft is an integrated input shaft.
Specifically, the input shaft may be described as a two-stage but structurally integrated shaft structure, wherein one stage (e.g., the stage located on the right side in fig. 2) is the first rotating shaft 115, and the other stage (e.g., the stage located on the left side in fig. 2) is the second rotating shaft 124. The first rotating shaft 115 is a rotating shaft of the rotor 112, the first rotating shaft 115 and the first magnet 116 together form the rotor, and the second rotating shaft 124 is a rotating shaft of the speed reducing structure for receiving an output of the driving motor 110. The first rotating shaft 115 and the second rotating shaft 124 are integrally formed, that is, the driving motor 110 and the speed reducing structure share the same shaft, which is the input shaft in this embodiment, so as to reduce the structural complexity. In other embodiments, the first rotating shaft 115 and the second rotating shaft 124 may be separate structures, and only need to be in transmission connection.
The wheel 130 is in transmission connection with the speed reducing structure, specifically, the wheel is in transmission connection with an output shaft of the speed reducing structure, and the wheel is used for rotating around the first direction under the driving of the speed reducing structure. In the case where the first direction is a horizontal direction, the wheels 130 may travel on a horizontal plane.
In some embodiments of the present application, the integrated drive wheel 100 may further include: a first bearing 140.
The outer ring of the first bearing 140 is fixedly connected to the stator 111 and the inner ring of the first bearing 140 is fixedly connected to the first rotation shaft 115. The first bearing 140 can keep the relative position of the rotating shafts of the stator 111 and the rotor 112 fixed, and keep the rotating shaft of the rotor 112 along the first direction, and a certain gap is formed between the stator 111 and the rotor 112, so that the friction force generated by the rotation between the stator 111 and the rotor 112 can be reduced, and the energy utilization efficiency of the driving motor 110 can be improved.
In the embodiment of the present application, the speed reducing structure is a harmonic speed reducing structure 120, and the harmonic speed reducing structure 120 includes a steel wheel 121, a flexspline 122, and a harmonic generator 123. The steel wheel 121 is sleeved and meshed with the flexible wheel 122. Specifically, the outer surface of the flexspline 122 forms an outer gear, the inner surface of the steel spline 121 forms an inner gear, and the outer gear and the inner gear are only partially meshed. The flexible gear 122 is sleeved and rotatably connected to the harmonic generator 123, and the harmonic generator 123 is used for rotating relative to the flexible gear 122 to change the shape of the flexible gear 122, so that different positions on the flexible gear 122 are engaged with the steel gear 121. The harmonic generator 123 is fixedly connected to the rotor 112, and the harmonic generator 123 is configured to rotate around a first direction under the driving of the rotor 112. In particular, the harmonics generator 123 may include a second shaft 124.
The wheel 130 is drivingly connected to the flexible gear 122, and the wheel 130 is configured to rotate around the first direction under the driving of the flexible gear 122. In the working process, the motor is electrified to enable the stator 111 of the motor to generate an electromagnetic field, the rotor 112 in the electromagnetic field is acted by the electromagnetic force to rotate around the first direction, the rotor 112 drives the harmonic generator 123 to rotate around the first direction, the harmonic generator 123 enables the flexible gear 122 to generate deformation in the rotating process, under the action of the steel wheel 121, each time the harmonic generator 123 rotates around the first direction for one circle, the flexible gear 122 rotates around the first direction for one tooth angle, and the wheel 130 is in transmission connection with the flexible gear 122 to reduce the rotating speed of the wheel 130 and improve the rotating torque of the wheel 130.
In some embodiments of the present application, the second shaft 124 has an opening formed therein, and the opening of the opening is located at an end of the second shaft 124 facing away from the first shaft 115. Specifically, the opening may be a through hole or a blind hole. In order to ensure the structural strength of the first rotating shaft 115, in this embodiment, the opening is a blind hole. The flexible gear 122 has a third rotating shaft 125, the rotating shaft of the third rotating shaft 125 is along the first direction, and the third rotating shaft 125 is partially located in the opening. Due to the flexible property of the flexible gear 122, the rotation axis of the flexible gear may deviate from the first direction in the rotating process, and the third rotating shaft 125 extends into the opening, so that the position of the third rotating shaft 125 is limited by the opening, the rotation axis of the third rotating shaft 125 can be ensured to be along the first direction, the rotation axis of the wheel 130 is also in the first direction, and the stability of the whole structure in the working process is ensured.
In some embodiments of the present application, the integrated drive wheel 100 may further include: a second bearing 150.
The outer ring of the second bearing 150 is fixedly connected to the second rotating shaft 124, and the inner ring of the second bearing 150 is fixedly connected to the third rotating shaft 125. By using the second bearing 150, the relative position between the axis of the second rotating shaft 124 and the axis of the third rotating shaft 125 can be kept fixed, and the axis of the second rotating shaft 124 and the axis of the third rotating shaft 125 are both along the first direction, thereby effectively reducing the occurrence of the rotation shaft offset which may occur when the flexspline 122 is in a rotating state.
In some embodiments of the present application, the integrated drive wheel 100 may further include: a third bearing 160.
The outer ring of the third bearing 160 is fixedly connected to the steel wheel 121 and the inner ring of the third bearing 160 is fixedly connected to the third bearing 160. By using the third bearing 160, the relative position between the axes of the steel wheel 121 and the third rotating shaft 125 can be kept fixed, and the axis of the third bearing 160 is along the first direction, thereby further reducing the occurrence of the rotation shaft offset which may occur in the flexible wheel 122 in the rotating state. Specifically, the third bearing 160 may be fixedly connected to one end of the third rotating shaft 125, the second bearing 150 may be fixedly connected to the other end of the third rotating shaft 125 opposite to the one end, and the second bearing 150 and the third bearing 160 may fix the position of the rotation axis of the third rotating shaft 125 from the two ends of the third rotating shaft 125, so that the rotation axis is always located along the first direction.
In some embodiments of the present application, the driving motor 110 may further include: a drive plate.
A driving plate is electrically connected to the stator 111, and the driving plate is used to control the rotation of the rotor 112. Specifically, the driving plate is used for controlling the circuit connection condition of the stator 111, and the driving plate can control the circuit of the stator 111 to be in a connected state, at this time, the stator 111 forms an electromagnetic field, and the rotor 112 rotates under the action of the electromagnetic force; the driving board can control the circuit of the stator 111 to be in an open state, at which time the stator 111 cannot form an electromagnetic field, and the rotor 112 gradually stops rotating.
In some embodiments of the present application, the driving motor 110 may further include: an encoder.
The encoder is connected to the stator 111 and the rotor 112, and the encoder is used for acquiring rotation angle information of the rotor 112. Specifically, the code wheel of the encoder may be fixedly connected to the stator 111, the code scale of the encoder may be fixedly connected to the rotor 112, and during the rotation of the rotor 112 relative to the stator 111 around the first direction, the encoder may obtain the rotation angle information of the stator 111, and based on the information, the rotation angle information of the wheel 130 may be further obtained.
In some embodiments of the present application, wheel 130 includes a hub 131 and a body 132. In order to ensure the structural strength of the hub 131, the hub 131 may be made of a metal material. To ensure the shock absorbing performance of the wheel body 132, the wheel body 132 may be made of a rubber material. The wheel body 132 is sleeved on the hub 131, and the wheel body 132 and the hub 131 can be fixed by gluing, so as to ensure the connection strength between the wheel body 132 and the hub 131.
The present application further provides a vehicle that may include the integrated drive wheel described above. Specifically, the vehicle can further comprise a vehicle body, the vehicle body is connected to the integrated driving wheel, and the vehicle body moves under the driving of the integrated driving wheel.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An integrated drive wheel, comprising:
the driving motor comprises a stator and a rotor, wherein the stator is used for driving the rotor to rotate around a first direction; the rotor comprises a first rotating shaft;
the speed reducing structure is provided with an input shaft, the input shaft comprises a second rotating shaft, and the first rotating shaft and the second rotating shaft are of an integrally formed structure;
and the wheels are in transmission connection with the speed reducing structure and are used for rotating around the first direction under the driving of the speed reducing structure.
2. The integrated drive wheel of claim 1, further comprising:
the outer ring of the first bearing is fixedly connected to the stator, and the inner ring of the first bearing is fixedly connected to the first rotating shaft.
3. The integrated driving wheel as set forth in claim 2, wherein the speed reducing structure is a harmonic speed reducing structure, the harmonic speed reducing structure comprises a steel wheel, a flexible wheel and a harmonic generator, the steel wheel is sleeved and engaged with the flexible wheel, and the flexible wheel is sleeved and rotatably connected to the harmonic generator; the input shaft is positioned in the harmonic generator, and the wheel is in transmission connection with the flexible gear.
4. The one-piece drive wheel according to claim 3, wherein said second shaft defines an opening, said opening being located at an end of said second shaft facing away from said first shaft, said flexspline having a third shaft, said third shaft being partially located in said opening.
5. The integrated drive wheel of claim 4, further comprising:
and the outer ring of the second bearing is fixedly connected to the second rotating shaft, and the inner ring of the second bearing is fixedly connected to the third rotating shaft.
6. The integrated drive wheel of claim 5, further comprising:
and the outer ring of the third bearing is fixedly connected to the steel wheel, and the inner ring of the third bearing is fixedly connected to the third rotating shaft.
7. The integrated drive wheel of claim 1, wherein the drive motor further comprises: the drive plate is electrically connected with the rotor and is used for controlling the rotor to rotate.
8. The integrated drive wheel of claim 7, wherein the drive motor further comprises: and the encoder is connected with the stator and the rotor and is used for acquiring the rotation angle information of the rotor.
9. The integrally driven wheel as set forth in claim 1, wherein said wheel includes: the wheel body is sleeved on the wheel hub, and the wheel body and the wheel hub are glued and fixed.
10. A mobile tool comprising the integrated drive wheel of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123028262.3U CN216231657U (en) | 2021-12-03 | 2021-12-03 | Integrated driving wheel and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123028262.3U CN216231657U (en) | 2021-12-03 | 2021-12-03 | Integrated driving wheel and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216231657U true CN216231657U (en) | 2022-04-08 |
Family
ID=80960342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123028262.3U Active CN216231657U (en) | 2021-12-03 | 2021-12-03 | Integrated driving wheel and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216231657U (en) |
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2021
- 2021-12-03 CN CN202123028262.3U patent/CN216231657U/en active Active
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Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |