WO2023004974A1 - 转轮装置、驱动轮以及机器人 - Google Patents

转轮装置、驱动轮以及机器人 Download PDF

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Publication number
WO2023004974A1
WO2023004974A1 PCT/CN2021/120907 CN2021120907W WO2023004974A1 WO 2023004974 A1 WO2023004974 A1 WO 2023004974A1 CN 2021120907 W CN2021120907 W CN 2021120907W WO 2023004974 A1 WO2023004974 A1 WO 2023004974A1
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WO
WIPO (PCT)
Prior art keywords
bearing
transmission
groove
support
wheel device
Prior art date
Application number
PCT/CN2021/120907
Other languages
English (en)
French (fr)
Inventor
张兴
郭承凯
郑元景
刘杰
Original Assignee
歌尔股份有限公司
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Filing date
Publication date
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Publication of WO2023004974A1 publication Critical patent/WO2023004974A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Definitions

  • the invention relates to the technical field of robots, in particular to a wheel device, a driving wheel and a robot.
  • Spherical robot refers to a type of robot whose drive system is located inside the spherical shell (or sphere) and realizes the movement of the sphere through internal drive. Because this type of robot has good dynamic and static balance and good sealing, it can travel In unmanned, sandy, humid, corrosive harsh environments. It can be used in planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields.
  • the structure of the spherical robot is that two runners are connected by an intermediate connector, and the motion form of the spherical robot is controlled by controlling the running speed of the two runners, such as linear motion and the like.
  • the structural stability of the runner of the spherical robot is poor, which easily leads to deviations in the trajectory of the spherical robot.
  • the main purpose of the present invention is to provide a running wheel device, a driving wheel and a robot, aiming at improving the stability of the running wheel.
  • the runner device proposed by the present invention comprises:
  • the rotating assembly is provided with a receiving groove
  • the bearing is accommodated in the accommodation groove, the bearing is connected with the rotating component;
  • a support seat the support seat is arranged close to the notch of the receiving groove, and the support seat is connected with the bearing, so that the rotating assembly is rotationally connected with the support seat.
  • the rotating assembly includes:
  • the transmission part is arranged in the accommodating groove, and is located between the housing and the support base; the transmission part is connected with the bearing, and the transmission part and the housing can be Disconnect the connection.
  • the support seat and the transmission member are respectively connected to both sides of the bearing, a support portion is provided on the side of the support seat facing the transmission member, and the inner ring of the bearing is sleeved on the support part, and lock the inner ring and the support part through the first locking member;
  • a transmission part is provided on the side of the transmission part facing the support seat, and the transmission part is sheathed on the outer ring of the bearing, and the outer ring and the transmission part are locked by the second locking part.
  • a first limiting portion is provided on the outer periphery of the supporting portion, and the side of the inner ring facing the supporting seat abuts against the first limiting portion;
  • the supporting part is provided with a first mounting hole, and one end of the first locking part abuts against a side of the inner ring away from the first limiting part and a side of the supporting part facing the transmission part. side, and the other end is inserted into the first installation hole, so that the support part and the inner ring are locked;
  • the side of the transmission part facing the bearing is provided with a second limiting part, and the side of the outer ring facing the transmission member abuts against the second limiting part;
  • the transmission part is provided with a second installation hole, and one end of the second locking member abuts against the side of the outer ring away from the second limiting part and the side of the transmission part facing the support base. side, and the other end is inserted into the second mounting hole, so that the transmission part and the outer ring are locked.
  • the cavity wall of the receiving groove is provided with a hook, and the hook and the groove wall of the receiving groove are enclosed to form a limiting groove, and the transmission part is partially limited at inside the limiting groove.
  • the outer circumference of the transmission member is provided with a clamping part, the clamping part is located in the limiting groove, and the side of the clamping part facing the housing is provided with The inclined surface, the side of the clamping portion away from the housing is in contact with the hook, the side of the transmission member away from the support seat is in contact with the cavity wall of the receiving groove, and the shape is suitable. match.
  • the transmission member is provided with a plurality of positioning holes
  • the cavity wall of the receiving groove is provided with a plurality of positioning posts, and each of the positioning posts is inserted into one of the positioning holes;
  • the edge of the support seat is provided with a third installation hole, and the projection of the transmission member on the support seat is located on the side of the third installation hole close to the center line of the support seat;
  • the support seat is located in the accommodation groove, and the notch of the accommodation groove extends to the side of the support seat away from the transmission member
  • the rotating assembly is further provided with a friction belt, and the outer circumference of the rotating assembly is provided with a mounting groove, and the friction belt is arranged in the mounting groove and partially protrudes from the installation groove;
  • the wheel device further includes a counterweight, and the counterweight is arranged on the support seat.
  • the present invention also provides a driving wheel, the driving wheel comprising:
  • the above-mentioned runner device, the support seat of the runner device is provided with a first assembly hole;
  • a driving part the driving part is arranged in the first assembly hole, and the output end of the driving part is connected with the rotating assembly.
  • the present invention also provides a robot, which includes:
  • a main body provided with control components
  • the two driving wheels are respectively arranged on the opposite sides of the main body; the driving part of the driving wheel is electrically connected with the control part; the receiving groove of the driving wheel.
  • the groove wall and the main body enclose to form an accommodating cavity, and the supporting seat of the driving wheel is accommodated in the accommodating cavity and connected with the main body.
  • the support seat can provide stable support and can be used for connection with external structures.
  • the support seat can be connected with the main body of the robot.
  • the supporting seat is arranged close to the notch of the receiving groove, which can be conveniently connected with the external structure through the supporting seat.
  • the rotating assembly and the supporting seat are connected through bearings to realize the rotatability of the rotating assembly, and when the rotating assembly rotates on the ground, it can push and drive the robot to move.
  • the bearing By arranging the bearing, the rotation stability of the rotating component can be improved, friction can be reduced, and energy can be saved.
  • the rotating component can wrap and hide the bearing, which can protect the bearing.
  • the present invention When the present invention is applied to a robot, it can ensure that only the rotating component is exposed and the rest of the components are hidden, making the appearance of the robot beautiful .
  • the rotating assembly and the support seat are connected by bearings, which facilitates assembly, improves installation efficiency, and reduces assembly difficulty.
  • Fig. 1 is the structural representation of an embodiment of the runner device of the present invention
  • Fig. 2 is a schematic cross-sectional view in Fig. 1;
  • Fig. 3 is a schematic diagram of the decomposition structure of Fig. 1;
  • Fig. 4 is a schematic structural view after removing the rotating assembly in Fig. 1;
  • Fig. 5 is a schematic structural view of the support seat in Fig. 3;
  • Fig. 6 is a schematic structural view of the transmission part in Fig. 3;
  • Fig. 7 is a schematic diagram of another angle of Fig. 6;
  • Fig. 8 is a schematic diagram of the housing in Fig. 3;
  • Fig. 9 is a schematic structural view of an embodiment of the robot of the present invention.
  • FIG. 10 is a schematic diagram of the exploded structure of FIG. 9 .
  • Support 32 The first limit 3a first mounting hole 3b
  • first locking member 5 Second locking member 6
  • Counterweight 100 drive wheel 110 Driver 120 connector 200 main body 12d Second Mounting Hole 210 control parts the the
  • the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.
  • the present invention proposes a wheel device 10 .
  • the wheel device 10 includes:
  • a rotating assembly 1, the rotating assembly 1 is provided with a receiving groove 1a;
  • a bearing 2 the bearing 2 is accommodated in the receiving groove 1a, and the bearing 2 is connected with the rotating assembly 1;
  • the supporting base 3 is arranged close to the notch of the receiving groove 1a, and the supporting base 3 is connected with the bearing 2 so that the rotating assembly 1 is rotationally connected with the supporting base 3 .
  • the supporting seat 3 can provide stable support and can be used for connecting with external structures. Referring to FIG. 9 and FIG. 10 , when this embodiment is applied to a robot, the support base 3 can be connected to the main body 200 of the robot.
  • the support seat 3 is arranged close to the notch of the receiving groove 1 a, which can be conveniently connected to the external structure through the support seat 3 .
  • the rotating assembly 1 is connected to the support base 3 through the bearing 2 to realize the rotation of the rotating assembly 1, and when the rotating assembly 1 rotates on the ground, it can drive the robot to move.
  • the rotation stability of the rotating assembly 1 can be improved, friction can be reduced, and energy can be saved.
  • the rotating assembly 1 can wrap and hide the bearing 2 to protect the bearing 2.
  • this embodiment is applied to a robot, it can be ensured that only the rotating assembly 1 is exposed, and the rest of the components are Hide to make the robot's appearance aesthetically pleasing.
  • the rotating assembly 1 and the support seat 3 are connected through the bearing 2, which is convenient for assembly, improves installation efficiency, and reduces assembly difficulty.
  • the rotation of the rotating assembly 1 relative to the support base 3 can be realized manually or through the driving member 110 .
  • the driver 110 can be a motor.
  • the rotating assembly 1 can be driven to rotate by the driving member 110 , the driving member 110 is installed on the supporting base 3 , and the supporting base 3 provides stable support for the driving member 110 .
  • the robot can be a spherical robot, including a main body 200 and two wheel devices 10, the support base 3 of the two wheel devices 10 is connected to the main body 200, which is different from the four wheels of a car, if the rotating assembly 1 is not connected through the bearing 2 and the support base 3, then the rotating assembly 1 only rotates around the motor shaft, that is, one point of rotation, which is unstable; and after setting the bearing 2 to connect the support base 3 and the rotating assembly 1 together, the rotating assembly 1 can also rotate around the bearing 2 , that is, rotate around one surface, so the rotation of the rotating assembly 1 is more stable, and the surface connection of the bearing 2 is stronger than the point connection of the motor shaft, and the connection strength is stronger.
  • the balance trolley has someone standing in the middle. If the spherical robot directly drives the rotating assembly 1 to rotate through the motor, it will easily cause the main body 200 of the robot to be unstable, but the relative motion between the main body 200 and the rotating assembly 1 can be reduced after the bearing 2 is installed, so that the main body 200 can be guaranteed to be more stable.
  • the rotating assembly 1 includes:
  • the transmission member 12 is arranged in the accommodating groove 1a, and is located between the housing 11 and the support base 3; the transmission member 12 is connected with the bearing 2, and the transmission member 12
  • the component 12 is detachably connected to the housing 11 .
  • the transmission member 12 is connected with the bearing 2 to achieve the purpose that the transmission member 12 can rotate relative to the support base 3 , and the rotation of the transmission member 12 can drive the housing 11 to rotate.
  • the wheel device 10 is applied to a robot, the robot is placed on the ground and other application scenarios, the casing 11 is in contact with the ground, etc., and the rotation of the casing 11 can drive the robot to move.
  • the casing 11 is provided with a receiving groove 1a, and the transmission member 12 is arranged in the receiving groove 1a, so that the transmission member 12 can be hidden, and the transmission member 12 and the bearing 2 can be protected to prevent external foreign matter from affecting the bearing.
  • the transmission part 12 and the bearing 2 have an influence, and at the same time can make the appearance beautiful.
  • the housing 11 and the transmission member 12 are clamped, which can realize the convenient disassembly and installation of the housing 11 and the transmission member 12, improve the efficiency, reduce the difficulty, and avoid damage to the housing 11 or the transmission member 12 during the installation and disassembly process.
  • the rotating assembly 1 is an integrated mechanism, that is, the casing 11 and the transmission member 12 are integrally formed and fixed, and cannot be disassembled, that is to say, the transmission member 12 is not provided separately.
  • the detachable connection between the transmission member 12 and the housing 11 can make the appearance of the robot more beautiful than the integrally formed and fixed arrangement of the housing 11 and the transmission member 12 .
  • the installation process of the wheel device 10 is as follows:
  • the support base 3 needs to be located in the receiving groove 1a of the rotation assembly 1, that is to say, the rotation assembly 1 is used to cover the gap between the support base 3 and the main body 200,
  • the rotation assembly 1 is used to cover the gap between the support base 3 and the main body 200,
  • it is inconvenient to use bolts to connect the support base 3 and the main body 200 and the support base 3 and the main body 200 can only be connected by snap-fitting, which will reduce the connection strength between the support base 3 and the main body 200 .
  • the installation process of the runner device 10 is as follows: S1: first assemble the bearing 2 on the support seat 3, and the first lock in the following embodiments of the present invention can be used
  • the fastener 4 fixedly connects the bearing 2 and the support seat 3, and further sets the bearing 2 and the support seat 3 into an interference fit;
  • the edge of the housing 11 can extend to the side of the support base 3 away from the transmission member 12, That is to say, the use of the housing 11 can cover the gap between the support base 3 and the main body. Therefore, compared with the embodiment in which the transmission member 12 is not provided separately, when the transmission member 12 is provided, the gap between the support base 3 and the main body 200 can be guaranteed.
  • the connection strength that is, bolts can be used to connect the two
  • the support base 3 and the transmission member 12 are respectively connected to both sides of the bearing 2, and the support base 3 faces the transmission
  • One side of the part 12 is provided with a support part 31, the inner ring 21 of the bearing 2 is sleeved on the support part 31, and the inner ring 21 and the support part 31 are locked by the first locking part 4;
  • the transmission part 12 is provided with a transmission part 121 on the side facing the support seat 3, and the transmission part 121 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 is locked by the second locking part 5.
  • the ring 22 and the transmission part 121 are provided with a transmission part 121 on the side facing the support seat 3, and the transmission part 121 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 is locked by the second locking part 5.
  • the ring 22 and the transmission part 121 is provided with a transmission part 121 on the side facing the support seat 3, and the transmission part 121 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 is locked by the second locking part 5.
  • the ring 22 and the transmission part 121 are provided with a transmission part 121 on the side facing the support seat 3, and the transmission part 121 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 is locked by the second locking
  • the above design can make the structure more compact, the design of the support part 31 and the transmission part 121, and the bearing 2 is sleeved on the support part 31, and the transmission part 121 is sleeved on the bearing 2, the position of the bearing 2 can be adjusted. Limiting, at the same time through the locking effect of the first locking member 4 and the second locking member 5, the positional stability of the bearing 2 can be improved, and the connection stability between the bearing 2 and the support seat 3 and the transmission member 12 can be improved, and then The stability of the casing 11 is improved to ensure the stability of the running wheel device 10 during operation.
  • the locking effect of the first locking member 4 and the second locking member 5 can ensure that the bearing 2 will not shake or shift at this time, so as to ensure that the wheel device 10 can be stable.
  • the design of the support portion 31 can support the bearing 2 and provide positioning for the installation of the bearing 2, so that the purpose of quick installation can be realized.
  • the outer periphery of the support portion 31 is provided with a first limiting portion 32 , and the inner ring 21 faces one side of the support seat 3 . The side abuts against the first limiting portion 32;
  • the supporting part 31 is provided with a first mounting hole 3a, and one end of the first locking member 4 abuts against the side of the inner ring 21 away from the first limiting part 32 and the supporting base 3 faces One side and the other end of the transmission member 12 are inserted into the first installation hole 3a, so that the support portion 31 and the inner ring 21 are locked.
  • first limiting portion 32 and the other end of the first locking member 4 respectively abut against the opposite sides of the inner ring 21 to limit the inner ring 21 and prevent the inner ring 21 from Shaking or shifting ensures the positional stability of the inner ring 21 .
  • the first locking member 4 includes a first connecting rod and a first clamping joint, the first connecting rod is connected to the first clamping joint, the outer circumference of the first connecting rod is provided with external threads, and the The hole wall of the first mounting hole 3a is provided with an internal thread. The first connecting rod is screwed to the hole wall of the first mounting hole 3a.
  • the first connecting rod passes through the first clamping joint into the first installation hole 3a, and presses the first clamping joint against the side of the inner ring 21 away from the first limiting portion 32, that is, the inner
  • the side of the ring 21 facing the transmission member 12 can form a limiting space between the first limiting part 32 and the first clamping joint, and the inner ring 21 is limited in the limiting space to realize locking the inner ring 21 and the supporting seat 3 purposes.
  • the first locking member 4 can be installed from the side where the transmission member 12 is located, which is convenient for installation.
  • the inner ring 21 of the bearing 2 is provided with a first installation hole 3a, and the bearing 2 and the support portion 31 are locked by inserting the first locking member 4 into the first installation hole 3a, but since the bearing 2 is It is a standard part and has relatively high hardness, so it is inconvenient to open a hole. Therefore, it is more preferable to provide the first installation hole 3 a on the support part 31 than to provide the first installation hole 3 a on the inner ring 21 of the bearing 2 .
  • the side of the transmission part 121 facing the bearing 2 is provided with a second limiting part 122, and the outer ring 22 is facing the side of the bearing 2.
  • One side of the transmission member 12 abuts against the second limiting portion 122;
  • the transmission part 121 is provided with a second installation hole 12a, and one end of the second locking member 5 abuts against the side of the outer ring 22 away from the second limiting part 122 and the transmission part 121 faces One side and the other end of the support base 3 are inserted into the second mounting hole 12 a to lock the transmission part 121 and the outer ring 22 .
  • the second limiting portion 122 and the other end of the second locking member 5 abut against opposite sides of the outer ring 22 respectively, so as to limit the outer ring 22 and prevent the outer ring 22 from shaking Or offset to ensure the positional stability of the outer ring 22.
  • the second locking member 5 includes a second connecting rod and a second clamping joint, the second connecting rod is connected to the second clamping joint, the outer circumference of the second connecting rod is provided with external threads, the The hole wall of the second mounting hole 12a is provided with an internal thread. The second connecting rod is screwed to the hole wall of the second mounting hole 12a.
  • the second connecting rod passes through the second clamping joint into the second installation hole 12a, and presses the first clamping joint against the side of the inner ring 21 away from the second limiting portion 122, that is,
  • the side of the outer ring 22 facing the support seat 3 can form a limiting space between the second limiting part 122 and the second snap joint, and the outer ring 22 is limited in the limiting space to realize locking the outer ring 22 and the transmission.
  • the second locking member 5 can be installed from the side where the support base 3 is located, which is convenient for installation.
  • the outer ring of the bearing is provided with a second mounting hole 12a, and the bearing 2 and the transmission part 121 are locked by inserting the second locking member 5 into the second mounting hole 12a, but since the bearing 2 is a standard It has a relatively high hardness, and it is inconvenient to open a hole. Therefore, it is better to provide the second installation hole 12a in the transmission part 121 than to provide the second installation hole 12a in the outer ring 22 of the bearing 2 .
  • the support base 3 and the transmission member 12 are respectively located on both sides of the bearing 2, and the side of the support base 3 facing the transmission member 12 is provided with a support portion 31, and the support portion 31 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 and the support part 31 are locked by the first locking member 4;
  • the transmission part 12 is provided with a transmission part 121 on the side facing the support seat 3, the inner ring 21 of the bearing 2 is sleeved on the transmission part 121, and the inner ring 21 is locked by the second locking part 5.
  • the ring 21 and the transmission part 121 are provided with a transmission part 121 on the side facing the support seat 3, the inner ring 21 of the bearing 2 is sleeved on the transmission part 121, and the inner ring 21 is locked by the second locking part 5.
  • the ring 21 and the transmission part 121 is provided with a transmission part 121 on the side facing the support seat 3, the inner ring 21 of the bearing 2 is sleeved on the transmission part 121, and the inner ring 21 is locked by the second locking part 5.
  • the ring 21 and the transmission part 121 are provided with a transmission part 121 on the side facing the support seat 3, the inner ring 21 of the bearing 2 is sleeved on the transmission part 121, and the inner ring 21 is locked by the second locking
  • the side of the support portion 31 facing the bearing 2 is provided with a first limiting portion 32, and the side of the outer ring 22 facing the support seat 3 abuts against the first limiting portion 32;
  • the supporting part 31 is provided with a first installation hole 3a, and one end of the first locking member 4 abuts against the side of the outer ring 22 away from the first limiting part 32 and the supporting part 31 faces One side and the other end of the transmission member 12 are inserted into the first installation hole 3a, so that the support portion 31 and the inner ring 21 are locked. It can be understood that the first limiting portion 32 and the other end of the first locking member 4 abut against opposite sides of the outer ring 22 respectively, so as to limit the outer ring 22 and prevent the outer ring 22 from shaking Or offset to ensure the positional stability of the outer ring 22.
  • the first locking member 4 includes a first connecting rod and a first snap joint, the first connecting rod is connected to the first snap joint, the outer circumference of the first connecting rod is provided with external threads, and the first mounting hole 3a The hole wall is provided with internal threads. The first connecting rod is screwed to the hole wall of the first mounting hole 3a.
  • the first connecting rod penetrates into the first installation hole 3a, and the first snap joint part abuts against the side of the outer ring 22 away from the first limiter 32, that is, the side of the outer ring 22 facing the transmission member 12
  • a limiting space can be formed between the first limiting portion 32 and the first clamping joint, and the outer ring 22 is limited in the limiting space, so as to achieve the purpose of locking the outer ring 22 and the support seat 3 .
  • the first locking member 4 can be installed from the side where the transmission member 12 is located, which is convenient for installation.
  • the outer circumference of the transmission part 121 is provided with a second limiting part 122, and the side of the inner ring 21 facing the transmission part 12 abuts against the second limiting part 122;
  • the transmission part 121 is provided with a second installation hole 12a, and one end of the second locking member 5 abuts against the side of the inner ring 21 away from the second limiting part 122 and the transmission part 121 faces One side and the other end of the support base 3 are inserted into the second mounting hole 12 a to lock the transmission part 121 and the outer ring 22 .
  • the second limiting portion 122 and the other end of the second locking member 5 abut against the opposite sides of the inner ring 21 respectively, so as to limit the inner ring 21 and prevent the inner ring 21 from collapsing. Shaking or shifting ensures the positional stability of the inner ring 21 .
  • the second locking member 5 includes a second connecting rod and a second snap joint, the second connecting rod is connected to the second snap joint, the outer circumference of the second connecting rod is provided with external threads, and the second mounting hole 12a The hole wall is provided with internal threads.
  • the second connecting rod is screwed to the hole wall of the second mounting hole 12a.
  • the second connecting rod penetrates into the second installation hole 12a, and the second snap joint part abuts against the side of the inner ring 21 away from the second limiter 122, that is, the inner ring 21 faces one side of the support seat 3.
  • a limiting space can be formed between the second limiting portion 122 and the second clamping joint, and the outer ring 22 is limited in the limiting space, so as to achieve the purpose of locking the inner ring 21 and the transmission member 12 .
  • the second locking member 5 can be installed from the side where the support base 3 is located, which is convenient for installation.
  • the support seat 3 is provided with a first escape hole 3b, and the first escape hole 3b corresponds to the second installation hole 12a setting;
  • first escape hole 3 b is provided on the support base 3 to provide a position avoidance for the installation of the second locking member 5 and facilitate the installation of the second locking member 5 .
  • the transmission member 12 is provided with a second escape hole, and the second escape hole is set corresponding to the first installation hole 3a.
  • the second escape hole is provided in the transmission member 12 to provide a position avoidance for the installation of the first locking member 4 and facilitate the installation of the first locking member 4 .
  • the support base 3 is provided with a first escape hole 3b, and the transmission member 12 is provided with a second escape hole.
  • the first locking member 4 can be installed first to install the bearing 2 on the support seat 3, Then the transmission member 12 is sheathed on the bearing 2, and the second locking member 5 is installed by using the first escape hole.
  • first mounting holes 3a there are multiple first mounting holes 3a, and the multiple first mounting holes 3a form a circular array, and a first locking member 4 is installed in each first mounting hole 3a.
  • the provision of the first installation hole 3 a can improve the stability of locking the inner ring 21 and the support portion 31 .
  • the number of the second mounting holes 12a is also multiple, and a plurality of the second mounting holes 12a are in a circular array, and a second locking member 5 is installed in each second mounting hole 12a, and passes through the plurality of second mounting holes.
  • the setting of 12a can improve the stability of locking the outer ring 22 and the transmission part 121 .
  • the cavity wall of the accommodating groove 1a is provided with a hook 111, and the hook 111 is enclosed with the groove wall of the accommodating groove 1a
  • a limiting groove 11a is formed, and the transmission member 12 is partially limited in the limiting groove 11a.
  • the housing 11 and the transmission member 12 can be connected through various connection methods, such as screw connection or clamping fit.
  • the casing 11 and the transmission part 12 are clamped and matched, which can realize the convenient disassembly and installation of the casing 11 and the transmission part 12, improve the efficiency, reduce the difficulty, and avoid damage to the casing 11 or the transmission part during the installation and disassembly process. 12. At the same time, it can also make the appearance more beautiful.
  • the transmission member 12 and the casing 11 are clipped and matched, which can avoid opening screw holes on the casing 11 and ensure an attractive appearance.
  • the detachable connection between the transmission member 12 and the housing 11 is realized by setting the hook 111 , and the structure is compact, the connection is stable, and the housing 11 is prevented from opening to ensure an attractive appearance.
  • the outer circumference of the transmission member 12 is provided with a locking part 123, and the locking part 123 is located in the limiting groove 11a , the side of the engaging portion 123 facing the housing 11 is provided with an inclined surface, the side of the engaging portion 123 facing away from the housing 11 abuts against the hook 111 , and the transmission member 12 The side facing away from the support base 3 abuts against the cavity wall of the accommodating groove 1a and fits in shape.
  • the side of the engaging portion 123 away from the housing 11 abuts against the hook 111 , and the side of the transmission member 12 away from the support base 3 contacts the receiving groove 1 a
  • the cavity wall of the transmission part 12 is abutted against the cavity wall, so that the transmission part 12 is partially limited in the limit groove 11a, and the transmission part 12 is in contact with the cavity wall of the accommodating groove 1a and the shape is adapted, and the transmission part 12 can play a supporting role for the housing 11 , when the area corresponding to the transmission member 12 on the housing 11 , that is, the middle part of the housing 11 bumps, the housing 11 can be prevented from being dented.
  • the engaging portion 123 is provided with an inclined surface on the side facing the housing 11 , and the corresponding hook 111 is also provided with an inclined surface, so as to facilitate the assembly of the housing 11 on the transmission member 12 .
  • the side of the engaging portion 123 facing the housing 11 is provided with a first rib 124 , which can improve the strength of the engaging portion 123 .
  • the side of the hook 111 away from the limiting groove 11 a is provided with a second rib 113 , which can improve the strength of the hook 111 .
  • the second reinforcing rib 113 extends towards the support seat 3 , and is spaced between the second reinforcing rib 113 and the support.
  • the area corresponding to the second rib 113 on the housing 11 that is, the area near the edge of the housing 11, can avoid large deformation of the housing 11, when the housing 11 is inwardly recessed, the second rib 113 will contact the support The seat 3 abuts, and the second supporting seat 3 can support the housing 11 .
  • the second reinforcing rib 113 is spaced apart from the support seat 3 so that the casing 11 can be slightly deformed, which plays a role of buffering and shock absorption.
  • the transmission member 12 is provided with a plurality of positioning holes, and the cavity wall of the accommodating groove 1a is provided with A plurality of positioning posts 112, each of the positioning posts 112 is inserted into one of the positioning holes.
  • the cooperation between the positioning hole and the positioning post 112 can realize quick positioning and installation of the housing 11 and the transmission member 12 , and at the same time, ensure the synchronous rotation of the transmission member 12 and the housing 11 .
  • the positioning hole includes a first positioning hole 121 b and a second positioning hole 12 b
  • the positioning post 112 includes a first positioning post 112 and a second positioning post 112 .
  • the clamping part 123 is arranged on the side of the transmission ring away from the bearing 2, and the peripheral edge of the clamping part 123 is protruded with a plurality of positioning bosses, and the plurality of positioning bosses are arranged at intervals, and each of the positioning bosses is provided with
  • the first positioning hole 121 b is correspondingly provided with a plurality of first positioning columns 112 in the housing 11 .
  • Each first positioning post 112 is matched with a first positioning hole 121b.
  • the middle area of the transmission part 12 is provided with a plurality of second positioning holes 12b, and the plurality of second positioning holes 12b are arranged at intervals, and the corresponding housing 11 is provided with a plurality of second positioning posts 112, and each second positioning post 112 is connected to The second positioning hole 12b is matched and connected.
  • positioning holes can be provided on the periphery and the middle area of the transmission member 12 respectively, and the housing 11 is correspondingly provided with a positioning column 112 , which can ensure that the force is evenly transmitted between the transmission member 12 and the housing 11 .
  • the edge of the support base 3 is provided with a third installation hole 3c, and the projection of the transmission member 12 on the support base 3 is located in the third installation hole. 3c is close to the side of the center line of the support base 3 .
  • the projection of the transmission member 12 on the support base 3 is located on the side of the third installation hole 3c close to the center line of the support base 3, that is, the peripheral dimension of the transmission member 12 is smaller than that of the support base 3. Peripheral size, and the third installation hole 3c can be exposed, when the support base 3 is connected to the outside through the bolts inserted into the third installation hole 3c, it can be easily operated, and the transmission member 12 will not affect the operation process.
  • the rotating assembly 1 further includes a friction belt 13, the outer periphery of the housing 11 is provided with a mounting groove, and the The friction belt 13 is arranged in the installation groove and partially protrudes from the installation groove;
  • the friction belt 13 can increase the friction between the friction belt 13 and the ground to ensure that the wheel device 10 can move smoothly on the ground and reduce slippage.
  • the wheel device 10 further includes a counterweight 6 , and the counterweight 6 is arranged on the support base 3 .
  • the counterweight 6 is arranged eccentrically with respect to the center line of the support base 3, by arranging the counterweight 6, the center of gravity can be lowered, and the stability of the running wheel device 10 can be improved.
  • the support seat 3 is located in the receiving groove 1a, and the notch of the receiving groove 1a extends until the support seat 3 is away from the One side of the transmission member 12.
  • the wheel device 10 when the wheel device 10 is installed on the main body 200 of the robot, after the support base 3 is connected to the main body 200, since the notch of the receiving groove 1a extends to the side of the support base 3 away from the transmission member 12, Then the notch of the accommodating groove 1a will be sleeved on the outer wall of the main body 200, which can eliminate the possibility of forming a gap between the main body 200 and the rotating assembly 1 in a direction parallel to the horizontal plane, thereby beautifying the appearance. And it can ensure that when the robot is placed on the running surface, the rotating component 1 is in contact with the running surface, and there is a certain gap between the main body 200 and the running surface, which can ensure that the main body 200 will not rub against the running surface.
  • the running surface can be the ground or the like.
  • the present invention also provides a driving wheel 100.
  • the driving wheel 100 includes:
  • the above-mentioned wheel device 10, the support seat 3 of the wheel device 10 is provided with a first assembly hole 3d;
  • a driving element 110 , the driving element 110 is disposed in the first assembly hole 3 d, and the output end of the driving element 110 is connected to the rotating assembly 1 .
  • the specific structure of the turning wheel device 10 refers to the above-mentioned embodiments. Since the driving wheel 100 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not repeat them here. A repeat.
  • the rotating assembly 1 further includes a connecting member 120, the transmission member 12 is provided with a second assembly hole 12d, and the connecting member 120 is accommodated in the second assembly hole 12d.
  • the connecting piece 120 is sheathed on the output end of the driving piece 110, and the connecting piece 120 and the rotating assembly 1 are locked by a third locking piece.
  • the cross-section of the connecting piece 120 is D-shaped, that is, the circumferential direction of the connecting piece 120 is provided with an arc-shaped surface and a plane connected head-to-tail.
  • the second assembly hole 12d is D-shaped, and the second assembly hole 12d and the connecting piece 120 The cooperation between the rotating assembly 1 and the output end of the driving member 110 will not rotate relative to each other, and it can ensure that the output end of the driving member 110 drives the rotating assembly 1 to rotate synchronously.
  • the transmission member 12 is provided with a fourth mounting hole 12c, the fourth mounting hole 12c is provided corresponding to the third locking member, the third locking member passes through the fourth mounting hole 12c, and the third locking member passes through the fourth mounting hole 12c.
  • the transmission part 12, the connecting part 120 and the output end of the driving part 110 are locked and connected by the part, and the fourth installation hole 12c provides an avoidance position for the installation of the third locking part, which is convenient for installation.
  • the transmission member 12 is detachably connected to the housing 11 , the installation of the third locking member can be ensured smoothly by providing the fourth installation hole 12 c in the transmission member 12 .
  • the torsion force on the third locking piece during rotation can be reduced, and the stability and service life of the third locking piece can be improved.
  • the connecting member 120 is locked with the output end of the driving member 110 through interference fit.
  • the bearing 2 is the main connecting part
  • the interference fit between the bearing 2 and the rotating assembly 1 or the support seat 3 is given priority, and at the same time, the first locking member 4 and the second locking The member 5 further plays a stabilizing role, and the output end of the driving member 110 is not too tight to the second assembly hole 12d. If all three places have interference, that is, all three places are in a precise fit, it is technically difficult to achieve. Since the second assembly hole 12d is not full enough, it is easy to cause the rotating assembly 2 to shake. In order to improve stability, it is necessary to provide a fourth installation hole 12c to install the third locking member.
  • the fourth mounting hole 12c needs to be opened on the outer surface of the rotating assembly 1, which is unsightly. If the fourth mounting hole 12c is not provided for the sake of aesthetics, the stability will be reduced . Therefore, it is further explained that the detachable connection between the transmission member 12 and the housing 11 is better than the one-piece structure of the transmission member 12 and the housing 11 .
  • the above content is only used to express the further beneficial effects brought by the installation of the transmission member 12, such as blocking gaps, stability, aesthetics, etc., and cannot explain that the transmission member 12 is a necessary technical feature.
  • the interference fit of the inner and outer rings of the bearing is also a further beneficial effect, or an effective effect that can be realized on the basis of the transmission member 12, rather than a necessary technical feature.
  • the third locking member is a bolt.
  • the output end of the driving element 110 is provided with a threaded hole, and the third locking element is screwed to the output end of the driving element 110 .
  • the third locking member abuts against the peripheral wall of the output end of the driving member 110 . It can be understood that the third locking member is threadedly connected with the output end of the driving member, which can improve the connection strength and connection stability of the transmission member 12, the connecting member 120 and the output end of the driving member 110, and ensure the transmission member 12 and the output end of the driving member 110.
  • the stability of the housing 11 also ensures the synchronous rotation of the transmission member 12 and the output end of the drive member 110 .
  • the present invention also provides a robot, as shown in Figure 9 and Figure 10, the robot includes:
  • a main body 200, the main body 200 is provided with a control part 210;
  • Two above-mentioned driving wheels 100, the two driving wheels 100 are respectively arranged on opposite sides of the main body 200; the driving member 110 of the driving wheel 100 is electrically connected with the control part 210; the driving wheel 100
  • the groove wall of the accommodating groove 1 a and the main body 200 form an accommodating cavity, and the support seat 3 of the driving wheel 100 is accommodated in the accommodating cavity and connected with the main body 200 .
  • the specific structure of the driving wheel 100 refers to the above-mentioned embodiments. Since the robot adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not repeat them here.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Mounting Of Bearings Or Others (AREA)

Abstract

本发明公开一种转轮装置、驱动轮以及机器人。其中，该转轮装置包括旋转组件、轴承和支撑座，旋转组件设有容纳凹槽；轴承容纳于容纳凹槽内，轴承与旋转组件连接；支撑座靠近容纳凹槽的槽口设置，且支撑座与轴承连接，以使旋转组件与支撑座转动连接。本发明通过设置轴承可提升旋转组件转动的稳定性，还可以减少摩擦，节约能源。

Description

转轮装置、驱动轮以及机器人
本申请要求于2021年7月27日提交中国专利局、申请号为202110854153.2、发明名称为“转轮装置、驱动轮以及机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及机器人技术领域，特别涉及一种转轮装置、驱动轮以及机器人。
背景技术
随着社会的进步以及网络技术的发展，产生了越来越多的机器人的形态，近年来球形机器人越来越多的受到人们的关注。球形机器人是指一类驱动系统位于球壳(或球体)内部，通过内驱动方式实现球体运动的机器人，由于这类机器人具有良好的动态和静态平衡性，同时具有很好的密封性，可以行驶在无人、沙尘、潮湿、腐蚀性的恶劣环境中。可应用于行星探测、环境监测、国防装备、娱乐等领域。
球形机器人的结构为两个转轮通过中间连接件连接，通过控制两个转轮的运行速度来控制球形机器人的运动形式，比如直线运动等等。相关技术中，球形机器人的转轮的结构稳定性差，易导致球形机器人的运动轨迹出现偏差。
发明内容
本发明的主要目的是提出一种转轮装置、驱动轮以及机器人，旨在提高转轮的稳定性。
为实现上述目的，本发明提出的转轮装置包括：
旋转组件，所述旋转组件设有容纳凹槽；
轴承，所述轴承容纳于所述容纳凹槽内，所述轴承与所述旋转组件连接；及
支撑座，所述支撑座靠近所述容纳凹槽的槽口设置，且所述支撑座与所 述轴承连接，以使所述旋转组件与所述支撑座转动连接。
在本发明的一实施例中，所述旋转组件包括：
壳体，所述壳体设有所述容纳凹槽；和
传动件，所述传动件设于所述容纳凹槽内，并位于所述壳体和所述支撑座之间；所述传动件与所述轴承连接，所述传动件与所述壳体可拆卸连接。
在本发明的一实施例中，所述支撑座和所述传动件分别连接于所述轴承的两侧，所述支撑座面向传动件的一侧设有支撑部，所述轴承的内圈套设于所述支撑部，并通过第一锁紧件锁紧所述内圈与所述支撑部；
所述传动件面向所述支撑座的一侧设有传动部，所述传动部套设于所述轴承的外圈，并通过第二锁紧件锁紧所述外圈与所述传动部。
在本发明的一实施例中，所述支撑部的外周设有第一限位部，所述内圈面向所述支撑座的一侧抵接于所述第一限位部；
所述支撑部设有第一安装孔，所述第一锁紧件的一端抵接于所述内圈背离所述第一限位部的一侧和所述支撑部面向所述传动件的一侧，另一端插入所述第一安装孔内，以使所述支撑部和所述内圈锁紧；
且/或，所述传动部面向所述轴承的一侧设有第二限位部，所述外圈面向所述传动件的一侧抵接于所述第二限位部；
所述传动部设有第二安装孔，所述第二锁紧件的一端抵接于所述外圈背离所述第二限位部的一侧和所述传动部面向所述支撑座的一侧，另一端插入所述第二安装孔内，以使所述传动部和所述外圈锁紧。
在本发明的一实施例中，所述容纳凹槽的腔壁设有卡勾，所述卡勾与所述容纳凹槽的槽壁围合形成限位凹槽，所述传动件部分限位于所述限位凹槽内。
在本发明的一实施例中，所述传动件的外周设有卡接部，所述卡接部位于所述限位凹槽内，所述卡接部面向所述壳体的一侧设有倾斜面，所述卡接部背离所述壳体的一侧与所述卡勾抵接，所述传动件背离所述支撑座的一侧与所述容纳凹槽的腔壁抵接且形状适配。
在本发明的一实施例中，所述传动件设有多个定位孔、所述容纳凹槽的腔壁设有多个定位柱，每一所述定位柱插入一所述定位孔内；
且/或，所述支撑座的边缘设有第三安装孔，所述传动件在所述支撑座的 投影位于所述第三安装孔靠近所述支撑座中心线的一侧；
且/或，所述支撑座位于所述容纳凹槽内，且所述容纳凹槽的槽口处延伸至所述支撑座背离所述传动件的一侧
在本发明的一实施例中，所述旋转组件还设有摩擦带，所述旋转组件的外周设有安装凹槽，所述摩擦带设于所述安装凹槽内，并部分伸出所述安装凹槽；
且/或，所述转轮装置还包括配重块，所述配重块设于所述支撑座。
本发明还提供一种驱动轮，所述驱动轮包括：
上述的转轮装置，所述转轮装置的支撑座设有第一装配孔；和
驱动件，所述驱动件设于所述第一装配孔内，且所述驱动件的输出端与所述旋转组件连接。
本发明还提供一种机器人，所述机器人包括：
主体，所述主体设有控制部件；
两个上述的驱动轮，两个所述驱动轮分别设于所述主体的相对两侧；所述驱动轮的驱动件与所述控制部件电连接；所述驱动轮的所述容纳凹槽的槽壁与所述主体围合形成一容纳腔，所述驱动轮的支撑座容纳于所述容纳腔内，并与所述主体连接。
本发明技术方案中支撑座可提供稳定的支撑，可用于与外部结构连接，本发明应用于机器人时，支撑座可与机器人的主体连接。支撑座靠近容纳凹槽的槽口位置设置，可方便通过支撑座与外部结构连接。本发明中旋转组件与支撑座通过轴承连接以实现旋转组件的可转动，旋转组件在地面转动时，可推动带动机器人运动。通过设置轴承可提升旋转组件转动的稳定性，还可以减少摩擦，节约能源。通过将轴承容纳于容纳凹槽内，旋转组件可包裹并隐藏轴承，对轴承起到保护作用，在本发明应用于机器人时，可确保只有旋转组件外露，其余部件均隐藏，使机器人的外观美观。同时，旋转组件和支撑座通过轴承连接的方式，装配方便，可提高安装效率，降低装配难度。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明转轮装置一实施例的结构示意图；
图2为图1中的截面示意图；
图3为图1的分解结构示意图；
图4为图1中去掉旋转组件后的结构示意图；
图5为图3中支撑座的结构示意图；
图6为图3中传动件的结构示意图；
图7为图6另一角度示意图；
图8为图3中壳体示意图；
图9为本发明机器人一实施例的结构示意图；
图10为图9的分解结构示意图。
附图标号说明：
标号 名称 标号 名称
10 转轮装置 1 旋转组件
1a 容纳凹槽 11 壳体
111 卡勾 11a 限位凹槽
112 定位柱 112a 第一定位柱
112b 第二定位柱 113 第二加强筋
12 传动件 121 传动部
122 第二限位部 12a 第二安装孔
123 卡接部 124 第一加强筋
121b 第一定位孔 12b 第二定位孔
12c 第四安装孔 13 摩擦带
2 轴承 21 内圈
22 外圈 3 支撑座
31 支撑部 32 第一限位部
3a 第一安装孔 3b 第一避位孔
3c 第三安装孔 3d 第一装配孔
4 第一锁紧件 5 第二锁紧件
6 配重块 100 驱动轮
110 驱动件 120 连接件
200 主体 12d 第二装配孔
210 控制部件    
本发明的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中出现的“和/或”的含义为，包括三个并列的方案，以“A和/或B为例”，包括A方案，或B方案，或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明提出一种转轮装置10。
在本发明实施例中，如图1、图2和图3所示，该转轮装置10，包括：
旋转组件1，所述旋转组件1设有容纳凹槽1a；及
轴承2，所述轴承2容纳于所述容纳凹槽1a内，所述轴承2与所述旋转组件1连接；
支撑座3，所述支撑座3靠近所述容纳凹槽1a的槽口设置，且所述支撑座3与所述轴承2连接，以使所述旋转组件1与所述支撑座3转动连接。
本实施例中支撑座3可提供稳定的支撑，可用于与外部结构连接。参考图9和图10，本实施例应用于机器人时，支撑座3可与机器人的主体200连接。
本实施例中，支撑座3靠近容纳凹槽1a的槽口位置设置，可方便通过支撑座3与外部结构连接。旋转组件1与支撑座3通过轴承2连接以实现旋转组件1的可转动，旋转组件1在地面转动时，可推动带动机器人运动。通过设置轴承2可提升旋转组件1转动的稳定性，还可以减少摩擦，节约能源。通过将轴承2容纳于容纳凹槽1a内，旋转组件1可包裹并隐藏轴承2，对轴承2起到保护作用，在本实施例应用于机器人时，可确保只有旋转组件1外露，其余部件均隐藏，使机器人的外观美观。同时，旋转组件1和支撑座3通过轴承2连接的方式，装配方便，可提高安装效率，降低装配难度。
旋转组件1相对支撑座3的转动可通过手动实现，也可通过驱动件110实现。驱动件110可选用电机。当本转轮装置10应用于机器人时，可通过驱动件110驱动旋转组件1转动，驱动件110安装于支撑座3，支撑座3为驱动件110提供稳定支撑。
该机器人可为球形机器人，包括主体200和两个转轮装置10，两个转轮装置10的支撑座3与主体200连接，不同于汽车的四个轮子，如果不通过轴承2连接旋转组件1和支撑座3，那么旋转组件1只绕电机转轴旋转，也即一个点旋转，不稳定；而设置轴承2将支撑座3和旋转组件1连接在一起后，旋转组件1还可绕轴承2旋转，也即绕一个面旋转，因此旋转组件1的旋转更加稳定，而且轴承2的面连接相对于电机轴的点连接，连接强度更强。
同时机器人使用时需要保证机器人的主体200尽量保持不动，不同于平衡小车，平衡小车有人站立在中间位置。球形机器人如果是通过电机直接带动旋转组件1旋转，容易造成机器人主体200不稳，而设置轴承2后减小了主体200和旋转组件1之间的相对运动，可以使得保证主体200更加稳定。
另外，本实施例可在驱动件110和旋转组件1之间无需设置减速齿轮，减小了设计难度。
在本发明的一实施例中，如图2、图3和图8所示，所述旋转组件1包括：
壳体11，所述壳体11设有所述容纳凹槽1a；和
传动件12，所述传动件12设于所述容纳凹槽1a内，并位于所述壳体11和所述支撑座3之间；所述传动件12与所述轴承2连接，所述传动件12与所述壳体11可拆卸连接。
可以理解的是，传动件12与轴承2连接，实现传动件12可相对支撑座3转动的目的，传动件12转动可带动壳体11转动。本转轮装置10应用于机器人时，将该机器人放置于地面等应用场景下，壳体11与地面等接触，壳体11的转动，可带动机器人运动。本实施例中，壳体11设有容纳凹槽1a，传动件12设于容纳凹槽1a内，可将传动件12隐藏，可以对传动件12与轴承2起到保护作用，避免外部异物对传动件12与轴承2产生影响，同时可使外观美观。壳体11与传动件12卡接，可实现壳体11与传动件12的便捷拆卸和安装，提高效率，降低难度，可避免安装和拆卸过程破坏壳体11或传动件12。
在另一些实施例中，旋转组件1为一体成型机构，也即壳体11与传动件12一体成型固定，不可拆卸，也就是说不单独设置传动件12。
在应用于机器人时，传动件12与壳体11可拆卸的连接相对于壳体11与传动件12一体成型固定的设置，可以使机器人外观更美观。
具体来说，如果壳体11与传动件12是一体成型固定的结构，那么转轮装置10的安装过程为：
S1：先将轴承2装配于支撑座3，可采用本发明下述实施例中的第一锁紧件4将轴承2和支撑座3固定连接，进一步还可将轴承2与支撑座3设置为过盈配合；
S2：再将旋转组件1与轴承2装配，可采用本发明下述实施例中的第二锁紧件5将轴承2和旋转组件1固定连接，进一步还可将轴承2与旋转组件1设置为过盈配合；此时已形成一个转轮装置10。
S3：再将支撑座3与机器人的主体连接，完成转轮装置10与主体200的 装配。
如果要实现支撑座3与主体200连接处的缝隙被隐藏，需要支撑座3位于旋转组件1的容纳凹槽1a内，也就是说使用旋转组件1遮挡支撑座3与主体200连接处的缝隙，然而这将不便使用螺栓连接支撑座3和主体200，只能使用卡合的方式连接支撑座3和主体200，这将降低支撑座3和主体200之间的连接强度。而如果想要使用螺栓连接支撑座3和主体200，则不能使支撑座3位于旋转组件1的容纳凹槽1a内，也就是说不使用旋转组件1遮挡支撑座3与主体200连接处的缝隙，使缝隙外露，这将降低机器人整体的美观程度，且相比上述使用旋转组件1遮挡缝隙的情况，缝隙外露更容易进灰尘等异物。
而将传动件12与壳体11设置为可拆卸连接时，转轮装置10的安装过程为：S1：先将轴承2装配于支撑座3，可采用本发明下述实施例中的第一锁紧件4将轴承2和支撑座3固定连接，进一步还可将轴承2与支撑座3设置为过盈配合；
S2：再将传动件12与轴承2装配，可采用本发明下述实施例中的第二锁紧件5将轴承2和传动件12固定连接，进一步还可将轴承2与传动件12设置为过盈配合；
S3：再将支撑座3通过螺栓与机器人的主体200连接；
S4：再将壳体11与传动件12连接，可采用卡合的方式连接，实现转轮装置10与主体200的连接。
如图2所示，由于壳体11是在支撑座3与主体200连接之后再与传动件12连接，壳体11的边缘可以延伸至所述支撑座3背离所述传动件12的一侧，也就是说使用壳体11可以遮挡支撑座3与主体连接处的缝隙，因此相比于不设置单独设置传动件12的实施例，当设置传动件12可以保证支撑座3和主体200之间的连接强度(即可以使用螺栓连接二者)，也可以保证支撑座3和主体200的美观(即二者连接处的缝隙可被遮挡)。
在本发明的一实施例中，如图2、图3和图4所示，所述支撑座3和所述传动件12分别连接于所述轴承2的两侧，所述支撑座3面向传动件12的一侧设有支撑部31，所述轴承2的内圈21套设于所述支撑部31，并通过第一锁紧件4锁紧所述内圈21与所述支撑部31；
所述传动件12面向所述支撑座3的一侧设有传动部121，所述传动部121套设于所述轴承2的外圈22，并通过第二锁紧件5锁紧所述外圈22与所述传动部121。
可以理解的是，通过上述设计可使结构更紧凑，支撑部31和传动部121的设计，且轴承2套设于支撑部31，传动部121套设于轴承2，可对轴承2的位置进行限位，同时通过第一锁紧件4和第二锁紧件5的锁紧作用，可提高轴承2的位置稳定性，以及提高轴承2与支撑座3和传动件12的连接稳定性，进而提高壳体11的稳定性，确保转轮装置10运行时的稳定性。在转轮装置10运动经过台阶时，通过第一锁紧件4和第二锁紧件5的锁紧作用可确保此时轴承2不会发生晃动或偏移，以确保转轮装置10可平稳经过台阶。同时通过支撑部31的设计，可对轴承2起到支撑作用，也为轴承2的安装提供定位，可实现快速安装的目的。
在本发明的一实施例中，如图2、图4和图5所示，所述支撑部31的外周设有第一限位部32，所述内圈21面向所述支撑座3的一侧抵接于所述第一限位部32；
所述支撑部31设有第一安装孔3a，所述第一锁紧件4的一端抵接于所述内圈21背离所述第一限位部32的一侧和所述支撑座3面向所述传动件12的一侧，另一端插入所述第一安装孔3a内，以使所述支撑部31和所述内圈21锁紧。
可以理解的是，第一限位部32和第一锁紧件4的另一端分别与内圈21的相对两侧抵接，以对内圈21起到限位作用，可避免内圈21发生晃动或偏移，确保内圈21的位置稳定性。
本实施例中，第一锁紧件4包括第一连接杆和第一卡接头，所述第一连接杆与第一卡接头连接，所述第一连接杆的外周设有外螺纹，所述第一安装孔3a的孔壁设有内螺纹。第一连接杆与第一安装孔3a的孔壁螺纹连接。所述第一连接杆穿过第一卡接头穿入所述第一安装孔3a内，并将第一卡接头压紧抵接于内圈21背离第一限位部32的一侧，即内圈21面向传动件12的一侧，可使第一限位部32和第一卡接头之间形成一个限位空间，内圈21限位于该限位空间，实现锁紧内圈21和支撑座3的目的。装配时，可从传动件12所在一侧操作安装第一锁紧件4，安装方便。
在另一些实施例中，轴承2的内圈21设有第一安装孔3a，通过将第一锁紧件4插入第一安装孔3a来锁紧轴承2和支撑部31，但是由于轴承2是一个标准件，且具有较大的硬度，开孔并不方便，因此，支撑部31开设第一安装孔3a的方案相较于轴承2的内圈21设有第一安装孔3a更优。
在本发明的一实施例中，如图2、图4和图6所示，所述传动部121面向所述轴承2的一侧设有第二限位部122，所述外圈22面向所述传动件12的一侧抵接于所述第二限位部122；
所述传动部121设有第二安装孔12a，所述第二锁紧件5的一端抵接于所述外圈22背离所述第二限位部122的一侧和所述传动部121面向所述支撑座3的一侧，另一端插入所述第二安装孔12a，以使所述传动部121和所述外圈22锁紧。
可以理解的是，第二限位部122和第二锁紧件5的另一端分别与外圈22的相对两侧抵接，以对外圈22起到限位作用，可避免外圈22发生晃动或偏移，确保外圈22的位置稳定性。
本实施例中，第二锁紧件5包括第二连接杆和第二卡接头，所述第二连接杆与第二卡接头连接，所述第二连接杆的外周设有外螺纹，所述第二安装孔12a的孔壁设有内螺纹。第二连接杆与第二安装孔12a的孔壁螺纹连接。所述第二连接杆穿过第二卡接头穿入所述第二安装孔12a内，，并将第一卡接头压紧抵接于内圈21背离第二限位部122的一侧，即外圈22面向支撑座3的一侧，可使第二限位部122和第二卡接头之间形成一个限位空间，外圈22限位于该限位空间，实现锁紧外圈22和传动件12的目的。装配时，可从支撑座3所在一侧操作安装第二锁紧件5，安装方便。
在另一些实施例中，轴承的外圈设有第二安装孔12a，通过将第二锁紧件5插入第二安装孔12a来锁紧轴承2和传动部121，但是由于轴承2是一个标准件，且具有较大的硬度，开孔并不方便，因此，传动部121开设第二安装孔12a的方案相较于轴承2的外圈22设有第二安装孔12a更优。
在又一些实施例中，所述支撑座3和所述传动件12分别位于所述轴承2的两侧，所述支撑座3面向传动件12的一侧设有支撑部31，所述支撑部31套设于所述轴承2的外圈22，并通过第一锁紧件4锁紧所述外圈22与所述支撑部31；
所述传动件12面向所述支撑座3的一侧设有传动部121，所述轴承2的内圈21套设于所述传动部121，并通过第二锁紧件5锁紧所述内圈21与所述传动部121。
所述支撑部31面向轴承2的一侧设有第一限位部32，所述外圈22面向所述支撑座3的一侧抵接于所述第一限位部32；
所述支撑部31设有第一安装孔3a，所述第一锁紧件4的一端抵接于所述外圈22背离所述第一限位部32的一侧和所述支撑部31面向所述传动件12的一侧，另一端插入所述第一安装孔3a内，以使所述支撑部31和所述内圈21锁紧。可以理解的是，第一限位部32和第一锁紧件4的另一端分别与外圈22的相对两侧抵接，以对外圈22起到限位作用，可避免外圈22发生晃动或偏移，确保外圈22的位置稳定性。
第一锁紧件4包括第一连接杆和第一卡接头，所述第一连接杆与第一卡接头连接，所述第一连接杆的外周设有外螺纹，所述第一安装孔3a的孔壁设有内螺纹。第一连接杆与第一安装孔3a的孔壁螺纹连接。所述第一连接杆穿入所述第一安装孔3a内，且第一卡接头部分抵接于外圈22背离第一限位部32的一侧，即外圈22面向传动件12的一侧，可使第一限位部32和第一卡接头之间形成一个限位空间，外圈22限位于该限位空间，实现锁紧外圈22和支撑座3的目的。装配时，可从传动件12所在一侧操作安装第一锁紧件4，安装方便。
所述传动部121的外周设有第二限位部122，所述内圈21面向所述传动件12的一侧抵接于所述第二限位部122；
所述传动部121设有第二安装孔12a，所述第二锁紧件5的一端抵接于所述内圈21背离所述第二限位部122的一侧和所述传动部121面向所述支撑座3的一侧，另一端插入所述第二安装孔12a，以使所述传动部121和所述外圈22锁紧。可以理解的是，第二限位部122和第二锁紧件5的另一端分别与内圈21的相对两侧抵接，以对内圈21起到限位作用，可避免内圈21发生晃动或偏移，确保内圈21的位置稳定性。
第二锁紧件5包括第二连接杆和第二卡接头，所述第二连接杆与第二卡接头连接，所述第二连接杆的外周设有外螺纹，所述第二安装孔12a的孔壁设有内螺纹。第二连接杆与第二安装孔12a的孔壁螺纹连接。所述第二连接 杆穿入所述第二安装孔12a内，且第二卡接头部分抵接于内圈21背离第二限位部122的一侧，即内圈21面向支撑座3的一侧，可使第二限位部122和第二卡接头之间形成一个限位空间，外圈22限位于该限位空间，实现锁紧内圈21和传动件12的目的。装配时，可从支撑座3所在一侧操作安装第二锁紧件5，安装方便。
在本发明的一实施例中，如图1、图3和图5所示，所述支撑座3设有第一避位孔3b，所述第一避位孔3b对应所述第二安装孔12a设置；
可以理解的是，在支撑座3设置第一避位孔3b，为第二锁紧件5的安装提供位置避让，便于第二锁紧件5的安装。
在本发明的一实施例中，所述传动件12设有第二避位孔，所述第二避位孔对应所述第一安装孔3a设置。
可以理解的是，在传动件12设置第二避位孔，为第一锁紧件4的安装提供位置避让，便于第一锁紧件4的安装。
在一些实施例中，所述支撑座3设有第一避位孔3b，同时所述传动件12设有第二避位孔。
本实施例中，仅在支撑座3设置有第一避让孔，传动件12未设置第二避让孔，装配时，可先安装第一锁紧件4，以将轴承2安装于支撑座3，然后将传动件12套设于轴承2，再利用第一避让孔安装第二锁紧件5。
本实施例中，第一安装孔3a的数量为多个，多个所述第一安装孔3a呈圆周阵列，每一第一安装孔3a内安装有一个第一锁紧件4，通过多个第一安装孔3a的设置，可提高内圈21与支撑部31锁紧的稳定性。第二安装孔12a的数量也为多个，多个所述第二安装孔12a呈圆周阵列，每一第二安装孔12a内安装有一个第二锁紧件5，通过多个第二安装孔12a的设置，可提高外圈22与传动部121锁紧的稳定性。
在本发明的一实施例中，如图2和图8所示，所述容纳凹槽1a的腔壁设有卡勾111，所述卡勾111与所述容纳凹槽1a的槽壁围合形成限位凹槽11a，所述传动件12部分限位于所述限位凹槽11a内。
在一些实施例中，壳体11于传动件12可以通过多种连接方式连接，例如通过螺钉连接或卡接配合。本实施例中，壳体11与传动件12卡接配合，可实现壳体11与传动件12的便捷拆卸和安装，提高效率，降低难度，可避 免安装和拆卸过程破坏壳体11或传动件12，同时也可使外观更美观。同时，传动件12与壳体11卡接配合，可以避免在壳体11上开设螺钉孔，保证美观。通过设置卡勾111，实现传动件12与壳体11的可拆卸连接，且结构紧凑，连接稳定，且避免壳体11开孔，保证美观。
在本发明的一实施例中，如图2、图6和图7所示，所述传动件12的外周设有卡接部123，所述卡接部123位于所述限位凹槽11a内，所述卡接部123面向所述壳体11的一侧设有倾斜面，所述卡接部123背离所述壳体11的一侧与所述卡勾111抵接，所述传动件12背离所述支撑座3的一侧与所述容纳凹槽1a的腔壁抵接且形状适配。
可以理解的是，所述卡接部123背离所述壳体11的一侧与所述卡勾111抵接，所述传动件12背离所述支撑座3的一侧与所述容纳凹槽1a的腔壁抵接，实现传动件12部分限位于限位凹槽11a，同时传动件12与容纳凹槽1a的腔壁抵接且形状适配，传动件12可对壳体11起到支撑作用，在壳体11上对应传动件12的区域，即壳体11的中间部分发生磕碰时，可避免壳体11发生凹陷。
所述卡接部123面向所述壳体11的一侧设有倾斜面，相应的卡勾111也设有倾斜面，方便壳体11于传动件12的装配。
本实施例中，如图6和图7所示，卡接部123面向壳体11的一侧设有第一加强筋124，可以提高卡接部123的强度。
在本发明的一实施例中，如图2、图3和图8所示，卡勾111背离所述限位凹槽11a的一侧设有第二加强筋113，可以提高卡勾111的强度。
第二加强筋113朝向支撑座3方向延伸，且第二加强筋113与支撑之间间隔设置，第二加强筋113靠近支撑座3的一侧形状与支撑座3的形状适配。在壳体11上对应第二加强筋113的区域，即壳体11靠近边缘的区域发生磕碰时，可避免壳体11大形变，壳体11向内凹陷时，第二加强筋113会与支撑座3抵接，第二支撑座3可对壳体11起到支撑作用。同时，第二加强筋113与支撑座3之间间隔设置，使得壳体11可发生轻微形变，起到缓冲减震作用。
在本发明的一实施例中，如图2、图3、图6、图7和图8所示，所述传动件12设有多个定位孔、所述容纳凹槽1a的腔壁设有多个定位柱112，每一所述定位柱112插入一所述定位孔内。
可以理解的是，定位孔与定位柱112的配合，可实现壳体11和传动件12的快速定位安装，同时，且确保传动件12和壳体11的同步转动。
本实施例中，定位孔包括第一定位孔121b和第二定位孔12b，定位柱112包括第一定位柱112和第二定位柱112。
卡接部123设于所述传动环背离轴承2的一侧，卡接部123的周缘凸设有多个定位凸台，多个定位凸台间隔设置，且每一所述定位凸台设有第一定位孔121b，相应的壳体11设有多个第一定位柱112。每一第一定位柱112与一第一定位孔121b配合连接。
传动件12的中部区域设有多个第二定位孔12b，多个第二定位孔12b间隔设置，相应的壳体11设有多个第二定位柱112，每一第二定位柱112与一第二定位孔12b配合连接。
上述设计可在传动件12的周缘和中部区域分别设置定位孔，壳体11对应设置定位柱112，可确保传动件12与壳体11之间传递动力时受力均匀。
在本发明的一实施例中，如图5所示，所述支撑座3的边缘设有第三安装孔3c，所述传动件12在所述支撑座3的投影位于所述第三安装孔3c靠近所述支撑座3中心线的一侧。
可以理解的是，所述传动件12在所述支撑座3的投影位于所述第三安装孔3c靠近所述支撑座3中心线的一侧，即传动件12的周缘尺寸小于支撑座3的周缘尺寸，且第三安装孔3c可显露，在将通过插入第三安装孔3c的螺栓将支撑座3与外部连接时，可便于操作，传动件12不会对操作过程产生影响。
本实施例中，第三安装孔3c的数量为多个，且呈圆周阵列。
在本发明的一实施例中，如图1、图2、图3和图9所示，所述旋转组件1还包括摩擦带13，所述壳体11的外周设有安装凹槽，所述摩擦带13设于所述安装凹槽内，并部分伸出所述安装凹槽；
可以理解的是，在转轮装置10于地面运行时，通过摩擦带13的设置，可提高摩擦带13与地面的摩擦力，确保，转轮装置10在地面顺利移动，减少打滑。
在本发明的一实施例中，如图1和图3所示，所述转轮装置10还包括配重块6，所述配重块6设于所述支撑座3。
本实施例中，配重块6相对于支撑座3的中心线呈偏心设置，通过设置 配重块6，可降低重心，提高转轮装置10运行的稳定性。
在本发明的一实施例中，如图2所示，所述支撑座3位于所述容纳凹槽内1a，且所述容纳凹槽1a的槽口处延伸至所述支撑座3背离所述传动件12的一侧。
可以理解的是，本转轮装置10安装于机器人的主体200时，在支撑座3与主体200连接后，由于容纳凹槽1a的槽口处延伸至支撑座3背离传动件12的一侧，那么容纳凹槽1a的槽口处会套设于所述主体200的外侧壁，可消除主体200与旋转组件1在平行于水平面的方向形成间隔缝隙的可能性，起到美化外观的作用。且可以确保在机器人放置于运行表面时，旋转组件1与运行表面接触，主体200与运行表面存在一定的间隙，可保障主体200不会与运行表面发生摩擦。运行表面可以为地面等。
本发明还提供一种驱动轮100，如图10所示，所述驱动轮100包括：
上述的转轮装置10，所述转轮装置10的支撑座3设有第一装配孔3d；和
驱动件110，所述驱动件110设于所述第一装配孔3d内，且所述驱动件110的输出端与所述旋转组件1连接。
该转轮装置10的具体结构参照上述实施例，由于驱动轮100采用了上述所有实施例的全部技术方案，因此至少具有上述实施例的技术方案所带来的全部有益效果，在此不再一一赘述。
在本发明的一实施例中，如图3所示，所述旋转组件1还包括连接件120，所述传动件12设有第二装配孔12d，连接件120容纳于第二装配孔12d内，所述连接件120套设于所述驱动件110的输出端，所述连接件120与所述旋转组件1通过第三锁紧件锁紧。所述连接件120的截面呈D型，即所述连接件120的周向设有首尾连接的弧形面和平面，相应的，第二装配孔12d呈D型，第二装配孔12d和连接件120的配合使得旋转组件1与驱动件110的输出端不会发生相对转动，可确保驱动件110的输出端带动旋转组件1同步转动。
在本发明的一实施例中，传动件12设有第四安装孔12c，第四安装孔12c对应第三锁紧件设置，第三锁紧件穿过第四安装孔12c，第三锁紧件将传动件12、连接件120和驱动件110的输出端锁紧连接，第四安装孔12c为第三锁 紧件的安装提供避让位置，便于安装。显然，由于传动件12与壳体11是可拆卸连接，因而可通过在传动件12设置第四安装孔12c来确保第三锁紧件的安装能顺利进行。同时，由于前述D形孔与连接件120的限位配合，可以减轻转动时第三锁紧件受到的扭力，提高第三锁紧件的稳定性以及使用寿命。
在一些实施例中，连接件120与驱动件110的输出端通过过盈配合锁紧。
而本实施例中，如图7所示，由于轴承2是主要的连接部件，优先考虑轴承2与旋转组件1或支撑座3过盈配合，同时通过第一锁紧件4和第二锁紧件5进一步起到稳定作用，而驱动件110的输出端与第二装配孔12d并不过盈，如果三处都过盈，即三处都为精密配合，技术上难以实现。由于第二装配孔12d不过盈，容易造成旋转组件2晃动，为了提高稳定，故需要设置第四安装孔12c，以安装第三锁紧件。同时，若传动件12与壳体11不是可拆卸结构，第四安装孔12c需要开在旋转组件1外表面，不美观，如果为了美观不设置第四安装孔12c，则稳定性会有所降低。因此，进一步说明了将传动件12与壳体11为可拆卸连接是优于传动件12与壳体11为一体成型结构的。
另外，上述内容只用于表达设置传动件12带来的进一步的有益效果，如遮挡缝隙、稳定、美观等，不能说明传动件12是一个必要技术特征。
同理，轴承内外圈的过盈配合也是进一步的有益效果，或是在传动件12的基础上可实现的有效果，而非必要技术特征。
本实施例中，第三锁紧件为螺栓。
本实施例中，驱动件110的输出端设有螺纹孔，第三锁紧件与驱动件110的输出端螺纹连接。另一些实施例中，第三锁紧件抵接于驱动件110的输出端的外周壁。可以理解的是，第三锁紧件与驱动件的输出端螺纹连接，可以提高传动件12、连接件120和驱动件110的输出端三者的连接强度和连接稳定性，确保传动件12和壳体11的稳定性，同时确保传动件12与驱动件110的输出端的同步转动。
本发明还提供一种机器人，如图9和图10所示，所述机器人包括：
主体200，所述主体200设有控制部件210；
两个上述的驱动轮100，两个所述驱动轮100分别设于所述主体200的相对两侧；所述驱动轮100的驱动件110与所述控制部件210电连接；所述驱动轮100的所述容纳凹槽1a的槽壁与所述主体200围合形成一容纳腔，所 述驱动轮100的支撑座3容纳于所述容纳腔内，并与所述主体200连接。
该驱动轮100的具体结构参照上述实施例，由于机器人采用了上述所有实施例的全部技术方案，因此至少具有上述实施例的技术方案所带来的全部有益效果，在此不再一一赘述。
以上所述仅为本发明的可选实施例，并非因此限制本发明的专利范围，凡是在本发明的创造构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种转轮装置，其特征在于，所述转轮装置包括：
    旋转组件，所述旋转组件设有容纳凹槽；
    轴承，所述轴承容纳于所述容纳凹槽内，所述轴承与所述旋转组件连接；及
    支撑座，所述支撑座靠近所述容纳凹槽的槽口设置，且所述支撑座与所述轴承连接，以使所述旋转组件与所述支撑座转动连接。
  2. 如权利要求1所述的转轮装置，其特征在于，所述旋转组件包括：
    壳体，所述壳体设有所述容纳凹槽；和
    传动件，所述传动件设于所述容纳凹槽内，并位于所述壳体和所述支撑座之间；所述传动件与所述轴承连接，所述传动件与所述壳体可拆卸连接。
  3. 如权利要求2所述的转轮装置，其特征在于，所述支撑座和所述传动件分别连接于所述轴承的两侧，所述支撑座面向传动件的一侧设有支撑部，所述轴承的内圈套设于所述支撑部，并通过第一锁紧件锁紧所述内圈与所述支撑部；
    所述传动件面向所述支撑座的一侧设有传动部，所述传动部套设于所述轴承的外圈，并通过第二锁紧件锁紧所述外圈与所述传动部。
  4. 如权利要求3所述的转轮装置，其特征在于，所述支撑部的外周设有第一限位部，所述内圈面向所述支撑座的一侧抵接于所述第一限位部；
    所述支撑部设有第一安装孔，所述第一锁紧件的一端抵接于所述内圈背离所述第一限位部的一侧和所述支撑部面向所述传动件的一侧，另一端插入所述第一安装孔内，以使所述支撑部和所述内圈锁紧；
    且/或，所述传动部面向所述轴承的一侧设有第二限位部，所述外圈面向所述传动件的一侧抵接于所述第二限位部；
    所述传动部设有第二安装孔，所述第二锁紧件的一端抵接于所述外圈背离所述第二限位部的一侧和所述传动部面向所述支撑座的一侧，另一端插入 所述第二安装孔内，以使所述传动部和所述外圈锁紧。
  5. 如权利要求2至4中任一项所述的转轮装置，其特征在于，所述容纳凹槽的腔壁设有卡勾，所述卡勾与所述容纳凹槽的槽壁围合形成限位凹槽，所述传动件部分限位于所述限位凹槽内。
  6. 如权利要求5所述的转轮装置，其特征在于，所述传动件的外周设有卡接部，所述卡接部位于所述限位凹槽内，所述卡接部面向所述壳体的一侧设有倾斜面，所述卡接部背离所述壳体的一侧与所述卡勾抵接，所述传动件背离所述支撑座的一侧与所述容纳凹槽的腔壁抵接且形状适配。
  7. 如权利要求2至4中任一项所述的转轮装置，其特征在于，所述传动件设有多个定位孔、所述容纳凹槽的腔壁设有多个定位柱，每一所述定位柱插入一所述定位孔内；
    且/或，所述支撑座的边缘设有第三安装孔，所述传动件在所述支撑座的投影位于所述第三安装孔靠近所述支撑座的中心线的一侧；
    且/或，所述支撑座位于所述容纳凹槽内，且所述容纳凹槽的槽口处延伸至所述支撑座背离所述传动件的一侧。
  8. 如权利要求1至4中任一项所述的转轮装置，其特征在于，所述旋转组件还设有摩擦带，所述旋转组件的外周设有安装凹槽，所述摩擦带设于所述安装凹槽内，并部分伸出所述安装凹槽；
    且/或，所述转轮装置还包括配重块，所述配重块设于所述支撑座。
  9. 一种驱动轮，其特征在于，所述驱动轮包括：
    如权利要求1至8中任一项所述的转轮装置，所述转轮装置的支撑座设有第一装配孔；和
    驱动件，所述驱动件设于所述第一装配孔内，且所述驱动件的输出端与所述转轮装置的旋转组件连接。
  10. 一种机器人，其特征在于，所述机器人包括：
    主体，所述主体设有控制部件；
    两个如权利要求9所述的驱动轮，两个所述驱动轮分别设于所述主体的相对两侧；所述驱动轮的驱动件与所述控制部件电连接；所述驱动轮的容纳凹槽的槽壁与所述主体围合形成一容纳腔，所述驱动轮的支撑座容纳于所述容纳腔内，并与所述主体连接。
PCT/CN2021/120907 2021-07-27 2021-09-27 转轮装置、驱动轮以及机器人 WO2023004974A1 (zh)

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